CN205664838U - A inertia measurement assembly for unmanned vehicles - Google Patents
A inertia measurement assembly for unmanned vehicles Download PDFInfo
- Publication number
- CN205664838U CN205664838U CN201620558473.8U CN201620558473U CN205664838U CN 205664838 U CN205664838 U CN 205664838U CN 201620558473 U CN201620558473 U CN 201620558473U CN 205664838 U CN205664838 U CN 205664838U
- Authority
- CN
- China
- Prior art keywords
- boss
- integrated circuit
- cover body
- measuring unit
- assembly
- 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.)
- Active
Links
Landscapes
- Gyroscopes (AREA)
Abstract
The utility model relates to an unmanned vehicles technical field, concretely relates to an inertia measurement assembly for unmanned vehicles, including the casing, install integrated circuit board, damping assembly and counterweight assembly in the casing, last soft arranging wire and the inertial sensor of being connected with of integrated circuit board, the casing includes lid and lower lid, go up lid and the internal cavity that all is formed with of lower cover, upward be provided with the boss I towards the cavity indent on the lid, be provided with the boss II towards the cavity indent down on the lid, among integrated circuit board, damping assembly and the counterweight assembly at least one is provided with the recess, the boss I pass the recess with boss II connects. The utility model discloses an inertia measurement assembly for unmanned vehicles structural design is equitable, and whole highly integrated is convenient for and the integration of other equipment systems. Compare with general inertial surveying system, the utility model discloses an install smallly, light in weight has reduced inertial surveying system's cost.
Description
Technical field
This utility model relates to unmanned vehicle technical field, is specifically related to a kind of inertia measurement for unmanned vehicle
Device.
Background technology
Inertial measurement system is the nucleus module in unmanned aerial vehicle control system.By to inertial sensor and air pressure transmission
The measured data of sensor are analyzed, it is possible to obtain the attitude information of unmanned vehicle and positional information, thus have realized
Full oneself's navigation.Along with the development of technology, currently increasing to the demand of miniaturization inertial measurement system, but existing at present
The universal integrated level of unmanned aircraft inertia measuring module the highest, weight lays particular stress on, and compatibility is the best, is unfavorable for being integrated into other
On system equipment.Being additionally, since in the mechanical environment that inertial measurement system is in violent random vibration, measurement data noise is relatively
Greatly.
In order to solve above-mentioned technical problem, prior art occurs in that substantial amounts of improvement project, to solve minitype inertial device
Part integrated level is the highest, the lightest and damping the best problem, and such as Authorization Notice No. is the practical new of CN204757990U
Type patent discloses a kind of novel unmanned aircraft inertia measuring module, including: housing, upper layer circuit board, lower circuit plate, join
Pouring weight, upper strata cushion blocking, lower floor's cushion blocking, flexible signal line and flexible anti-vibration set, upper layer circuit board, balancing weight, upper strata vibration damping
Pad and lower floor's cushion blocking are arranged in flexible anti-vibration set, and upper strata cushion blocking, balancing weight and lower floor's cushion blocking are the most successively
Arrange；Being provided with Inertial Measurement Unit on upper layer circuit board, balancing weight is provided with installing hole, upper layer circuit board is arranged on installation
In hole；Flexible signal line part is arranged in flexible anti-vibration set, and flexible signal line one end is connected with upper layer circuit board, the other end
It is connected with lower circuit plate；Housing includes layer shell and lower floor's housing, flexible anti-vibration set respectively with lower circuit plate and upper strata
Housing connects, and lower circuit plate is connected with lower floor housing clamping, layer shell and lower floor's housing connection.This utility model has knot
Structure is simple, good damping result, stable connection, the advantage of length in service life.But the unmanned aircraft inertia measuring module of this structure
Still suffer from underintegration optimization, damping strong not during use, and the inertia measuring module stability after integrated installation should have
Wait to improve, and the vibration-absorbing pad structure of the inertia measuring module of this structure arranges the most scientific and reasonable.
As can be seen here, a kind of inertial measuring unit for unmanned vehicle can be invented so that it is have integrated level high,
Easy to assembly, be easy to safeguard, the internal each modular construction of device reasonable in design, it is possible to the effectively advantage of buffering isolation vibration, in group
Fill integrated rear good damping result, good stability, become the technical barrier that those skilled in the art are urgently to be resolved hurrily.
Utility model content
This utility model is in order to solve above-mentioned technical problem, it is provided that a kind of inertial measuring unit for unmanned vehicle,
Effectively reduce the output noise of Mierotubule-associated proteins, and eliminate the impact on baroceptor of the mixed and disorderly air-flow, permanent this dress of use
Put, still be able to be in optimum Working.
In order to reach above-mentioned technique effect, this utility model includes techniques below scheme:
A kind of inertial measuring unit for unmanned vehicle, the surface-mounted integrated circuit including housing, being arranged in housing, subtracts
Shake assembly and balance weight assembly, and described surface-mounted integrated circuit connects has soft arranging wire and inertial sensor, described housing to include upper cover body
And lower cover, it being each formed with cavity in described upper cover body and lower cover, described upper cover body is provided with towards cavity indent is convex
Platform I, described lower cover is provided with the boss II towards cavity indent, described surface-mounted integrated circuit, damping assembly and balance weight assembly
In at least one be provided with groove, described boss I is connected with described boss II through described groove.
This utility model inertial measuring unit reasonable in design, is carried out upper cover body by the boss arranged with lower cover
Connection is fixing so that housing seal is more preferable, has isolated the most mixed and disorderly air-flow, by the setting of groove so that being used to after assembling
Property measurement apparatus volume less, lightweight, be connected with other device systems by soft arranging wire, compatible good.
Further, described boss I is arranged at the edge part of described upper cover body, and described boss II is arranged at described lower cover
The edge part of body, described groove is arranged on the edge part of at least one in surface-mounted integrated circuit, damping assembly and balance weight assembly.
By the setting of edge part groove, when assembling, the volume of the inertial measuring unit of reduction, improve inertia
The integrated level of measurement apparatus, it is simple in being connected to other devices use, it is preferable that described surface-mounted integrated circuit, damping assembly and
It is provided with groove in balance weight assembly, and described groove is arranged on the edge of surface-mounted integrated circuit, damping assembly and balance weight assembly
Portion.
Further, described damping assembly includes top layer cushion, middle level cushion and bottom cushion, and described top layer subtracts
Shake pad contacts with described upper cover body, and described bottom cushion contacts with described lower cover, and described middle level cushion is with integrated
Circuit board and balance weight assembly contact.
Built-in multi-level damping assembly and balance weight assembly effectively reduce resonant frequency, it is achieved that the effect of vibration damping.
Further, described balance weight assembly includes the first counterweight and the second counterweight, described upper cover body, top layer vibration damping group
Part, the first counterweight, surface-mounted integrated circuit, middle level cushion, the second counterweight, bottom cushion and lower cover are sequentially connected with.
Described counterweight is the natural frequency reducing inertial measuring unit by increasing weight, thus plays minimizing resonance
Effect.This utility model counterweight position relationship is arranged rationally, and on the basis of the counterweight using the least quantity
On, farthest reduce resonant interaction.
Further, described surface-mounted integrated circuit, damping assembly and balance weight assembly are provided with hole, location；Described upper cover body
Being provided with buckle, described lower cover is provided with the cam matched with described buckle, described buckle and cam and is flexibly connected；Described
Upper cover body and described lower cover snapping.
The setting in hole, location so that easily facilitate assembling between surface-mounted integrated circuit, damping assembly and balance weight assembly and fix,
Making this utility model inertial measuring unit integrated level higher, stability is more preferable.On housing, the design of snap component is significantly simultaneously
Reduce the difficulty of later maintenance.
Further, the inner side of the edge part that described upper cover body contacts with lower cover is provided with kink I, described lower cover
The outside of the edge part contacted with upper cover body is provided with kink II, and described upper cover body snaps onto on described lower cover, and described
Kink I contacts with described kink II.The design of structure at this, strengthens the seal of housing further, has isolated height
The mixed and disorderly air-flow of speed.
Further, four limits that hole, described location is separately positioned on surface-mounted integrated circuit, damping assembly and balance weight assembly
Corner.
The Position Design in hole, assembling location makes simple and convenient assembly easy, and location assembles this utility model dress more accurately
Put so that this utility model device overall structure the most easily realizes, and reduces the cost of inertial measurement system.
Further, described inertial measuring unit also includes that baroceptor, described baroceptor are connected to described collection
Becoming on circuit board, described baroceptor and inertial sensor are all connected with soft arranging wire electrical information and are positioned at described cavity；Institute
State inertial sensor and include gyroscope and accelerometer.
Inertial sensor integrates with baroceptor, can not only realize the integration of data, also improve data
Stability and effectiveness.Surface-mounted integrated circuit is welded in one end of soft arranging wire, and this end is provided with for protecting the soft of solder joint stress
Winding displacement fixing hole, the solderable upper plug-in unit of the other end or directly take to be solder-connected on other equipment.Described baroceptor
Quantity be one or more, the quantity of described inertial sensor is one or more.
Further, described surface-mounted integrated circuit is provided with right angle fluting.Right angle fluting can reduce resonance, improves and measures
The accuracy of data.
Further, the quantity of described right angle fluting is at least two, and how described right angle fluting is distributed axisymmetricly.
Further, described boss I and boss II includes multiple fixing lug boss and accommodating boss, described fixing lug boss respectively
On be provided with through hole, described accommodating boss is provided with storage tank, described boss I and boss II is connected by connector, described
Connector passes described through hole, and an end of described soft arranging wire is connected with described surface-mounted integrated circuit, and another end is through holding
Put boss and be positioned at storage tank.
The signal of conventional use of sensor in inertial measuring unit such as described inertial sensor, pressure transducer is the most logical
Cross soft arranging wire to be sent in other device systems.Constitute the multiple sensory package of many sets to integrate, the multiple biography of data of the same race can be realized
Sensor data fusion, can realize again multiple multiple sensor cluster Data Integration, it is possible to increase reliable measuring data, effectively
Property, stability and accuracy.
Use technique scheme, including following beneficial effect: this utility model is for the inertia measurement of unmanned vehicle
Apparatus structure is reasonable in design, and whole height is integrated, it is simple to integrated with other device systems.With general inertial measurement system phase
Ratio, device volume of the present utility model is little, lightweight, is connected with other device systems by soft arranging wire, compatible good.This practicality
Novel inertial measuring unit, overall structure the most easily realizes, and reduces the cost of inertial measurement system, improves the standard of measurement
Really property.
Accompanying drawing explanation
Fig. 1 is this utility model embodiment inertial measuring unit detonation configuration figure；
Fig. 2 is this utility model embodiment upper cover body structural representation；
Fig. 3 is this utility model embodiment lower cover structural representation；
Fig. 4 is this utility model damping assembly structural representation；
Fig. 5 is this utility model integrated circuit board structure schematic diagram；
Fig. 6 is this utility model breeding modular construction schematic diagram；
Fig. 7 is this utility model inertial measuring unit structural representation.
In figure,
1, housing；11, upper cover body；111, boss I；112, buckle；113, kink I；12, lower cover；121, boss II；
122, cam；123, kink II；13, fixing lug boss；131, through hole；14, accommodating boss；141, storage tank；15, fixing convex
Platform；151, through hole；16, accommodating boss；161, storage tank；2, surface-mounted integrated circuit；21, soft arranging wire；22, inertial sensor；23, gas
Pressure sensor；24, right angle fluting；3, damping assembly；31, top layer cushion；32, middle level cushion；33, bottom cushion；4、
Balance weight assembly；41, the first counterweight；42, the second counterweight；5, groove；51, groove I；52, groove II；53, groove III；6、
Hole, location；61, location hole I；62, location hole II；63, location hole III.
Detailed description of the invention
Below by specific embodiment and combine accompanying drawing this utility model is described in further detail.
Embodiment:
The present embodiment provides a kind of inertial measuring unit for unmanned vehicle, as it is shown in figure 1, include housing 1, install
Surface-mounted integrated circuit 2, damping assembly 3 and balance weight assembly 4 in housing, described surface-mounted integrated circuit connects and has soft arranging wire 21 and be used to
Property sensor 22, described housing includes upper cover body 11 and lower cover 12, is each formed with cavity in described upper cover body and lower cover, institute
State the boss I111 being provided with in upper cover body towards cavity indent, described lower cover is provided with the boss towards cavity indent
II121, at least one in described surface-mounted integrated circuit, damping assembly and balance weight assembly is provided with groove 5, and described boss I passes
Described groove is connected with described boss II.Described groove includes the groove I51 being arranged on surface-mounted integrated circuit, is arranged on vibration damping group
Groove II52 on part and the groove III53 being arranged on balance weight assembly.
When assembling, surface-mounted integrated circuit, damping assembly and balance weight assembly are positioned over enclosure interior, by the boss of upper cover body
I is connected through groove with the boss II of lower cover so that upper cover body and the airtight combination of lower cover.Vibration damping group described in the present embodiment
It is conventional use of for vibration damping with the device of counterweight that part and balance weight assembly are ability user technical staff, based on art technology
All can directly obtain.
In the present embodiment, further, as shown in Figures 2 and 3, described boss I is arranged at the limit of described upper cover body
Edge, described boss II is arranged at the edge part of described lower cover, and described groove is arranged on surface-mounted integrated circuit, damping assembly and joins
The edge part of at least one in restructuring part.
Preferably, as shown in Fig. 1, Fig. 4, Fig. 5 and Fig. 6, described surface-mounted integrated circuit, damping assembly and balance weight assembly are all provided with
It is equipped with groove；It is further preferred that described boss I, boss II are the most identical with the quantity of groove, and can be 2 respectively, 3,4
Individual or 5 etc..
In the present embodiment, further, as shown in Figure 4, described damping assembly includes top layer cushion 31, middle level damping
Pad 32 and bottom cushion 33, described top layer cushion contacts with described upper cover body, described bottom cushion and described lower cover
Body contacts, and described middle level cushion contacts with surface-mounted integrated circuit and balance weight assembly.This utility model damping assembly includes
Cushion quantity is not limited to three, it is possible to do corresponding increasing and minimizing according to the volume and weight of inertial sensor, based on
This utility model patent content and prior art all can draw the structure of the inertial measuring unit of corresponding situation.
In the present embodiment, further, as shown in Figure 6, described balance weight assembly includes that the first counterweight 41 and second is joined
Heavy mail 42, described upper cover body, top layer damping assembly, the first counterweight, surface-mounted integrated circuit, middle level cushion, the second counterweight, the end
Layer cushion and lower cover are sequentially connected with.
In the present embodiment, further, as shown in figures 4-6, described surface-mounted integrated circuit, damping assembly and balance weight assembly
On be provided with location hole 6；Described upper cover body is provided with buckle 112, and described lower cover is provided with and matches with described buckle
Cam 122, described buckle and cam are flexibly connected；Described upper cover body and described lower cover snapping.Hole, described location includes arranging
Location hole I61 on surface-mounted integrated circuit, the location hole II62 being arranged on damping assembly and determining of being arranged on balance weight assembly
Position hole III63.
Preferably, the inner side of the edge part that described upper cover body contacts with lower cover is provided with kink I113, described lower cover
The outside of the edge part that body contacts with upper cover body is provided with kink II123, when described upper cover body snaps onto on described lower cover,
Described kink I contacts with described kink II.The design of structure at this, strengthens the seal of housing further, isolation
The most mixed and disorderly air-flow.
In the present embodiment, further, as it is shown in fig. 7, described lid can in the stereochemical structure such as cube, cylinder, and
The top layer damping assembly of inside, the first counterweight, surface-mounted integrated circuit, middle level cushion, the second counterweight, bottom cushion shape
All with lid mating shapes；The most described lid is cube, then top layer damping assembly, the first counterweight, surface-mounted integrated circuit,
Middle level cushion, the second counterweight, bottom cushion are each formed with four corner, and hole, the most described location is separately positioned on integrated
Four corner on circuit board, damping assembly and balance weight assembly.
The position that arranges in hole, this utility model location is not limited to foregoing, and it can concrete shape based on lid knot
Structure, and determine the correct position in hole, location based on ordinary skill in the art means, to guarantee the airtight of lid.
In the present embodiment, further, as it is shown in figure 5, described inertial measuring unit also includes baroceptor 23, institute
State baroceptor to be connected on described surface-mounted integrated circuit, described baroceptor and inertial sensor all with soft arranging wire electrical information
Connect and be positioned at described cavity；Described inertial sensor includes gyroscope and accelerometer.
In the present embodiment, further, as it is shown in figure 5, be provided with right angle fluting 24 on described surface-mounted integrated circuit.
In the present embodiment, further, as it is shown in figure 5, described right angle fluting quantity be at least two, how described directly
Angle fluting is distributed axisymmetricly.
The quantity of described right angle fluting can be 2,3,4,5 or 6 etc., and preferably, can be new according to this practicality
The size of type inertial sensor and weight, carry out the most secondary experiment screening and obtain optimal quantitative value.It is highly preferred that described directly
The quantity of angle fluting is two, and two leg fluting right angle portions are arranged the most axisymmetricly.If described surface-mounted integrated circuit
Square or rectangle, then leg fluting is separately positioned at two angles that surface-mounted integrated circuit is relative.
In the present embodiment, further, as shown in Figures 2 and 3, described boss I includes multiple fixing lug boss 13 and holds
Put boss 14, described fixing lug boss 13 is provided with through hole 131, described accommodating boss 14 is provided with storage tank 141, described convex
Platform II includes multiple fixing lug boss 15 and accommodating boss 16, and described fixing lug boss 15 is provided with through hole 151, described accommodating boss
Being provided with storage tank 161 on 16, described boss I and boss II is connected by connector, and described connector passes described through hole, institute
The end stating soft arranging wire is connected with described surface-mounted integrated circuit, and another end is through accommodating boss and is positioned at storage tank.
The quantity of the fixing lug boss on described boss I and boss II can be 2,3,4,5 or 6 etc. respectively, and puts down respectively
It is arranged at the edge part of upper cover body or lower cover；When described housing is regular cube, described fixing lug boss 13 is convex with fixing
The quantity of platform 15 can be 3 respectively, and is separately positioned on three sides of upper cover body and lower cover, described accommodating boss 14 He
The quantity of accommodating boss 16 is respectively 1, and is separately positioned on upper cover body and the remaining side of lower cover.
When assembling, by top layer damping assembly, the first counterweight, surface-mounted integrated circuit, middle level cushion, the second counterweight
Part, bottom cushion pass sequentially through connector and connect, connected mode the most most preferably scheme at this, described top layer damping assembly,
Also can be by the mode such as bonding between first counterweight, surface-mounted integrated circuit, middle level cushion, the second counterweight, bottom cushion
Carry out equivalent；Being connected with surface-mounted integrated circuit by the one end of soft arranging wire, the connected mode at this can be welding, the side such as bonding
Formula, but its connected mode is not limited thereto；Another end of described soft arranging wire initially passes through middle part cushion blocking, the second balancing weight
Be positioned at the groove of the same side on the cushion blocking of bottom, the accommodating boss being then passed through on the direction relative with this groove, lid and upper cover
Body, makes soft arranging wire between the accommodating boss and the accommodating boss of lower cover of upper cover body, is snapped onto down by the buckle of upper cover body
In the cam of lid, make upper cover body and lower cover fix and be connected, and surface-mounted integrated circuit, damping assembly and balance weight assembly are all firm even
It is connected in the cavity of housing.
The foregoing is only preferred embodiment of the present utility model, be not limited to this utility model, for this
For the technical staff in field, this utility model can have various modifications and variations.All in spirit of the present utility model and principle
Within, any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (10)
1. for the inertial measuring unit of unmanned vehicle, including housing (1), the surface-mounted integrated circuit that is arranged in housing
(2), damping assembly (3) and balance weight assembly (4), described surface-mounted integrated circuit connects and has soft arranging wire (21) and inertial sensor
(22), it is characterised in that described housing includes upper cover body (11) and lower cover (12), is respectively formed in described upper cover body and lower cover
There is cavity, described upper cover body is provided with the boss I (111) towards cavity indent, described lower cover is provided with towards cavity
The boss II (121) of indent, at least one in described surface-mounted integrated circuit, damping assembly and balance weight assembly is provided with groove (5),
Described boss I is connected through described groove with described boss II.
Inertial measuring unit for unmanned vehicle the most according to claim 1, it is characterised in that described boss I
Being arranged at the edge part of described upper cover body, described boss II is arranged at the edge part of described lower cover, and described groove is arranged on collection
Become the edge part of at least one in circuit board, damping assembly and balance weight assembly.
Inertial measuring unit for unmanned vehicle the most according to claim 1, it is characterised in that described damping assembly
Including top layer cushion (31), middle level cushion (32) and bottom cushion (33), described top layer cushion and described upper cover body
Contacting, described bottom cushion contacts with described lower cover, described middle level cushion and surface-mounted integrated circuit and balance weight assembly
Contact.
Inertial measuring unit for unmanned vehicle the most according to claim 3, it is characterised in that described balance weight assembly
Including the first counterweight (41) and the second counterweight (42), described upper cover body, top layer damping assembly, the first counterweight, integrated electricity
Road plate, middle level cushion, the second counterweight, bottom cushion and lower cover are sequentially connected with.
Inertial measuring unit for unmanned vehicle the most according to claim 1, it is characterised in that described integrated circuit
Hole, location (6) it is provided with on plate, damping assembly and balance weight assembly；Described upper cover body is provided with buckle (112), described lower cover
It is provided with the cam (122) matched with described buckle, described buckle and cam to be flexibly connected；Described upper cover body and described lower cover
Body snapping.
Inertial measuring unit for unmanned vehicle the most according to claim 5, it is characterised in that hole, described location is divided
Four corner not being arranged on surface-mounted integrated circuit, damping assembly and balance weight assembly.
Inertial measuring unit for unmanned vehicle the most according to claim 1, it is characterised in that described inertia measurement
Device also includes baroceptor (23), and described baroceptor is connected on described surface-mounted integrated circuit, described baroceptor
All it is connected with soft arranging wire electrical information with inertial sensor and is positioned at described cavity；Described inertial sensor includes gyroscope and adds
Speed meter.
Inertial measuring unit for unmanned vehicle the most according to claim 1, it is characterised in that described integrated circuit
Right angle fluting (24) it is provided with on plate.
Inertial measuring unit for unmanned vehicle the most according to claim 8, it is characterised in that slot in described right angle
Quantity be at least two, how described right angle fluting be distributed axisymmetricly.
Inertial measuring unit for unmanned vehicle the most according to claim 1, it is characterised in that described boss I and
Boss II includes multiple fixing lug boss (13,15) and accommodating boss (14,16) respectively, and described fixing lug boss is provided with through hole
(131,151), described accommodating boss is provided with storage tank (141,161), and described boss I and boss II is by connector even
Connecing, described connector passes described through hole, and an end of described soft arranging wire is connected with described surface-mounted integrated circuit, another end
Through housing boss and being positioned at storage tank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620558473.8U CN205664838U (en) | 2016-06-08 | 2016-06-08 | A inertia measurement assembly for unmanned vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620558473.8U CN205664838U (en) | 2016-06-08 | 2016-06-08 | A inertia measurement assembly for unmanned vehicles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205664838U true CN205664838U (en) | 2016-10-26 |
Family
ID=57154221
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620558473.8U Active CN205664838U (en) | 2016-06-08 | 2016-06-08 | A inertia measurement assembly for unmanned vehicles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205664838U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106871895A (en) * | 2017-04-28 | 2017-06-20 | 上海拓攻机器人有限公司 | A kind of inertial measuring unit and unmanned vehicle |
| CN107478224A (en) * | 2017-08-17 | 2017-12-15 | 深圳市道通智能航空技术有限公司 | Inertial measuring unit and plant equipment |
| CN109229401A (en) * | 2018-08-02 | 2019-01-18 | 哈尔滨飞机工业集团有限责任公司 | Center of gravity counter weight device before a kind of adjustable helicopter |
| US11041726B2 (en) * | 2017-08-17 | 2021-06-22 | Autel Robotics Co., Ltd. | Inertial measurement apparatus and mechanical device |
| WO2024061142A1 (en) * | 2022-09-22 | 2024-03-28 | 广州导远电子科技有限公司 | Inertial measurement device and apparatus |
-
2016
- 2016-06-08 CN CN201620558473.8U patent/CN205664838U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106871895A (en) * | 2017-04-28 | 2017-06-20 | 上海拓攻机器人有限公司 | A kind of inertial measuring unit and unmanned vehicle |
| WO2018196042A1 (en) * | 2017-04-28 | 2018-11-01 | 上海拓攻机器人有限公司 | Inertia measurement apparatus and unmanned aerial vehicle |
| CN106871895B (en) * | 2017-04-28 | 2019-03-29 | 上海拓攻机器人有限公司 | A kind of inertial measuring unit and unmanned vehicle |
| US11326885B2 (en) | 2017-04-28 | 2022-05-10 | Shanghai TopxGun Robotics Co., Ltd. | Inertial measurement device and unmanned aerial vehicle |
| CN107478224A (en) * | 2017-08-17 | 2017-12-15 | 深圳市道通智能航空技术有限公司 | Inertial measuring unit and plant equipment |
| WO2019033753A1 (en) * | 2017-08-17 | 2019-02-21 | 深圳市道通智能航空技术有限公司 | Inertial measuring device and mechanical equipment |
| US11041726B2 (en) * | 2017-08-17 | 2021-06-22 | Autel Robotics Co., Ltd. | Inertial measurement apparatus and mechanical device |
| CN109229401A (en) * | 2018-08-02 | 2019-01-18 | 哈尔滨飞机工业集团有限责任公司 | Center of gravity counter weight device before a kind of adjustable helicopter |
| WO2024061142A1 (en) * | 2022-09-22 | 2024-03-28 | 广州导远电子科技有限公司 | Inertial measurement device and apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205664838U (en) | A inertia measurement assembly for unmanned vehicles | |
| JP6502283B2 (en) | Micro inertia measurement device | |
| CN206514864U (en) | A kind of unmanned plane inertial measuring unit and the unmanned plane containing it | |
| JP5617912B2 (en) | Inertial force sensor | |
| CN101349564B (en) | Inertial measurement apparatus | |
| CN109032155A (en) | A kind of control device and unmanned vehicle for unmanned vehicle | |
| US20140224014A1 (en) | Inertia measurement module for unmanned aircraft | |
| CN104691774B (en) | Aerial cloud platform for shooting in all directions | |
| CN106871895A (en) | A kind of inertial measuring unit and unmanned vehicle | |
| JP6451112B2 (en) | Sensor unit, electronic device, and moving object | |
| CN108519086B (en) | Multifunctional structure of spherical platform body of inertia platform | |
| CN105939933B (en) | Battery accommodating apparatus and unmanned vehicle, electronic installation | |
| CN205809699U (en) | A kind of flight measurement controls device and the unmanned vehicle containing it | |
| CN205957985U (en) | Inertia measurement assembly who detects is pressed to gas collection | |
| CN204594467U (en) | Inertial measuring unit and unmanned plane | |
| CN209684001U (en) | Mounting structure, flight controller and unmanned plane for Inertial Measurement Unit | |
| CN107850435B (en) | Inertia measurement equipment with dual suspension | |
| CN205748395U (en) | A kind of inertial measuring unit for unmanned vehicle | |
| CN205578605U (en) | Damping structure, inertia detection device and unmanned vehicles | |
| CN206096945U (en) | Flight measurement control module reaches unmanned vehicles who contains it | |
| CN208351334U (en) | A kind of control device and unmanned vehicle for unmanned vehicle | |
| CN205825966U (en) | A kind of inertia north finding device without indexing mechanism | |
| CN114383591A (en) | Biaxial quartz micromechanical gyroscope | |
| CN206087347U (en) | Subtract vibrating plate and have this unmanned vehicles who subtracts vibrating plate | |
| JP2016118421A (en) | Sensor unit, electronic apparatus and movable body |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |