CN208351334U - A kind of control device and unmanned vehicle for unmanned vehicle - Google Patents
A kind of control device and unmanned vehicle for unmanned vehicle Download PDFInfo
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- CN208351334U CN208351334U CN201821020738.4U CN201821020738U CN208351334U CN 208351334 U CN208351334 U CN 208351334U CN 201821020738 U CN201821020738 U CN 201821020738U CN 208351334 U CN208351334 U CN 208351334U
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Abstract
The utility model belongs to air vehicle technique field, more particularly to a kind of control device and unmanned vehicle for unmanned vehicle, including shell and it is installed on the intracorporal main control board of shell, the first inertia measuring module, the second inertia measuring module, the first vibration absorber and the second vibration absorber, the first inertia measuring module and the second inertia measuring module are electrically connected with main control board respectively；First inertia measuring module, the second inertia measuring module are respectively by for buffering vibration and the first vibration absorber being fixed on shell, the second vibration absorber are installed in shell.Control device and unmanned vehicle provided by the utility model for unmanned vehicle, control device use modularized design, install and easy to maintenance and quick, reasonable in design, integration degree is relatively high；Two inertia measuring modules are respectively adopted different damping modes, and when normal work acts synergistically, and improve the stability and safety of unmanned vehicle flight.
Description
Technical field
The present invention relates to air vehicle technique fields, and in particular to it is a kind of for the control device of unmanned vehicle and nobody fly
Row device.
Background technique
Unmanned vehicle needs control device to control it and navigate, is controlled by control device in flight course
The posture of unmanned vehicle feeds back the position where unmanned vehicle, realizes the gesture stability and positioning function of unmanned vehicle.
The control device of unmanned vehicle generally includes main control board and inertia measuring module, and inertia measuring module generally passes through gyro
Instrument, acceleration transducer and electronic compass measure acceleration, angular speed and the course of unmanned vehicle in three dimensions
Angle, to calculate the posture of unmanned vehicle.
Inertia measuring module is more sensitive to vibrating, and unmanned vehicle can generate vibration in flight course, and vibration can shadow
The accuracy for ringing inertia measuring module measurement, substantially reduces its performance.The control device of existing unmanned vehicle, which usually passes through, to be subtracted
Vibration means absorb vibrational energy.
Chinese Patent Application No. is that the utility model patent of " CN201620732071.5 " discloses a kind of flight measurement control
Device processed and unmanned vehicle containing it, including shell, it is mounted on the intracorporal inertial measurement cluster of shell and damping assembly, further include
It is mounted on the intracorporal bottom integrated circuit board of shell, side integrated circuit board and static pressure cabin, the bottom integrated circuit board and institute
The electrical connection of side integrated circuit board is stated, cavity is formed in the static pressure cabin, is provided with static pressure hole in the static pressure cabin, institute
It states inertial measurement cluster to be connected in static pressure cabin, the bottom integrated circuit board is electrically connected with the inertial measurement cluster, institute
Damping assembly is stated to connect with static pressure cabin；The damping assembly includes the first cushion blocking and the second cushion blocking, and described first subtracts
Vibration pad, static pressure cabin and the second cushion blocking are sequentially connected；The bottom integrated circuit board is connect with second cushion blocking.
Inertia measuring module in the flight measurement control device is installed on the integrated circuit board of bottom, passes through the first vibration damping
Pad and the second cushion blocking realize the effectiveness in vibration suppression to inertia measuring module.However, above-mentioned flight measurement control device is in the presence of as follows
Defect:
1, inertia measuring module is installed on the integrated circuit board of bottom by cushion blocking, not only increases the negative of circuit board
It carries, and influences heat dissipation for circuit board；
2, cushion blocking is set between inertia measuring module and circuit board, realizes to reduce by reducing the vibration of circuit board and be used to
Property measurement module vibration purpose, which needs to consider between inertia measuring module, circuit board and cushion blocking during installation
Position installation accuracy causes installation operation relatively difficult；
3, it using independent inertia measuring module, when a certain sensor therein breaks down and is difficult to acquire flying quality,
Flight control assemblies cannot carry out attitude algorithm according to flying quality to control unmanned vehicle flight, it is easy to nobody be caused to fly
Row device is out of hand, and safety is lower.
Summary of the invention
In order to solve the above technical problems, The present invention provides it is a kind of for the control device of unmanned vehicle and nobody fly
Row device.
In a first aspect, the present invention provides a kind of control device for unmanned vehicle, including shell and it is installed on institute
State the intracorporal main control board of shell, the first inertia measuring module, the second inertia measuring module, the first vibration absorber and the second vibration damping
Device, first inertia measuring module and the second inertia measuring module are electrically connected with the main control board respectively；Described
One inertia measuring module, the second inertia measuring module are respectively by for buffering vibration and the first vibration damping for being fixed on shell
Device, the second vibration absorber are installed in the shell.
The main control board, the first inertia measuring module, the second inertia measuring module are successively installed on institute from top to bottom
It states in shell；First vibration absorber includes damping frame and hollow buffering ball, and the hollow buffering ball is connected to described subtract
It shakes between bracket and first inertia measuring module, and the both ends of the hollow buffering ball are respectively embedded in the damping frame
In first inertia measuring module；
Second inertia measuring module is fixed on the housing bottom by cushion blocking.
Further, the damping frame is fixed on housing bottom, and the buffering ball includes hollow sphere vibration damping portion and one
Body is connected to the clamping portion at the top and bottom of hollow sphere vibration damping portion, and the buffering ball passes through top, the clamping portion of bottom
It is connect respectively with first inertia measuring module, damping frame.
Further, first inertia measuring module includes the first weight gain block, first circuit board, the first soft arranging wire and is used to
Property sensor, the accommodating cavity of upper opening is equipped in the middle part of the first weight gain block, the inertial sensor is integrated in described first
On circuit board, the first circuit board is connected to the opening of the accommodating cavity, one end of first soft arranging wire and described the
The connection of one circuit board, the other end are connect with the main control board.
Further, first vibration absorber includes four buffering balls, by the accommodating cavity on the first weight gain block
Extending outwardly, there are four with the first installation through-hole and spaced first boss；The damping frame includes bottom plate and four
Second boss that is corresponding with the first boss and having the second installation through-hole, the second boss are prolonged upwards by the bottom plate
It stretches；Top clamping portion, the bottom clamping portion of the buffering ball be respectively embedded in the first installation through-hole of first boss, the
In second installation through-hole of two boss.
Further, the bottom plate has upwardly extended support column, is equipped with connecting hole in the support column, the support column
Top offsets with the main control board and is fixed by passing through the connector that main control board is connected in connecting hole.
Further, second inertia measuring module includes the second weight gain block, second circuit board, the second soft arranging wire and is used to
Property sensor, the second weight gain block has the cavity of upper opening, and the second circuit board is connected to the opening of the cavity
Place, the inertial sensor is integrated on the second circuit board, second inertia measuring module by the second soft arranging wire with
The main control board connection.
Further, the shell includes upper and lower docking and the upper casing and bottom cover fixed by connector, the upper casing and
Accommodating cavity is formed between bottom cover.
It further, further include interface module, there are two the interface modules and the opposite two sides for being set to the shell, institute
It states shell to correspond to equipped with opening at the interface module, the interface module grafting is in the opening；The interface module packet
Side integrated circuit board and interface card are included, the side integrated circuit board is connect with the main control board.
Second aspect the present invention provides a kind of unmanned vehicle, including fuselage and flies for nobody as described above
The control device of row device, the control device are installed on the fuselage.
By adopting the above technical scheme, including following the utility model has the advantages that the control provided by the present invention for unmanned vehicle
Device and unmanned vehicle, control device use modularized design, install and easy to maintenance and quick, reasonable in design,
Integration degree is relatively high；Using double inertia measuring modules, one of inertia measuring module is avoided to break down and influence
Unmanned vehicle normal flight, two inertia measuring modules are respectively adopted different damping modes, and when normal work acts synergistically, and make
It obtains measurement accuracy to greatly improve, to improve the stability and safety of unmanned vehicle flight.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the control device provided by the present invention for unmanned vehicle；
Fig. 2 is the connection schematic diagram of main control board and interface module in Fig. 1；
Fig. 3 is the first inertia measuring module and the first vibration absorber separate type connection schematic diagram in Fig. 1；
Fig. 4 is the structural schematic diagram of upper casing provided by the present invention.
In figure:
1, upper casing；1.1, connecting column；1.2, the first connecting hole；1.3, limiting groove；2, interface module；2.1, side collection
At circuit board；2.2, interface card；2.3, vertical spacing item；3, main control board；4, the first inertia measuring module；4.1, first
Increase weight block；4.11, accommodating cavity；4.12, first boss；4.13, the first installation through-hole；5, mounting bracket；5.1, bottom plate；5.2,
Two boss；5.3, the second installation through-hole；5.4, support column；5.5, connecting hole；6, buffering ball；6.1, hollow sphere vibration damping portion；
6.2, clamping portion；7, cushion blocking；8, the second inertia measuring module；8.1, the second weight gain block；8.2, second circuit board；9, bottom cover；
9.1, boss；9.2, the second connecting hole；9.3, mounting groove；9.4, limiting stand.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached in the embodiment of the present invention
Figure, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
In the present invention, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the present invention and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected " " socket " shall be understood in a broad sense.For example, can
To be to be fixedly connected, it is detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be directly connected,
It either indirectly connected through an intermediary, or is two connections internal between device, element or component.For
For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
Unless otherwise indicated, the meaning of " multiple " is two or more.
The present invention is described in further detail below by specific embodiment and in conjunction with attached drawing.
Embodiment one:
A kind of control device for unmanned vehicle is present embodiments provided, refering to fig. 1-4, including shell and is installed on
The intracorporal main control board 3 of the shell, the first inertia measuring module 4, the second inertia measuring module 8, the first vibration absorber and
Two vibration absorbers, the shell include upper and lower docking and the upper casing 1 and bottom cover 9 fixed by connector, the upper casing 1 and bottom cover
Accommodating cavity is formed between 9.Optionally, the opposite inner wall of the upper casing 1 respectively extends there are two connecting column 1.1, the connecting column 1.1
On offer the first connecting hole 1.2,9 corresponding position of bottom cover is equipped with boss 9.1, and boss 9.1 is equipped with and the first connecting hole
1.2 the second connecting holes 9.2 communicated, the connector are fixed on connecting column 1.1 by sequentially passing through boss 9.1 outside bottom cover 9
In first connecting hole 1.2, so that upper casing 1 is fixedly connected with bottom cover 9.
First inertia measuring module 4 and the second inertia measuring module 8 are electrically connected with the main control board 3 respectively；
First inertia measuring module 4, the second inertia measuring module 8 are respectively by for buffering vibration and being fixed on shell
First vibration absorber, the second vibration absorber are installed in the shell.
It is used for the control device of unmanned vehicle provided by the present embodiment, inside sets that there are two inertia measuring module, nothings
In man-machine flight course, two inertia measuring modules are worked at the same time, and data information collected is respectively sent to governor circuit
Plate, the processor on main control board is by output control signal after Attitude Algorithm operation, to manipulate unmanned vehicle flight；
Even if there is an inertia measuring module to break down, work can also be continued using data measured by another inertia measuring module
Make, improves the safety and reliability of unmanned vehicle flight.In addition, being used for the first vibration absorber and second of buffering vibration
Vibration absorber is all fixed on shell, and overcoming vibration absorber fixation in existing control device influences circuit board on circuit boards
The defect of heat dissipation is directly anchored on shell moreover, vibration absorber is easy for installation, reduces opposing circuit board, inertia measurement mould
The requirement of block installation site precision.
Embodiment two:
On the basis of example 1, in control device provided by the present embodiment, main control board 3, the first inertia are surveyed
Amount module 4, the second inertia measuring module 8 are successively installed in the shell from top to bottom；First vibration absorber includes subtracting
Shake bracket 5 and hollow buffering ball 6, and the hollow buffering ball 6 is connected to the damping frame 5 and first inertia measuring module
Between 4, and the both ends of the hollow buffering ball 6 are respectively embedded in the damping frame 5 and first inertia measuring module 4
It is interior；
Second inertia measuring module 8 is fixed on the housing bottom by cushion blocking.
In the present embodiment, the first inertia measuring module 4 and the second inertia measuring module 8 be respectively adopted two kinds of damping modes with
Buffer brought vibration in unmanned vehicle operational process, wherein the mode of cushion blocking is generallyd use in existing control device
Carry out slowing down vibration, since cushion blocking generally uses sponge material, there is damping characteristic, but the technological parameter of cushion blocking is to acceleration
The measurement accuracy of sensor is affected, and by conventional test, acceleration information acquired in inertia measuring module, which exists, to be missed
Difference influences to be precisely controlled unmanned vehicle to a certain extent, and the error of measured angular speed is smaller.
The second inertia measuring module is by the way of compressing hollow buffering ball to the second inertia measuring module in the present embodiment
Vibration damping is carried out, optionally, buffering ball can use silica gel or rubber material, and silica gel or rubber can effectively take into account elasticity and damping
Characteristic.Damping frame is fixed on housing bottom, and hollow buffering ball is connected between the second inertia measuring module and damping frame, should
Second vibration absorber can filter influence of the high-frequency vibration of unmanned vehicle generation to the second inertial measuring unit, and in top
Accuracy is higher in terms of spiral shell instrument angular velocity.Therefore, in actual use, the first inertia measuring module and the second inertia measurement mould
Block synergistic effect obtains the processor that main control board is sent to after measured angular velocity data, acceleration information, place respectively
It manages device and chooses acceleration information measured by the first inertia measuring module, angular velocity data measured by the second inertia measuring module
As the data of attitude algorithm, control device is enabled to obtain more accurately acceleration information and angular velocity data simultaneously,
Further improve the safety of unmanned vehicle flight, it is preferable that processor chips model STM32F407IGH6.
Specifically, the damping frame 5 is fixed on housing bottom, and the buffering ball 6 includes 6.1 He of hollow sphere vibration damping portion
It is integrally connected to the clamping portion 6.2 of 6.1 top and bottom of hollow sphere vibration damping portion, the buffering ball 6 passes through top, bottom
Clamping portion 6.2 connect respectively with first inertia measuring module 4, damping frame 5.First inertia measuring module 4 wraps
Include the first weight gain block 4.1, first circuit board 4.2, the first soft arranging wire (not shown) and inertial sensor, first weight gain
The accommodating cavity 4.11 of upper opening is equipped in the middle part of block 4.1, the inertial sensor is integrated on the first circuit board 4.2, institute
State the opening that first circuit board 4.2 is connected to the accommodating cavity 4.11, one end of first soft arranging wire and first electricity
Road plate 4.2 connects, and the other end is connect with the main control board 3.The material of first weight gain block 4.1 uses the biggish metal of density
Material, middle part are equipped with the accommodating cavity 4.11 with opening, and first circuit board 4.2 is connected to opening, is on the one hand used to support
First circuit board 4.2 is accommodated, is conducive to save space, another aspect is conducive to heat dissipation for circuit board.
In order to be conducive to modularization installation, the first soft arranging wire (not shown) passes through BTB connector and master control electricity
Road plate 3 connects, wherein main control board 3 is equipped with female connectors, and the first soft arranging wire is equipped with public connector.
First vibration absorber includes four buffering balls 6, from the accommodating cavity to extension on the first weight gain block 4.1
With the first installation through-hole 4.13 and spaced first boss 4.12 there are four stretching；The damping frame 5 includes bottom plate 5.1
With four second boss 5.2 that are corresponding with the first boss 4.12 and having the second installation through-hole 5.3, the second boss
5.2 are upwardly extended by the bottom plate 5.1；Top clamping portion, the bottom clamping portion of the buffering ball 6 are respectively embedded in first
In first installation through-hole 4.13 of boss 4.12, in the second installation through-hole 5.3 of second boss 5.2.
In order to enable main control board 3 be stably installed in the shell and with the first inertia measuring module 4 there are
For gap to radiate, the bottom plate 5.1 has upwardly extended support column 5.4, is equipped with connecting hole 5.5, the branch in the support column 5.4
The connector that the top of dagger 5.4 and the main control board 3 offset and be connected in connecting hole by passing through main control board 3
It is fixed.The height of support column 5.4 is greater than the first inertia measuring module 4, so as to guarantee that main control board 3 and the first inertia are surveyed
Measuring intermodule, there are gaps.
In the present embodiment, second inertia measuring module 8 includes the second weight gain block 8.1, second circuit board 8.2, second
Soft arranging wire and inertial sensor, the second weight gain block 8.1 have the cavity of upper opening, and the second circuit board 8.2 connects
In the opening of the cavity, the inertial sensor is integrated on the second circuit board 8.2, the second inertia measurement mould
Block 8 is connect by the second soft arranging wire with the main control board 3.
The material of second weight gain block 8.1 uses the biggish metal material of density, and middle part is equipped with the cavity with opening, the
Two circuit boards 8.2 are connected to opening, are on the one hand used to support and accommodate second circuit board 8.2, are conducive to save space, another party
Face is conducive to heat dissipation for circuit board.
In order to be conducive to modularization installation, second soft arranging wire is connect by BTB connector with main control board 3,
In, main control board is equipped with female connectors, and the second soft arranging wire is equipped with public connector.
Control device provided in the present embodiment further includes interface module 2, and there are two the interface modules 2 and sets relatively
In the two sides of the shell, the shell corresponds to and is equipped with opening at the interface module 2, and the interface module 2 is plugged on described
In opening；The interface module 2 includes side integrated circuit board 2.1 and interface card 2.2, the side integrated circuit board 2.1
It is connect with the main control board 3.
Two side integrated circuit boards 2.1 are connected to the two side ends of the main control board 3 vertically, wherein governor circuit
The two side ends of plate 3 are respectively fixedly connected at the top of side integrated circuit board 2.1, and interface card 2.2 is equipped with multiple slots, often
A slot is equipped with the row's needle connecting with integrated circuit board, and two interface cards are plugged on respectively in the opening of shell two sides, is
The stability of installation is improved, and simplifies installation process as far as possible, realizes fast quick-detach, the two side ends of the interface card are extended with
Vertical spacing strip 2.3, the corresponding position in 1 both-side opening of upper casing are equipped with the limiting groove 1.3 to match with limit strip,
The interface card will limit strip by upper casing bottom opening and be caught in upper casing side mouth along limiting groove, the installation process
It is convenient for disassembly and assembly and quick without installation tool, the time is saved, modular structure design is advantageously implemented.
Control device provided in the present embodiment uses double inertia measuring modules of two kinds of damping modes, one of them is used
Property measurement module using cushion blocking carry out vibration damping, wherein gyroscope fluctuation range is smaller, help to obtain accurately angular speed number
According to；Another inertia measuring module carries out vibration damping using damping frame and buffering ball, wherein the fluctuation model of acceleration transducer
It encloses smaller, is conducive to obtain more accurately acceleration information；Therefore, when two inertia measuring modules can all work normally,
The processor of main control board obtains the angle speed of the acceleration information of the first inertia measuring module, the second inertia measuring module respectively
Degree, to be conducive to be precisely controlled unmanned vehicle, improves the safety of unmanned vehicle flight according to attitude algorithm is carried out
And reliability.
In addition, the control device is designed using modular structure, integrally it is divided into four modules, first module is upper casing
And bottom cover, second module are the interface module of main control board and two sides, third module is to be equipped with the first inertia measurement
The damping frame of module, the 4th module are the second inertia measuring module and cushion blocking；
When specific installation, cushion blocking 7 is covered in the corresponding position of bottom cover 9 by the first step, for the ease of installing cushion blocking
7, can be set on bottom cover 9 one for accommodate cushion blocking 7 and with the matched mounting groove 9.3 of cushion blocking size shape, directly general
Cushion blocking 7 is pasted onto the mounting groove 9.3, easy for installation and quick, without considering installation accuracy.Optionally, in order to improve
The stability that cushion blocking 7 is installed and the effectiveness in vibration suppression to the second inertia measuring module 8,9.3 inner wall of mounting groove extend internally and have
Two opposite limiting stands 9.4, limit for the installation site to cushion blocking 7, avoid that inconsistent phenomenon occurs during exercise
And influence the buffering vibration effect to the second inertia measuring module.Second inertia measuring module is directly adhered on cushion blocking.
First inertia measuring module 4 is first fixed as one by second step by buffering ball and damping frame；Again by vibration damping branch
Frame 5 is fixed by connector with bottom cover 9, in order to improve the stability of damping frame 5, can be equipped with and bottom on bottom cover 9
The groove that plate 5.1 matches, the groove are greater than mounting groove, and the depth of mounting groove is greater than groove, bottom plate be installed in groove and
It is fixed by connector and bottom cover, connector can be screw or bolt etc..Hollow out opening in the middle part of damping frame, for accommodating the
Two inertia measuring modules can not only save space, and the installation of both third module and the 4th module can be improved
Stability, and then reduce influence of the vibration to inertia measuring module.
Main control board 3 and the interface module 2 of two sides are first connected to one by third step, then by main control board 3
Be fixedly connected with the support column 5.4 on damping frame 5, then by upper casing 1 along 2 two sides of interface module limit strip 2.3 with
Bottom cover 9 docks, wherein interface module 2 is formed by both-side opening with upper casing clamping fixed and positioned at upper casing and bottom cover, finally
Bottom cover is fixedly connected with upper casing by connector, so that inertial measuring unit assembling be finished.
The present embodiment additionally provides a kind of unmanned vehicle, including fuselage and as described above for unmanned vehicle
Control device, the control device are installed on the fuselage.The unmanned vehicle not only may be used by installed control device
To realize data double copies, even if one of inertia measuring module breaks down, another inertia measuring module can also be used
It works on, and when two inertia measuring modules all work normally, can respectively choose the accurate angular speed of measurement
Attitude algorithm is carried out with acceleration information, unmanned vehicle is precisely controlled to realize, improves the safety of flight
And reliability.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of control device for unmanned vehicle, which is characterized in that including shell and be installed on the intracorporal master of the shell
Control circuit board (3), the first inertia measuring module (4), the second inertia measuring module (8), the first vibration absorber and the second vibration damping dress
It sets, first inertia measuring module (4) and the second inertia measuring module (8) are electrically connected with the main control board (3) respectively；
First inertia measuring module (4), the second inertia measuring module (8) are respectively by being used for buffering vibration and being fixed on shell
The first vibration absorber, the second vibration absorber is installed in the shell.
2. the control device according to claim 1 for unmanned vehicle, which is characterized in that the main control board
(3), the first inertia measuring module (4), the second inertia measuring module (8) are successively installed in the shell from top to bottom；It is described
First vibration absorber includes damping frame (5) and hollow buffering ball (6), and the buffering ball (6) is connected to the damping frame (5)
Between first inertia measuring module (4), and the both ends of the buffering ball (6) are respectively embedded in the damping frame (5)
It is interior with first inertia measuring module (4)；
Second inertia measuring module (8) is fixed on the housing bottom by cushion blocking (7).
3. the control device according to claim 2 for unmanned vehicle, which is characterized in that the damping frame (5)
It is fixed on housing bottom, the buffering ball (6) includes hollow sphere vibration damping portion (6.1) and is integrally connected to the hollow sphere and subtracts
Clamping portion (6.2) at the top and bottom of vibration portion (6.1), clamping portion (6.2) difference that the buffering ball (6) passes through top, bottom
It is connect with first inertia measuring module (4), damping frame (5).
4. the control device according to claim 3 for unmanned vehicle, which is characterized in that first inertia measurement
Module (4) includes the first weight gain block (4.1), first circuit board (4.2), the first soft arranging wire and inertial sensor, and described first increases
The accommodating cavity (4.11) of upper opening is equipped in the middle part of pouring weight (4.1), the inertial sensor is integrated in the first circuit board
(4.2) on, the first circuit board (4.2) is connected to the opening of the accommodating cavity (4.11), and the one of first soft arranging wire
End is connect with the first circuit board (4.2), and the other end is connect with the main control board (3).
5. the control device according to claim 4 for unmanned vehicle, which is characterized in that first vibration absorber
Including four buffering balls (6), being extended outwardly in first weight gain block (4.1) by the accommodating cavity (4.11), there are four with the
One installation through-hole (4.13) and spaced first boss (4.12)；The damping frame (5) includes bottom plate (5.1) and four
Second boss (5.2) that is corresponding with the first boss (4.12) and having the second installation through-hole (5.3), the second boss
(5.2) it is upwardly extended by the bottom plate (5.1)；Top clamping portion, the bottom clamping portion of the buffering ball (6) are respectively embedded into
In the first installation through-hole (4.13) of first boss (4.12), in the second installation through-hole (5.3) of second boss (5.2).
6. the control device according to claim 5 for unmanned vehicle, which is characterized in that the bottom plate (5.1) to
On be extended with support column (5.4), be equipped with connecting hole (5.5) in the support column (5.4), the top of the support column (5.4) with
The main control board (3) offsets and is fixed by passing through the connector that main control board (3) are connected in connecting hole (5.5).
7. the control device according to claim 2 for unmanned vehicle, which is characterized in that second inertia measurement
Module (8) includes the second weight gain block (8.1), second circuit board (8.2), the second soft arranging wire and inertial sensor, and described second increases
Pouring weight (8.1) has the cavity of upper opening, and the second circuit board (8.2) is connected to the opening of the cavity, described used
Property sensor integration on the second circuit board (8.2), second inertia measuring module (8) passes through the second soft arranging wire and institute
State main control board (3) connection.
8. the control device according to claim 1 for unmanned vehicle, which is characterized in that the shell includes up and down
Docking and the upper casing (1) and bottom cover (9) fixed by connector, form accommodating cavity between the upper casing (1) and bottom cover (9).
9. the control device of unmanned vehicle is used for described in -8 any one according to claim 1, which is characterized in that also wrap
Include interface module (2), the interface module (2) there are two and the opposite two sides for being set to the shell, described in the shell is corresponding
Opening is equipped at interface module (2), interface module (2) grafting is in the opening；The interface module (2) includes side
Integrated circuit board (2.1) and interface card (2.2), the side integrated circuit board (2.1) and the main control board (3) are even
It connects.
10. a kind of unmanned vehicle, which is characterized in that including fuselage and the use as described in claim 1-9 any one
In the control device of unmanned vehicle, the control device is installed on the fuselage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821020738.4U CN208351334U (en) | 2018-06-29 | 2018-06-29 | A kind of control device and unmanned vehicle for unmanned vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821020738.4U CN208351334U (en) | 2018-06-29 | 2018-06-29 | A kind of control device and unmanned vehicle for unmanned vehicle |
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| CN208351334U true CN208351334U (en) | 2019-01-08 |
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| CN201821020738.4U Active CN208351334U (en) | 2018-06-29 | 2018-06-29 | A kind of control device and unmanned vehicle for unmanned vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113825974A (en) * | 2020-09-28 | 2021-12-21 | 深圳市大疆创新科技有限公司 | Inertia measurement assembly and unmanned vehicles |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113825974A (en) * | 2020-09-28 | 2021-12-21 | 深圳市大疆创新科技有限公司 | Inertia measurement assembly and unmanned vehicles |
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