CN209485371U - A kind of Attitute detecting device - Google Patents
A kind of Attitute detecting device Download PDFInfo
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- CN209485371U CN209485371U CN201920408819.XU CN201920408819U CN209485371U CN 209485371 U CN209485371 U CN 209485371U CN 201920408819 U CN201920408819 U CN 201920408819U CN 209485371 U CN209485371 U CN 209485371U
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- box body
- mainboard
- detecting device
- attitute detecting
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Abstract
The utility model provides a kind of Attitute detecting device, the mainboard of first inertance element and processor is installed by the way that the first line plate for being equipped with the second inertance element and the second wiring board for being equipped with third inertance element to be set to, to realize the miniaturization of Attitute detecting device.And mainboard is fixed in the box body cavity of Attitute detecting device to improvement design is carried out on the box body structure of Attitute detecting device, ensure that the precision of detection device by the utility model；And box body pedestal and box body upper cover have reached sealing, erosion-resisting purpose by water-stop glue connection.
Description
Technical field
The utility model relates to detecting instrument fields, more particularly to a kind of Attitute detecting device.
Background technique
Under the background of current development of all countries economy, greatly developing marine economy is trend of the times, is coastwise contries and ground
The only way which must be passed of area's development.The development of marine economy will go on fast traffic lane, and when carrying out Activities of Ocean, operation is set in ocean
It is standby essential.Oceanographic equipment during the work time, the inevitable shadow by Marine Environment Factors such as ocean current, tide, stormy waves
It rings, so that equipment is generated the attitudes vibrations such as rotation, pitching, inclination, this has an important influence on the experimental result of equipment.Therefore, lead to
It crosses particularly significant to instrument and equipment progress attitude measurement correction.
The method of attitude monitoring is more, mainly has: mechanical-type posture measurement method is based on optical principle and image procossing skill
The attitude measurement scheme of art and attitude detection scheme based on MEMS composite module.Mechanical-type posture measurement method equipment instrument
Greatly, precision is low；The instrument price of attitude measurement scheme based on optical principle and image processing techniques is expensive, data operation quantity is big.
In consideration of it, both schemes are not suitable with the real-time monitoring of hydrospace detection instrument posture.Posture inspection based on MEMS composite module
It surveys compared with traditional sensors, volume is smaller, and sensitivity is higher, and faster, power consumption is smaller for response speed, and can make sensing
It device array and is integrated with processing circuit.Oceanographic equipment field high integration, miniaturization, intelligence, low can sufficiently be met
The demand of power consumption.
But in actual attitude detection, the posture to measurand in three mutually orthogonal direction dimensions is needed
It measures, the posture of measurand can be calculated.Therefore, this three orthogonal MEMS inertia inspection need to set
Measurement equipment.In this case, how posture detection device is miniaturised, then becomes urgent problem.
In addition, requirement of the EMS inertial sensor to use environment is stringenter, if MEMS inertial sensor is in deep-sea
The work for carrying out the long period, then need the problem of facing deep sea pressure, seawater corrosion.Therefore, how to ensure that MEMS inertia passes
Sensor can bear deep sea pressure in deep-marine-environment and resist seawater corrosion, this is a problem to be solved.
But working time longer equipment, the problems such as needing to solve leakproofness, anti-seawater corrosion, and due to surveying under water
It is higher to power consumption, volume and required precision to measure equipment, so environment is not applied preferably under water.How to make full use of existing
Material and manufacture craft, in the case where quantity is smaller, reasonable control cost reaches higher-strength, corrosion resistant requirement, be one more
Difficult problem.
The technical issues of how miniaturization is realized for existing underwater inertial attitude detection device, and be difficult to take into account close
The technical issues of performances such as Feng Xing, corrosion resistance, volume and precision, currently without effective solution means.
Utility model content
The purpose of the utility model is to overcome the above problem or it at least is partially solved or extenuates and solve the above problems.
According to the utility model, a kind of Attitute detecting device, including mainboard are provided, the mainboard is provided with for measuring
First inertance element of the posture of first direction and the processor communicated to connect with the first inertance element.It is provided on mainboard point
First line plate and the second wiring board not vertical with mainboard, and wherein, first line plate is perpendiculared to one another with the second wiring board
Ground setting.The second inertance element of the posture for measuring second direction, and the second wiring board are provided on first line plate
On be provided with the third inertance element of posture for measuring third direction, wherein first direction, second direction and third party
It is vertical to each other.And wherein, first line plate and the second wiring board are respectively arranged with the tie point being electrically connected with mainboard, and
Second inertance element is connect with processor communication respectively with third inertance element.
Optionally, the first pad connecting with first line plate is provided on mainboard and is connect with the second wiring board
Two pads.And wherein, the tie point of first line plate is connect in the form welded with the first pad, the connection of the second wiring board
Point is connect in the form welded with the second pad.
Optionally, Attitute detecting device further includes the box body for accommodating mainboard, first line plate and the second wiring board.Box body
It include: box body pedestal and box body upper cover.And wherein, box body pedestal is provided with the box body cavity for accommodating mainboard, mainboard
It is fixed in box body cavity, and box body upper cover and box body pedestal pass through watertight glue connection, thus sealed box body cavity.
Optionally, further include the cable being connect with mainboard, and wherein box body upper cover is provided with cable hole, be configured to line
Cable passes through.
Optionally, the bottom of box body cavity is provided with boss, and boss surface is provided with multiple first mounting holes, for fixing
Mainboard.
Optionally, the bottom of the outer surface of box body pedestal is provided with mounting portion, and mounting portion is provided with the second mounting hole,
For Attitute detecting device to be fixed on object to be detected.
Optionally, the outer surface of box body pedestal is provided at position corresponding with mounting portion upwardly extends from mounting portion
The outer edge of recessed portion, mounting portion is flushed with the outer surface of box body pedestal.
Optionally, the surface that box body upper cover is connect with box body pedestal is provided with the protrusion coincideing with the inner wall of box body cavity
Portion.
Optionally, the aperture of cable hole is gradually reduced from the inner surface of the box body upper cover to outer surface.
Optionally, cable hole and cable connection are also filled with sealant.
The utility model, which passes through, will be equipped with the first line plate of the second inertance element and is equipped with third inertance element
Second wiring board is set to the mainboard for being equipped with the first inertance element and processor, to realize the small-sized of Attitute detecting device
Change.And mainboard is fixed on attitude detection to improvement design is carried out on the box body structure of Attitute detecting device by the utility model
In the box body cavity of device, the precision of detection device ensure that；And box body pedestal and box body upper cover pass through water-stop glue connection
It connects, has reached sealing, erosion-resisting purpose.Wherein, such as, but not limited to, box portion can use 3D printing technique system
Make, saves material, and the volume of detection device can be reduced.And then solves existing underwater inertial attitude detection device
It is existing to be difficult to the technical issues of taking into account the performances such as leakproofness, corrosion resistance, volume and precision.
According to the accompanying drawings to the detailed description of specific embodiment of the utility model, those skilled in the art will
The above-mentioned and other purposes, advantages and features of the utility model are more illustrated.
Detailed description of the invention
Some specific realities of the utility model are described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter
Apply example.Identical appended drawing reference denotes same or similar part or part in attached drawing.It should be appreciated by those skilled in the art that
The drawings are not necessarily drawn to scale.In attached drawing:
Fig. 1 shows the schematic diagram according to Attitute detecting device described in the utility model；
Fig. 2 shows the schematic diagrames according to the mainboard of Attitute detecting device described in the utility model；
Fig. 3 shows the schematic diagram of the box body according to Attitute detecting device described in the utility model；
Fig. 4 shows the schematic diagram of the box body of the receiving mainboard according to Attitute detecting device described in the utility model；
Fig. 5 shows the schematic diagram of the box body cavity according to Attitute detecting device described in the utility model；
Fig. 6 shows the schematic diagram of the box body upper cover according to Attitute detecting device described in the utility model；And
Fig. 7 is shown according to the mainboard of the box body cavity inside of Attitute detecting device described in the utility model and boss
Connection schematic diagram.
Specific embodiment
Fig. 1 shows the schematic diagram of the Attitute detecting device according to the utility model embodiment.Refering to what is shown in Fig. 1,
Attitute detecting device 100 includes mainboard 110, and mainboard 110 is provided with the first inertance element of the posture for measuring first direction
111 and with the first inertance element 111 communication connection processor 112.It is provided on mainboard 110 vertical with mainboard 110 respectively
First line plate 120 and the second wiring board 130, and wherein, first line plate 120 is Bi Cichuizhied with the second wiring board 130
Ground setting.Wherein, the second inertance element 121 of the posture for measuring second direction is provided on first line plate 120, and
The third inertance element 131 of the posture for measuring third direction is provided on second wiring board 130.Wherein first direction,
Two directions and third direction are perpendicular to one another.And wherein, first line plate 120 and the second wiring board 130 be respectively arranged with
The tie point that mainboard 110 is electrically connected.And the second inertance element 121 is communicated with processor 112 respectively with third inertance element 131
Connection.
To which the first inertance element 111, the second inertance element 121 and third inertance element 131 can be by the letters of measurement
Breath is sent to processor 112, and the posture of measurement object is calculated by processor 112.
Also, as described in the background art, in actual attitude detection, need mutually to hang down to measurand at three
Posture in straight direction dimension measures, and can calculate the posture of measurand.Therefore, this three need to set
Orthogonal MEMS inertia detection device.In this case, how posture detection device is miniaturised, then become
Urgent problem.
In order to solve the technical problem, refering to what is shown in Fig. 1, the utility model will directly install the second inertance element 121
The tertiary circuit plate 130 of first line plate 120 and installation third inertance element 131, which is directly arranged at, is equipped with the first inertance element
111 and processor 112 mainboard 110 on.To which in this way, the utility model reduces attitude detection to the maximum extent
The occupied space of device, to realize the miniaturization of underwater posture detection device.
In addition, the first inertance element 111, the second inertance element 121 and third inertance element 131 are preferably MEMS posture
Sensor.Processor 112 can be common processor of single chip computer.For example, processor 112 can be stm32f405 single-chip microcontroller.
First inertance element 111, the second inertance element 121 and third inertance element 131 can add table pack for single-degree-of-freedom gyro,
For example, model ad22293 accelerometer and a number combination for the gyroscope for being adxrs620.
Optionally, in addition, refering to what is shown in Fig. 2, being provided with the first pad connecting with first line plate 120 on mainboard 110
113 and the second pad 114 for being connect with the second wiring board 130.And wherein, the tie point of first line plate 120 is to weld
Form connect with the first pad 113.The tie point of second wiring board 130 is connect in the form welded with the second pad 114.
To which in this way, first line plate 120 and the second wiring board 130 are directly connected to by welding
On mainboard 110, so that the volume of entire Attitute detecting device further reduces, the small-sized of Attitute detecting device is realized
Change.
Optionally, with reference to shown in Fig. 3 and Fig. 4, Attitute detecting device 100 further includes accommodating mainboard 110, first line plate
120 and second wiring board 130 box body 140.Box body 140 includes: box body pedestal 141 and box body upper cover 142.And wherein
Box body pedestal 141 is provided with the box body cavity 143 for accommodating mainboard 110, first line plate 120 and the second wiring board 130,
Mainboard 110 is fixed in box body cavity 143.Also, box body upper cover 142 and box body pedestal 141 are by watertight glue connection, thus close
Jacket body cavity 143.
To which mainboard 110 is fixed on by the utility model to improvement design is carried out on the box body structure of Attitute detecting device
In the box body cavity 143 of Attitute detecting device, the precision of detection device ensure that；And box body pedestal 141 and box body upper cover
142, by water-stop glue connection, have reached sealing, erosion-resisting purpose.And then solves existing underwater inertial attitude detection
The technical issues of taking into account the performances such as leakproofness, corrosion resistance, volume and precision is difficult to existing for device.
As described in the background art, relative to other attitude detection technologies (such as mechanical-type posture measurement method and
Attitude measurement scheme based on optical principle and image processing techniques), MEMS inertial sensor volume is smaller, and sensitivity is higher,
Faster, power consumption is smaller for response speed, and can make sensor array and be integrated with processing circuit.Can sufficiently it meet
Oceanographic equipment field high integration, the demand of miniaturization, intelligence, low-power consumption.But MEMS inertial sensor is to use environment
Requirement it is stringenter, if MEMS inertial sensor carries out the work of long period in deep-sea, need to face deep-sea pressure
The problem of power, seawater corrosion.
And technical solution through this embodiment, it can be ensured that MEMS inertial sensor be able to bear deep sea pressure and by
To being protected from seawater corrosion.To ensure that MEMS inertial sensor can be in deep-sea prolonged use.It solves existing
Existing for technology, it cannot ensure that MEMS inertial sensor can bear deep sea pressure in deep-marine-environment and resist asking for seawater corrosion
Topic.
In addition, such as, but not limited to, box body pedestal 141 and box body upper cover 142 can be made of 3D printing technique.
3D printing technique has as instantly more popular entity shaping technology and saves material, does not have to reject leftover pieces, improves material
The utilization rate of material is reduced costs and abandoning production line；It can accomplish higher precision and very high complexity, can make
Produce using conventional method do not manufacture come, extremely complex product；Traditional cutter, fixture, lathe or any are not needed
Mold, can be directly the three-dimensional CAD graphic hotsopt products in kind of any shape of computer；It can be automatic, quick, direct
Mock-up or even direct manufacturing parts or mold relatively accurately are converted by the three dimensional design in computer, to have
Shorten the research and development of products period to effect；3D printing has the characteristics that distributed production without manufacturing shop concentrate, fixed；
3D printing can be in a few hours internal shaping, it allows designer and developer to realize the leap from plan view to entity；Its energy
Assembled product is printed, therefore, it reduces assembling cost, it might even be possible to challenge mass production method.To this reality
Example is applied making box body pedestal 141 and box body upper cover 142 in the way of 3D printing, material can be saved, and can contract
The volume of small detection device.Wherein, box body pedestal 141 and box body upper cover 142 can utilize PLA engineering plastic using 3D printing technique
Material is made, which has the spies such as high intensity, seawater corrosion resistance, impact resistance, heat resistance, hardness are high and ageing resistance is strong
Point, using depth up to 50 meters.
Optionally, in addition, watertight glue uses the sealing of silicon rubber watertight (such as 704 watertight sealings).Silicon rubber watertight sealing
Not only there are lower temperature resistance and resistance to ag(e)ing outstanding, excellent electrical apparatus insulation and moisture-proof shock resistance, also there is excellent bonding
Property, various metals, nonmetallic, plastics and rubber can be bonded extensively.It is heat-resistor with excellent high temperature resistant and hot water resistance energy
The ideal material of part low pressure watertight.Further, it is contemplated that liquid solidifies the expansion generated, box body upper cover 142 and box after the sealing of 704 glue
There are corresponding expansion spaces between body pedestal 141.
In addition, as shown in figure 5, box body pedestal 141 is configurable to rectangle, the shape and box body pedestal of box body upper cover 142
141 are adapted.And 143 4 jiaos of box body cavity use trapezoidal inner concave shape structure, guarantee that 143 inner space of box body cavity minimizes
It is bonded mainboard 110.
It optionally, as shown in Figure 3 and Figure 4, further include the cable 150 being connect with mainboard 110, wherein cable 150 is multicore
(enhancing anti-interference) is wrapped up in special cables, including the silver-plated cable of six cores, outside with shielded layer, is provided power supply for mainboard 150, is passed
Defeated signal.And wherein box body upper cover 142 is provided with cable hole 144 (with reference to Fig. 6), is configured to cable 150 and passes through, in addition,
Cable 150 is bonded in the inner wall of box body cavity 143 in the part of box body cavity by sealant.By the way that only there are the skies of cable hole
Gap allows cable to pass through, and ensure that the leakproofness of the detection device.
Optionally, with reference to Fig. 5, the bottom of box body cavity 143 is provided with boss 145, and 145 surface of boss is provided with multiple
One mounting hole 146, wherein the first mounting hole 146 is to be not penetrated threaded hole, and be distributed in the surface of boss 145, for fixed master
Plate 110, and mainboard 110 and the junction of boss 145 are further fixed with sealant.Fig. 7 shows the detection device
Internal boss 145 and 110 mounting structure of mainboard schematic diagram, refering to what is shown in Fig. 7, can make to lead by the way of boss 145
Plate 150 is hanging, does not touch the bottom of box body pedestal 141, so that the detection data of detection device is more accurate, and enhances dress
Diamagnetism, anti-interference and the durability set.
Optionally, as shown in figure 5, the bottom of the outer surface of box body pedestal 141 is provided with mounting portion 147, and mounting portion
147 are provided with the second mounting hole 148, and wherein the quantity of mounting portion 147 and the second mounting hole 148 is according to the shape of device and big
Small and set, for the device in scheme, it is rectangle which, which uses, so mounting portion can be distributed in rectangular box pedestal
Four corners, for Attitute detecting device to be fixed on object to be detected.The design of mounting portion 147 facilitates the Attitute detecting device
It is installed on object to be detected (for example, underwater pipeline or marine marker), is easily installed and transplants.
Optionally, refering to what is shown in Fig. 5, the outer surface of box body pedestal 141 is provided at position corresponding with mounting portion 147
The outer edge of the recessed portion 149 upwardly extended from mounting portion 147, mounting portion 147 is flushed with the outer surface of box body pedestal 141.It is recessed
The design of concave portion is more convenient for the operation of installation, and can make mounting portion 147 and box body pedestal by the design of recessed portion
141 outer surface is parallel, compared with the mounting portion of traditional prominent design, changes design so that the more stable jail of the installation of device
Gu being hardly damaged.
Optionally, the surface that box body upper cover 142 is connect with box body pedestal 141 is provided with kisses with the inner wall of box body cavity 143
The protruding portion 1421 of conjunction.With reference to Fig. 6, box body upper cover 142 and box body pedestal can be made by the protruding portion 1421 of box body upper cover 142
141 (junctions of box body cavity 143) more enhance the leakproofness of the detection device in connection is embedded in.
Optionally, the aperture of cable hole 144 is gradually reduced from the inner surface of box body upper cover 142 to outer surface, close in guarantee
Facilitate passing through for cable 150 under the premise of envelope property.
Optionally, cable hole 144 and 150 junction of cable are also filled with sealant, further enhance the sealing of device
Property.
It is used in conclusion the utility model passes through to be equipped with the first line plate of the second inertance element and be equipped with third
Property element the second wiring board be set to the mainboard for being equipped with the first inertance element and processor, thus realize attitude detection dress
The miniaturization set.And mainboard is fixed on by the utility model to improvement design is carried out on the box body structure of Attitute detecting device
In the box body cavity of Attitute detecting device, the precision of detection device ensure that；And box body pedestal and box body upper cover pass through water
Glue connection is sealed, sealing, erosion-resisting purpose have been reached.Wherein, such as, but not limited to, box portion can use 3D printing skill
Art is made, and saves material, and can reduce the volume of detection device.And then solves existing underwater inertial attitude
The technical issues of taking into account the performances such as leakproofness, corrosion resistance, volume and precision is difficult to existing for detection device.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in
Change or replacement, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should
It is subject to the protection scope in claims.
Claims (10)
1. a kind of Attitute detecting device (100), including mainboard (110), the mainboard (110) is provided with for measuring first direction
Posture the first inertance element (111) and with first inertance element (111) communication connection processor (112),
It is characterized in that,
Vertical with the mainboard (110) respectively first line plate (120) and the second wiring board are provided on the mainboard (110)
(130), and wherein, the first line plate (120) is arranged perpendicular to each other with second wiring board (130), wherein
The second inertance element (121) of the posture for measuring second direction is provided on the first line plate (120), and
The third inertance element (131) of the posture for measuring third direction is provided on second wiring board (130), wherein described
First direction, the second direction and the third direction are perpendicular to one another, and wherein
The first line plate (120) and second wiring board (130), which are respectively arranged with, to be electrically connected with the mainboard (110)
Tie point, and second inertance element (121) and the third inertance element (131) respectively with the processor (112)
Communication connection.
2. Attitute detecting device (100) according to claim 1, which is characterized in that be provided on the mainboard (110) with
The first pad (113) of first line plate (120) connection and the second pad being connect with second wiring board (130)
(114), and wherein
The tie point of the first line plate (120) is connect in the form welded with first pad (113), second line
The tie point of road plate (130) is connect in the form welded with second pad (114).
3. Attitute detecting device according to claim 1, which is characterized in that further include accommodating the mainboard (110), described
The box body (140) of first line plate (120) and second wiring board (130), the box body (140) includes: box body pedestal
(141) and box body upper cover (142), and wherein
The box body pedestal (141) is provided with for accommodating the mainboard (110), the first line plate (120) and described
The box body cavity (143) of second wiring board (130),
The mainboard (110) is fixed in the box body cavity (143), and
The box body upper cover (142) and the box body pedestal (141) are by watertight glue connection, to seal the box body cavity
(143)。
4. Attitute detecting device according to claim 3, which is characterized in that further include being connect with the mainboard (110)
Cable (150), and wherein,
The box body upper cover (142) is provided with cable hole (144), is configured to the cable (150) and passes through.
5. Attitute detecting device according to claim 3, which is characterized in that the bottom of the box body cavity (143) is arranged
Have boss (145), boss (145) surface is provided with multiple first mounting holes (146), for fixing the mainboard (110).
6. Attitute detecting device according to claim 3, which is characterized in that the outer surface of the box body pedestal (141)
Bottom is provided with mounting portion (147), and the mounting portion (147) is provided with the second mounting hole (148), is used for the posture
Detection device is fixed on object to be detected.
7. Attitute detecting device according to claim 6, which is characterized in that the outer surface of the box body pedestal (141) exists
The recessed portion (149) upwardly extended from the mounting portion (147), institute are provided at position corresponding with the mounting portion (147)
The outer edge for stating mounting portion (147) is flushed with the outer surface of the box body pedestal (141).
8. Attitute detecting device according to claim 3, which is characterized in that the box body upper cover (142) and the box body
The surface of pedestal (141) connection is provided with the protruding portion (1421) coincideing with the inner wall of box body cavity (143).
9. Attitute detecting device according to claim 4, which is characterized in that the aperture of the cable hole (144) is from described
The inner surface of box body upper cover (142) is gradually reduced to outer surface.
10. Attitute detecting device according to claim 4, which is characterized in that the cable hole (144) and the cable
(150) junction is also filled with sealant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920408819.XU CN209485371U (en) | 2019-03-28 | 2019-03-28 | A kind of Attitute detecting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920408819.XU CN209485371U (en) | 2019-03-28 | 2019-03-28 | A kind of Attitute detecting device |
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| Publication Number | Publication Date |
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| CN209485371U true CN209485371U (en) | 2019-10-11 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111623775A (en) * | 2020-05-15 | 2020-09-04 | 天津时空经纬测控技术有限公司 | Vehicle attitude measurement system, method, device, and storage medium |
| CN113048960A (en) * | 2021-04-13 | 2021-06-29 | 广州得尔塔影像技术有限公司 | Spatial position detection device and position adjustment method |
-
2019
- 2019-03-28 CN CN201920408819.XU patent/CN209485371U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111623775A (en) * | 2020-05-15 | 2020-09-04 | 天津时空经纬测控技术有限公司 | Vehicle attitude measurement system, method, device, and storage medium |
| CN113048960A (en) * | 2021-04-13 | 2021-06-29 | 广州得尔塔影像技术有限公司 | Spatial position detection device and position adjustment method |
| CN113048960B (en) * | 2021-04-13 | 2024-04-12 | 广州得尔塔影像技术有限公司 | Spatial position detection device and position adjustment method |
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