CN213874371U

CN213874371U - Data transmission device and detection equipment of inertia measurement unit

Info

Publication number: CN213874371U
Application number: CN202120080877.1U
Authority: CN
Inventors: 王杰德; 陈锐鸿; 黄立成; 司徒春辉
Original assignee: Guangzhou Asensing Technology Co Ltd
Current assignee: Guangzhou Asensing Technology Co Ltd
Priority date: 2021-01-12
Filing date: 2021-01-12
Publication date: 2021-08-03
Anticipated expiration: 2031-01-12

Abstract

The embodiment of the application provides a data transmission device and detection equipment of an inertia measurement unit, and relates to the technical field of inertia measurement. The data transmission device of the inertial measurement unit comprises a bracket, an outer shell and a transmission assembly; the support comprises a base, a side plate and a plurality of mounting plates, wherein the side plate is mounted on the base, the mounting plates are mounted on the side plate, and the mounting plates and the base are arranged in parallel; the outer shell is fixedly installed with the side plate and the base respectively; the transmission assembly comprises a plurality of input interfaces and a plurality of output interfaces, and at least one input interface and at least one output interface are arranged on each mounting plate. The data transmission device of the inertia measurement unit can achieve the technical effects of improving the detection efficiency and reducing the detection cost.

Description

Data transmission device and detection equipment of inertia measurement unit

Technical Field

The application relates to the technical field of inertial measurement, in particular to a data transmission device and detection equipment of an inertial measurement unit.

Background

Currently, inertial measurement systems (inertial measurement systems) refer to a combined system that measures the acceleration of a vehicle relative to the ground motion in real time using inertial sensors such as gyroscopes and accelerometers and an electronic computer to determine the position of the vehicle and the earth gravitational field parameters. The system is developed on the basis of an inertial navigation system and is divided into a local horizontal inertial system and a space stabilizing system. The first category of local horizontal north-seeking inertial systems is commonly used.

In the prior art, all devices or apparatuses for Inertial Measurement include an Inertial Measurement Unit (IMU), which is a device for measuring three-axis attitude angle (or angular velocity) and acceleration of an object. Gyroscopes and accelerometers are the main components of the IMU, the accuracy of which directly affects the accuracy of the inertial system. The existing detection equipment for the inertia measurement unit can only realize the detection of a single inertia measurement unit, but cannot realize the detection of a plurality of inertia measurement units, so that the detection efficiency is low, and the detection cost is high.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the present application is to provide a data transmission device and a detection apparatus for an inertial measurement unit, where the data transmission device for the inertial measurement unit can achieve the technical effects of improving detection efficiency and reducing detection cost.

In a first aspect, an embodiment of the present application provides a data transmission device of an inertial measurement unit, including a support, an outer casing, and a transmission assembly;

the support comprises a base, a side plate and a plurality of mounting plates, wherein the side plate is mounted on the base, the mounting plates are mounted on the side plate, and the mounting plates and the base are arranged in parallel;

the outer shell is fixedly installed with the side plate and the base respectively;

the transmission assembly comprises a plurality of input interfaces and a plurality of output interfaces, and at least one input interface and at least one output interface are arranged on each mounting plate.

In the implementation process, the data transmission device of the inertia measurement unit is installed by matching the bracket, the outer shell and the transmission assembly, so that the whole structure of the data transmission device of the inertia measurement unit is compact and practical, and meanwhile, the collection of the measurement signals of the inertia measurement units is realized by the plurality of input interfaces and the plurality of output interfaces of the transmission assembly, so that the detection of the inertia measurement units is realized, the detection efficiency is high, and the detection cost is low; therefore, by the mode, the data transmission device of the inertial measurement unit can achieve the technical effects of improving the detection efficiency and reducing the detection cost.

Further, the mounting plates are arranged at equal intervals.

In the implementation process, the distance between the mounting plates is set to be equidistant, so that the mounting plates can be conveniently detached or assembled, the quantity of the mounting plates in the data transmission device of the inertia measurement unit can be flexibly adjusted, the requirements on the detection quantity of the inertia measurement unit under different conditions are met, and the practicability is improved.

Further, each mounting plate is provided with an RS422 output interface and a USB output interface.

Further, each mounting plate is provided with a CAN input interface and a CAN FD input interface.

Furthermore, a connecting hole is formed in the surface, parallel to the side plate, of the outer shell, the position of the connecting hole corresponds to the position of the input interface, and the input interface penetrates through the connecting hole.

In the implementation process, the input interface can penetrate through the connecting hole to be connected with the inertia measuring unit by arranging the connecting hole on the surface of the outer shell, so that the measurement data of the inertia measuring unit can be collected.

Further, the surface of the outer shell, which is perpendicular to the side plates, is provided with heat dissipation holes, and the heat dissipation holes are perpendicular to the connecting holes.

In the implementation process, the heat dissipation holes can dissipate heat, the situation that the operating temperature of the whole data transmission device of the inertia measurement unit is too high is avoided, and the heat dissipation efficiency can be accelerated due to the fact that the heat dissipation holes are perpendicular to the connecting holes.

Further, the support still includes the support column, the support column is installed on the base, the support column with curb plate parallel arrangement, a plurality of mounting panels pass the support column and with the support column is fixed.

In the implementation process, the mounting plate is fixed through the support columns and the side plates, so that the mounting structure of the mounting plate is more stable and firm.

Further, the transmission assembly further comprises a processor, and the plurality of input interfaces and the plurality of output interfaces are connected through the processor.

In the implementation process, the measurement data of the inertia measurement unit received by the input interface is converted and transmitted to the output interface for data output through the conversion function of the processor.

Further, the device also comprises a power supply which is connected with the processor.

In the above implementation, the power supply is used to power the processor.

In a second aspect, an embodiment of the present application provides a detection apparatus for an inertial measurement unit, including the data transmission device of the inertial measurement unit in any one of the first aspect.

Additional features and advantages of the disclosure will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the above-described techniques.

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a data transmission device of an inertial measurement unit according to an embodiment of the present disclosure;

fig. 2 is an exploded schematic view of a data transmission device of an inertial measurement unit according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or a point connection; either directly or indirectly through intervening media, or may be an internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "first," "second," and the like, are used primarily to distinguish one device, element, or component from another (the specific nature and configuration may be the same or different), and are not used to indicate or imply the relative importance or number of the indicated devices, elements, or components. "plurality" means two or more unless otherwise specified.

The embodiment of the application provides a data transmission device and detection equipment of an inertia measurement unit, which can be applied to the detection process of the inertia measurement unit; the data transmission device of the inertia measurement unit is installed by matching the bracket, the outer shell and the transmission assembly, so that the whole structure of the data transmission device of the inertia measurement unit is compact and practical, and meanwhile, the collection of measurement signals of a plurality of inertia measurement units is realized by a plurality of input interfaces and a plurality of output interfaces of the transmission assembly, so that the detection of the plurality of inertia measurement units is realized, the detection efficiency is high, and the detection cost is low; therefore, by the mode, the data transmission device of the inertial measurement unit can achieve the technical effects of improving the detection efficiency and reducing the detection cost.

Referring to fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of a data transmission device of an inertial measurement unit according to an embodiment of the present disclosure, and fig. 2 is an exploded schematic structural diagram of a data transmission device of an inertial measurement unit according to an embodiment of the present disclosure, where the data transmission device of the inertial measurement unit includes a support 100, an outer housing 200, and a transmission assembly 300.

Illustratively, the rack 100 includes a base 110, a side plate 120, and a plurality of mounting plates 130, the side plate 120 being mounted on the base 110, the plurality of mounting plates 130 being mounted on the side plate 12, the plurality of mounting plates 130 being arranged in parallel with the base 110.

Illustratively, the outer casing 200 is fixedly mounted with the side plates 120 and the base 110, respectively.

Illustratively, the transport assembly 300 includes a plurality of input interfaces 310 and a plurality of output interfaces 320, with at least one input interface 310 and at least one output interface 320 disposed on each mounting board 130.

An Inertial Measurement Unit (IMU) is an apparatus that measures the three-axis attitude angle (or angular velocity) and acceleration of an object, for example. Gyroscopes and accelerometers are the main components of the IMU, the accuracy of which directly affects the accuracy of the inertial system. In actual operation, the gyroscope and the accelerometer generate errors due to various unavoidable interference factors, and the navigation error of the gyroscope and the accelerometer grows along with time from initial alignment, especially the position error, which is a main disadvantage of the inertial navigation system. Therefore, the method needs to be assisted by external information to realize combined navigation, so that the problem of error accumulation over time is effectively reduced. To increase reliability, more sensors may be provided for each axis. Generally, the IMU is mounted at the center of gravity of the object being tested.

In general, an IMU includes three single-axis accelerometers and three single-axis gyroscopes, the accelerometers detecting acceleration signals of the object in three independent axes of the carrier coordinate system, and the gyroscopes detecting angular velocity signals of the carrier relative to the navigation coordinate system, measuring the angular velocity and acceleration of the object in three-dimensional space, and calculating the attitude of the object based on the measured angular velocity and acceleration. Has important application value in navigation.

IMUs are mostly used in devices requiring motion control, such as automobiles and robots. The method is also used in occasions needing to use the attitude for precise displacement calculation, such as inertial navigation equipment of submarines, airplanes, missiles and spacecrafts.

In some embodiments, the measurement data of the inertial measurement unit needs to be detected to ensure the normal operation of the inertial measurement unit; however, most of the existing detection equipment aiming at the inertial measurement units can only realize the detection of a single inertial measurement unit, but cannot realize the detection of a plurality of inertial measurement units, so that the detection efficiency is low, and the detection cost is high; in the data transmission device of the inertial measurement unit provided in the embodiment of the present application, the measurement signals of the external inertial measurement unit are collected, input from the input interface 310, and output from the output interface 320, so as to be analyzed by an upper computer (a computer, etc.), thereby detecting the measurement signals of a plurality of inertial measurement units at one time, and greatly improving the detection efficiency.

Illustratively, the data transmission device of the inertial measurement unit is installed by matching the bracket 100, the outer shell 200 and the transmission assembly 300 with each other, so that the overall structure of the data transmission device of the inertial measurement unit is compact and practical, and meanwhile, the plurality of input interfaces 310 and the plurality of output interfaces 320 of the transmission assembly 300 can realize the collection of the measurement signals of the plurality of inertial measurement units, thereby realizing the detection of the plurality of inertial measurement units, and having high detection efficiency and low detection cost; therefore, by the mode, the data transmission device of the inertial measurement unit can achieve the technical effects of improving the detection efficiency and reducing the detection cost.

Illustratively, the plurality of mounting plates 130 are equally spaced from one another.

Illustratively, the distances among the mounting plates 130 are set to be equal, so that the mounting plates 130 can be conveniently detached or assembled, the number of the mounting plates 130 in the data transmission device of the inertial measurement unit can be flexibly adjusted, the requirement on the detection number of the inertial measurement unit under different conditions is met, and the practicability is improved.

Illustratively, each mounting board is provided with one RS422 output interface 311 and USB output interface 312.

Illustratively, the RS422 output interface 311 may be a four-wire interface, and since separate transmit and receive channels are used, it is not necessary to control the direction of data, and any necessary signal exchanges between devices may be in software (XON/XOFF handshaking) or hardware (a single pair of twisted-pair wires).

Illustratively, the Universal Serial Bus (USB) in the USB output interface 312 is an emerging data communication mode that gradually replaces other interface standards, and gradually forms an industry standard. As a high-speed serial bus, the USB bus has extremely high transmission speed which can meet the application environment requirement of high-speed data transmission, and has the advantages of simple power supply (bus power supply), convenient installation and configuration (supporting plug and play and hot plug), simple expansion port (127 peripheral devices can be expanded at most through a concentrator), diversified transmission modes (4 transmission modes), good compatibility (downward compatibility after product upgrading) and the like.

Illustratively, each mounting board is provided with one CAN input interface and CAN FD input interface.

Illustratively, in the CAN input interface, CAN (Controller Area Network) belongs to the field bus category, and is a serial communication Network that effectively supports distributed control or real-time control. Compared with a plurality of distributed control systems constructed by RS-485 based on R lines, the distributed control system based on the CAN bus has obvious advantages in the following aspects: the real-time performance of data communication among nodes of a network is strong, a CAN controller works in various modes, each node in the network CAN compete to send data to a bus in a bit-by-bit arbitration mode of a lossless structure according to bus access priority (depending on a message identifier), and a CAN protocol eliminates station address coding and encodes communication data instead, so that different nodes CAN receive the same data at the same time. RS-485 can only be used for forming a master-slave structure system, and the communication mode can only be carried out in a master station polling mode, so that the real-time performance and the reliability of the system are poor; the development cycle is short, the CAN bus is connected with the physical bus through two output terminals CANH and CANL of the CAN transceiver interface chip 82C250, the state of the CANH terminal CAN only be a high level or a floating state, and the CANL terminal CAN only be a low level or a floating state. This ensures that the phenomenon that when the system has errors and multiple nodes send data to the bus at the same time, the bus is short-circuited, thereby damaging some nodes is avoided. And the CAN node has an automatic output closing function under the condition of serious errors, so that the operation of other nodes on the bus is not influenced, and the bus is ensured not to be in a deadlock state due to the problem of individual nodes in the network. In addition, the complete communication protocol of the CAN CAN be realized by the CAN controller chip and the interface chip thereof, thereby greatly reducing the difficulty of system development and shortening the development period, which is incomparable with RS-485 of only an electrical protocol.

In the CAN FD output interface, CAN FD CAN be understood as an upgraded version of CAN protocol, only the protocol is upgraded, and the physical layer is not changed; CAN differs from CAN FD mainly as follows: different transmission rates, different data lengths, different frame formats, and different ID lengths.

In some embodiments, the measurement signals of the external inertial measurement unit are collected, wherein each channel has a different ID, and CAN be input from the input port (CAN input interface and CAN FD input interface) and output from the output port (RS422 output interface 311 and USB output interface 312); optionally, the CAN input interface and the CAN FD input interface have 12 ports, each port CAN input 40 IMU data, and the computer CAN analyze the IMU data by using an upper computer to obtain 480 inertial unit data.

Illustratively, the surface of the outer case 200 parallel to the side plate 120 is provided with a connection hole 210, the position of the connection hole 210 corresponds to the position of the input interface 310, and the input interface 310 passes through the connection hole 210.

Illustratively, the input interface 310 may connect the inertial measurement unit through the connection hole 210 by opening the connection hole 210 on the surface of the outer housing 200, so as to collect the measurement data of the inertial measurement unit.

Illustratively, the surface of the outer case 200 perpendicular to the side plate 120 is provided with heat dissipation holes 220, and the heat dissipation holes 220 and the connection holes 210 are perpendicular to each other.

Illustratively, the heat dissipation holes 220 can dissipate heat, so as to avoid an excessively high operating temperature of the data transmission device of the inertia measurement unit, and the heat dissipation efficiency can be improved by the heat dissipation holes 220 being perpendicular to the connection holes 210.

Illustratively, the rack 100 further includes a support column 140, the support column 140 is mounted on the base 110, the support column 140 is disposed parallel to the side plate 120, and the plurality of mounting plates 130 pass through the support column 140 and are fixed to the support column 140.

Illustratively, the mounting structure of the mounting plate 130 is more stable and firm by fixing the support column 140 and the side plate 120 to the mounting plate 130.

Illustratively, the transmission assembly 300 further includes a processor through which the plurality of input interfaces 310 and the plurality of output interfaces 320 are connected.

Illustratively, the measurement data of the inertial measurement unit received by the input interface 310 is converted and transmitted to the output interface 320 for data output by the conversion function of the processor.

Illustratively, the data transmission device of the inertial measurement unit further comprises a power supply, and the power supply is connected with the processor.

Illustratively, the power supply is used to power the processor.

The embodiment of the application provides detection equipment of an inertial measurement unit, which comprises a data transmission device of the inertial measurement unit shown in fig. 1 to 2.

In some implementation scenarios, the data transmission device of the inertial measurement unit is installed by matching the bracket 100, the outer shell 200 and the transmission assembly 300 with each other, so that the overall structure of the data transmission device of the inertial measurement unit is compact and practical, and meanwhile, the plurality of input interfaces 310 and the plurality of output interfaces 320 of the transmission assembly 300 can collect measurement signals of the plurality of inertial measurement units, thereby realizing detection of the plurality of inertial measurement units, and having high detection efficiency and low detection cost; therefore, by the mode, the data transmission device of the inertial measurement unit can achieve the technical effects of improving the detection efficiency and reducing the detection cost.

In all embodiments of the present application, the terms "large" and "small" are relatively speaking, and the terms "upper" and "lower" are relatively speaking, so that descriptions of these relative terms are not repeated herein.

It should be appreciated that reference throughout this specification to "in this embodiment," "in an embodiment of the present application," or "as an alternative implementation" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in this embodiment," "in the examples of the present application," or "as an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are all alternative embodiments and that the acts and modules involved are not necessarily required for this application.

In various embodiments of the present application, it should be understood that the size of the serial number of each process described above does not mean that the execution sequence is necessarily sequential, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. The data transmission device of the inertial measurement unit is characterized by comprising a bracket, an outer shell and a transmission assembly;

2. The inertial measurement unit data transmission device of claim 1, characterized in that the mounting plates are arranged at equal distances from each other.

3. The data transmission device of the inertial measurement unit according to claim 1, wherein each mounting plate is provided with an RS422 output interface and a USB output interface.

4. The inertial measurement unit data transmission device of claim 1, characterized in that each mounting plate is provided with one CAN input interface and CAN FD input interface.

5. The data transmission device of the inertial measurement unit according to claim 1, wherein a connection hole is provided on a surface of the outer case parallel to the side plate, a position of the connection hole corresponds to a position of the input interface, and the input interface passes through the connection hole.

6. The data transmission device of an inertial measurement unit according to claim 5, wherein a heat dissipation hole is provided on a surface of the outer case perpendicular to the side plate, and the heat dissipation hole and the connection hole are perpendicular to each other.

7. The data transmission device of an inertial measurement unit according to claim 1, wherein the support further comprises a support column, the support column is mounted on the base, the support column is arranged in parallel with the side plate, and the plurality of mounting plates pass through the support column and are fixed to the support column.

8. The inertial measurement unit data transmission device of claim 1, wherein the transmission assembly further comprises a processor, the plurality of input interfaces and the plurality of output interfaces being connected by the processor.

9. The inertial measurement unit data transmission device of claim 8, further comprising a power supply connected to the processor.

10. A test device for an inertial measurement unit, characterized in that it comprises the data transmission means of the inertial measurement unit of any one of claims 1 to 9.