CN216954549U

CN216954549U - Calibration device of inertia measurement unit

Info

Publication number: CN216954549U
Application number: CN202220737185.4U
Authority: CN
Inventors: 谢非
Original assignee: Guangzhou Weride Technology Co Ltd
Current assignee: Guangzhou Weride Technology Co Ltd
Priority date: 2022-03-30
Filing date: 2022-03-30
Publication date: 2022-07-12
Anticipated expiration: 2032-03-30

Abstract

The utility model relates to the field of calibration devices of automatic driving sensors, in particular to a calibration device of an inertia measurement unit, which comprises: the test base is provided with a control mechanism; the rotating bracket is rotatably connected with the test base; the swing support is arranged in the rotating support, and a detection platform is arranged in the swing support and is rotationally connected with the rotating support. The cooperation of the rotating bracket and the swinging bracket provides a combined type movement mode, and meets the movement required in the calibration process through a simpler structure and rotation cooperation, so that the detection movement not only rotates, but also can generate the reciprocating change of displacement; and the inertia measurement unit does not need to carry out vehicle-mounted calibration, and the environment like vehicle-mounted calibration can be simulated by the calibration device, so that the calibration process is shortened, and the calibration efficiency is improved. The calibration time process is controllable by utilizing the calibration device, the same environment is provided, the calibration result has comparability, the industrial standard is formed, the requirements on repeatability and stability are met, and the calibration result is clear and effective.

Description

Calibration device of inertia measurement unit

Technical Field

The utility model relates to the field of calibration devices of automatic driving sensors, in particular to a calibration device of an inertia measurement unit.

Background

The inertial measurement unit is one of the important measurement sensors in automotive autopilot, a sensor for detecting and measuring acceleration and rotational movement. The inertial measurement unit is capable of acquiring real-time varying position information from the motion of the autonomous vehicle, and is typically used in conjunction with the GNSS (global navigation satellite system) of the autonomous vehicle to form a combined inertial navigation. An inertial sensor is a device that reacts to physical motion, such as linear displacement or angular rotation, and converts this reaction into an electrical signal that is amplified and processed by electronic circuitry. Before the inertia measurement unit is used, calibration is needed to ensure the fusion of the inertia detection unit and the automatic driving system.

With the increasing maturity of the autopilot industry, in order to improve the integration of the autopilot system and promote autopilot productization, a customized or self-developed inertia measurement unit is gradually adopted in the autopilot system to improve the overall stability and matching performance. At present, the calibration mode of the customized or self-developed inertial measurement unit is consistent with that of the currently purchased inertial measurement unit on the market, and the calibration can be carried out only after the vehicle is loaded. In fact, the customized or self-developed inertia measurement unit is designed based on the automatic driving system, and compared with the commercially available inertia measurement unit, the matching degree of the customized or self-developed inertia measurement unit with the automatic driving system is much higher, and the existing calibration mode is maintained, so that the advantages of the customized product cannot be reflected, and the improvement of the production efficiency is also hindered.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome at least one defect in the prior art, and provides a calibration device of an inertia measurement unit, which is used for solving the problems that the calibration of the existing inertia measurement unit needs to be tested after loading, is inconvenient to adjust and has low calibration efficiency.

The technical scheme adopted by the utility model is that the calibration device of the inertia measurement unit comprises: the test base is provided with a control mechanism; the rotating bracket is rotatably connected with the test base; the swing support is arranged in the rotating support, is provided with a detection platform and is connected with the rotating support in a rotating mode.

The test base is used for supporting and controlling the operation of the calibration device; the control mechanism is used for controlling the movement of the rotating bracket and the swinging bracket; the rotating bracket is used for driving the swinging bracket to rotate; the swing bracket is used for driving the detection platform to swing; the detection platform is used for fixing the inertial measurement unit to be calibrated. The multi-axis autorotation detection device is different from a traditional laboratory, a combined motion mode is provided by the matching of the rotating support and the swinging support, on one hand, the motion required by a calibration process is met through a simpler structure and less rotation matching, required actions such as rotation of a transverse roller and the like can be formed under the matching of rotation and swinging, the detection motion not only rotates, but also can generate reciprocating change of displacement, and therefore the calibration requirement is met; on the other hand, the inertial measurement unit does not need to carry out vehicle-mounted calibration, and the real environment like vehicle-mounted calibration can be simulated through the calibration device, so that the calibration process is shortened, and the calibration efficiency is improved. Moreover, the calibration by using the calibration device has the advantages that the time process is controllable, the same environment can be provided for each calibration, the calibration result has comparability, the industrial standard can be formed, the requirements of repeatability and stability are met, and the calibration result is clear and effective.

A first rotating assembly with a yaw shaft is arranged on the test base and connected with the control mechanism; the swing support is of a U-shaped structure, and the yaw axis penetrates through the upper surface of the test base and is connected with the swing support.

The first rotating assembly drives the swing bracket to rotate horizontally through a yaw shaft. The control mechanism controls the rotation of the rotating bracket through the first rotating assembly. The first rotating assembly drives the rotating bracket to horizontally rotate, so that the swinging bracket is matched with the swinging of the swinging bracket to form specific combined motion in the rotating process; the horizontal rotation is taken as the basis, so that the environmental gravity is fully utilized, and the movement stability is improved; the U-shaped structure helps to provide a larger assembly space, thereby improving the adaptability of the calibration device.

The swing bracket comprises two connecting arms which are symmetrically arranged and a mounting plate which is arranged between the two connecting arms, and the lower ends of the connecting arms are respectively connected with the mounting plate; the upper part of the connecting arm is rotationally connected with the rotating bracket; the detection platform is arranged on the mounting plate.

The connecting arm is used for converting the rotation of the upper part into the swinging motion of the lower end mounting plate; the mounting plate is used for supporting the detection platform. Symmetrically arranged connecting arms help to provide stable swing control; the mounting plate strengthens the synchronous action of the two connecting arms on one hand, so that the structure of the swing bracket is more stable; on the other hand, the detection platform is arranged independently, so that the detection platform is convenient to replace when different inertia measurement units are used, and the adaptability of the calibration device is improved.

The connecting arms are flat, and the two connecting arms are parallel to each other and perpendicular to the swinging axis of the swinging support.

The swing bracket rotates around a swing axis. The flat-plate-shaped connecting arm helps to save space while ensuring strength, the distance between the two connecting arms can be enlarged by increasing the cross section and reducing the thickness of the flat-plate-shaped connecting arm, and the necessary structural strength of the connecting arm can be maintained, so that the design is more flexible. The connecting arms which are parallel to each other realize the maximization of the space between the two connecting arms, so that the applicability of the inertia measurement unit is improved. The motion of the swing bracket is more regular and simple by being vertical to the swing axis, and the motion is easy to accurately acquire and analyze, so that the operation is simplified.

The swing support is further provided with a first reinforcing structure, one side of the first reinforcing structure is connected with the connecting arm, and the other side of the first reinforcing structure is connected with the mounting plate.

The reinforcing structure is used for reinforcing the connection between the connecting arm and the mounting plate. The first reinforcing structure strengthens the connection strength between the connecting arm and the mounting plate, so that the structural stability of the swing bracket is improved.

The rotating support comprises a base plate and a supporting column arranged on the base plate, and a second rotating assembly with a pitching shaft is arranged at the upper part of the supporting column; the pitching shaft is connected with the upper part of the swinging bracket; the distance from the pitching shaft to the substrate is larger than the distance from the pitching shaft to the detection platform.

The substrate is used for supporting the support column and driving the support column to horizontally rotate; the supporting column is used for suspending the swing bracket, so that a sufficient swing space is formed between the swing bracket and the substrate; the second rotating assembly drives the swing support to swing through the pitching shaft. The combination of the base plate and the supporting column provides a stable supporting structure, the distance of the pitching shaft on the supporting column is limited to ensure the moving space and the swinging amplitude of the swinging support, and the second rotating assembly arranged on the supporting column enables the rotation and the swinging to be combined with each other to form different motion states.

The two support columns are symmetrically arranged on two sides of the substrate, and the swing bracket is arranged between the two support columns; the center of the base plate is located within the axis of rotation of the rotating bracket.

The support columns which are symmetrically arranged are beneficial to driving the swing bracket to move from two sides simultaneously, so that the stability of the rotating bracket and the bearing capacity of the swing bracket are improved, meanwhile, the stress concentration in the swing process is avoided, and the overall reliability is improved. The center of the base plate is positioned in the rotating axis of the rotating bracket, which is helpful for ensuring the stability in the rotating process.

The base plate comprises a flange connecting part and horizontal bearing parts symmetrically arranged on two sides of the flange connecting part, the cross section of the flange connecting part is a circular ring, the diameter of the flange connecting part is larger than the width of the horizontal bearing parts, and the test base is connected with the base plate through the flange connecting part; the two supporting columns are respectively arranged on the two horizontal supporting parts.

The flange connecting part is used for testing transmission between the base platform and the rotating bracket; the horizontal supporting part is used for maintaining the balance of the substrate and supporting the supporting column. The flange connecting part is adopted to realize the accurate transmission between the test platform and the rotating bracket, and the stability and the reliability of the transmission connection are improved; and the hollow design in the middle of the flange connecting part is beneficial to the arrangement of the control cable and the maintenance of the rotary connecting part. The symmetrical horizontal bearing parts enable the substrate to be more stable in the rotating process, so that the moving stability of the rotating bracket is improved. The limitation of the width dimension not only ensures the structural strength of the main transmission part, but also reduces the weight of the rotating bracket and realizes the structural optimization.

The middle part of the detection platform is provided with mounting holes distributed annularly, and the maximum distance between the swing axis of the swing support and the bottom surface of the detection platform is smaller than the distance between the swing axis and the upper surface of the substrate.

The mounting hole is used for fixing the inertia detection unit. The mounting holes distributed in the annular shape are beneficial to fixing the inertia detection units with different sizes and different orientations, so that the adaptability of calibrating the device is improved. The definition of the distance helps to avoid the swing bracket from being blocked by the base plate and helps to ensure that the swing amplitude of the swing bracket is maximized.

And a second reinforcing structure is further arranged on the rotating support, one side of the second reinforcing structure is connected with the supporting column, and the other side of the second reinforcing structure is connected with the substrate.

The second reinforcing structure is used for reinforcing the connection between the supporting column and the base plate. The second reinforcing structure strengthens the connection strength between the supporting column and the base plate, so that the structural stability of the rotating bracket is improved.

Compared with the prior art, the utility model has the beneficial effects that: the cooperation of the rotating support and the swinging support provides a combined type movement mode, on one hand, the movement required in the calibration process is met through a simpler structure and less rotation cooperation, required actions such as the rotation of a transverse roller and the like can be formed under the cooperation of the rotation and the swinging, the detection movement not only rotates, but also can generate the reciprocating change of displacement, and therefore the calibration requirement is met; on the other hand, the inertial measurement unit does not need to carry out vehicle-mounted calibration, and the real environment like vehicle-mounted calibration can be simulated through the calibration device, so that the calibration process is shortened, and the calibration efficiency is improved. Moreover, the calibration by using the calibration device has the advantages that the time process is controllable, the same environment can be provided for each calibration, the calibration result has comparability, the industrial standard can be formed, the requirements of repeatability and stability are met, and the calibration result is clear and effective.

Drawings

Fig. 1 is a front view of the present invention.

Fig. 2 is a perspective view of the present invention.

FIG. 3 is a schematic diagram of a calibrated inertial measurement unit according to the present invention.

FIG. 4 is a schematic diagram of a calibration sensor node with inertial measurement capability according to the present invention.

FIG. 5 is a schematic view of a combination calibrated inertial measurement unit and sensor assembly according to the present invention.

Description of reference numerals: the test bed 100, the yaw axis 110, the rotating bracket 200, the base plate 210, the flange connecting part 211, the horizontal supporting part 212, the supporting column 220, the pitch axis 230, the second reinforcing structure 240, the swinging bracket 300, the connecting arm 310, the mounting plate 320, the detection platform 330, the mounting hole 331, the first reinforcing structure 340 and the inertial measurement unit 400.

Detailed Description

The drawings are only for purposes of illustration and are not to be construed as limiting the utility model. For a better understanding of the following embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

Example 1

As shown in fig. 1, the present embodiment is a calibration apparatus for an inertial measurement unit, including: the test base is provided with a control mechanism; the rotating bracket is rotatably connected with the test base; the swing bracket is arranged in the rotating bracket, is provided with a detection platform and is rotationally connected with the rotating bracket. The test base is provided with a first rotating assembly with a yaw shaft, and the first rotating assembly is connected with the control mechanism; the swing support is of a U-shaped structure, and the yaw axis penetrates through the upper surface of the test base to be connected with the swing support. The swing bracket comprises two connecting arms which are symmetrically arranged and a mounting plate which is arranged between the two connecting arms, and the lower ends of the connecting arms are respectively connected with the mounting plate; the upper part of the connecting arm is rotationally connected with the rotating bracket; the detection platform is arranged on the mounting plate.

The connecting arms are flat, and the two connecting arms are parallel to each other and perpendicular to the swinging axis of the swinging bracket. The swing support is also provided with a first reinforcing structure, one side of the first reinforcing structure is connected with the connecting arm, and the other side of the first reinforcing structure is connected with the mounting plate. The rotating support comprises a base plate and a supporting column arranged on the base plate, and a second rotating assembly with a pitching shaft is arranged at the upper part of the supporting column; the pitching shaft is connected with the upper part of the swinging bracket; the distance from the pitching shaft to the substrate is larger than the distance from the pitching shaft to the detection platform. The two support columns are symmetrically arranged on two sides of the substrate, and the swing bracket is arranged between the two support columns; the center of the base plate is located within the axis of rotation of the rotating bracket.

The base plate comprises a flange connecting part and horizontal bearing parts symmetrically arranged on two sides of the flange connecting part, the section of the flange connecting part is a circular ring, the diameter of the flange connecting part is larger than the width of the horizontal bearing parts, and the test base is connected with the base plate through the flange connecting part; the two supporting columns are respectively arranged on the two horizontal supporting parts. The middle part of the detection platform is provided with mounting holes distributed annularly, and the maximum distance between the swing axis of the swing bracket and the bottom surface of the detection platform is smaller than the distance between the swing axis and the upper surface of the substrate. And a second reinforcing structure is also arranged on the rotating support, one side of the second reinforcing structure is connected with the supporting column, and the other side of the second reinforcing structure is connected with the substrate.

Example 2

As shown in fig. 2, the present embodiment is a calibration apparatus for an inertial measurement unit, including: the test base is provided with a control mechanism; the rotating bracket is rotatably connected with the test base; the swing bracket is arranged in the rotating bracket, is provided with a detection platform and is rotationally connected with the rotating bracket. The test base is used for supporting and controlling the operation of the calibration device; the control mechanism is used for controlling the movement of the rotating bracket and the swinging bracket; the rotating bracket is used for driving the swinging bracket to rotate; the swing bracket is used for driving the detection platform to swing; the detection platform is used for fixing the inertial measurement unit to be calibrated. The test base is a box body, and the upper surface is a horizontal plane. A certain balance weight is arranged in the test base, and supporting legs with adjustable height are arranged at the bottom of the test base. The rotating bracket is arranged above the upper surface of the test base.

And a control panel for adjusting the control mechanism is arranged on the side surface of the test base. The control mechanism can respectively control the movement of the rotating bracket and the swinging bracket in a wireless or wired mode. The test base is provided with a first rotating assembly with a yaw shaft, and the first rotating assembly is connected with the control mechanism; the swing support is of a U-shaped structure, and the yaw axis penetrates through the upper surface of the test base to be connected with the swing support. The first rotating assembly drives the swing bracket to rotate horizontally through the yaw shaft. The control mechanism controls the rotation of the rotating bracket through the first rotating assembly. The yaw axis passes through the center of the upper surface of the test base and is connected with the rotating bracket through the connecting piece, so that the rotating bracket is driven to rotate horizontally. The lower surface of the rotating bracket is parallel to the upper surface of the test base and has a gap required by swinging.

The upper part of the swing support is rotationally connected with the upper part of the rotating support, and the detection platform is arranged in the middle of the rotating support. The swing bracket comprises two connecting arms which are symmetrically arranged and a mounting plate which is arranged between the two connecting arms, and the lower ends of the connecting arms are respectively connected with the mounting plate; the upper part of the connecting arm is rotationally connected with the rotating bracket; the detection platform is arranged on the mounting plate. The connecting arm is used for converting the rotation of the upper part into the swinging motion of the lower end mounting plate; the mounting plate is used for supporting the detection platform. The swing bracket is a U-shaped structure formed by two connecting arms and a mounting plate, the mounting plate is a horizontal plate, the width of the mounting plate is consistent with that of the connecting arms, and the length of the mounting plate is the distance between the lower ends of the two connecting arms; the lower ends of the two connecting arms are respectively connected with the two ends of the mounting plate opposite to each other.

The connecting arms are flat, and the two connecting arms are parallel to each other and perpendicular to the swinging axis of the swinging bracket. The swing bracket rotates around a swing axis. The connecting arm can be a flat plate with a rectangular cross-section. The swing support is also provided with a first reinforcing structure, one side of the first reinforcing structure is connected with the connecting arm, and the other side of the first reinforcing structure is connected with the mounting plate. The reinforcing structure is used for reinforcing the connection between the connecting arm and the mounting plate. The first reinforcing structure is a triangular reinforcing sheet, and two adjacent side surfaces of the triangle are respectively connected with the connecting arm and the mounting plate; the first reinforcing structures are distributed on the outward side surfaces of the connecting arms and the mounting plate. The rotating bracket comprises a substrate and a supporting column arranged on the substrate, and a second rotating assembly with a pitching shaft is arranged at the upper part of the supporting column; the pitching shaft is connected with the upper part of the swinging bracket; the distance from the pitching shaft to the substrate is larger than the distance from the pitching shaft to the detection platform.

The substrate is used for supporting the support column and driving the support column to horizontally rotate; the supporting column is used for suspending the swing bracket, so that a sufficient swing space is formed between the swing bracket and the substrate; the second rotating assembly drives the swing support to swing through the pitching shaft. The base plate is a horizontal mounting plate, the support column is a cuboid vertical to the base plate, and the pitching axis is vertical to one side face of the support column. The two support columns are symmetrically arranged on two sides of the substrate, and the swing bracket is arranged between the two support columns; the center of the base plate is located within the axis of rotation of the rotating bracket. Two opposite surfaces of the supporting column are parallel to each other, and the pitching shafts are respectively arranged on the two opposite surfaces and are vertical to the side surfaces; the two pitching shafts are positioned on the same straight line and synchronously rotate under the control of the control mechanism, and the two pitching shafts are respectively connected with the upper parts of the two connecting arms.

The base plate comprises a flange connecting part and horizontal bearing parts symmetrically arranged on two sides of the flange connecting part, the section of the flange connecting part is a circular ring, the diameter of the flange connecting part is larger than the width of the horizontal bearing parts, and the test base is connected with the base plate through the flange connecting part; the two supporting columns are respectively arranged on the two horizontal supporting parts. The flange connecting part is used for testing transmission between the base platform and the rotating bracket; the horizontal supporting part is used for maintaining the balance of the substrate and supporting the supporting column. The horizontal section of the flange connecting part is a circular ring, locking fixing holes are uniformly distributed in the circular ring, and a yaw shaft is connected with the flange connecting part through the locking fixing holes; the horizontal cross section of the horizontal bearing part is rectangular, and the horizontal bearing part and the central line of the flange connecting part are collinear and have consistent thickness.

The middle part of the detection platform is provided with mounting holes distributed annularly, and the maximum distance between the swing axis of the swing bracket and the bottom surface of the detection platform is smaller than the distance between the swing axis and the upper surface of the substrate. The mounting hole is used for fixing the inertia detection unit. The size of mounting hole is various, and inertia measurement unit can be fixed on testing platform through the mounting hole, and testing platform specifically is the horizontal mounting panel that the cross-section is the square, and the mounting hole setting is just established around the center of horizontal mounting panel at the middle part of horizontal mounting panel. And a second reinforcing structure is also arranged on the rotating support, one side of the second reinforcing structure is connected with the supporting column, and the other side of the second reinforcing structure is connected with the substrate. The second reinforcing structure is used for reinforcing the connection between the supporting column and the substrate. The second reinforcing structure is a triangular reinforcing sheet, and two adjacent side surfaces of the triangle are respectively connected with the supporting column and the base plate; the second reinforcing structures are distributed on the outward side surfaces of the supporting columns and the substrate.

As shown in fig. 3, when calibration is performed, the yaw axis provides rotation about the yaw axis for the rotating bracket; the pitching shaft provides rotation around the pitching shaft for the swing platform, and the swing support is rigidly fixed on the pitching shaft on the rotating support, so that the calibration device can provide combined motion of rotation around the yaw shaft and rotation around the pitching shaft at the same time; the rotating bracket and the swinging bracket are respectively and independently controlled by a control mechanism; the inertial measurement unit is arranged on the detection platform, as shown in fig. 4, the calibration device can also detect a sensor node with an inertial measurement function; as shown in fig. 5, the calibration apparatus can further perform a test on a combination of the inertial measurement unit and the sensor assembly, specifically, the device under test and the detection platform form a rigid connection, and the combined motion can enable the tested inertial measurement unit or the belt inertial measurement unit to obtain a desired motion.

It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the technical solutions of the present invention, and are not intended to limit the specific embodiments of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention claims should be included in the protection scope of the present invention claims.

Claims

1. A calibration device for an inertial measurement unit, comprising: the test base is provided with a control mechanism; the rotating bracket is rotatably connected with the test base; the swing support is arranged in the rotating support, is provided with a detection platform and is connected with the rotating support in a rotating mode.

2. The calibration device of an inertial measurement unit according to claim 1, wherein a first rotating assembly with a yaw axis is arranged on the test base, and the first rotating assembly is connected with the control mechanism; the swing support is of a U-shaped structure, and the yaw axis penetrates through the upper surface of the test base and is connected with the swing support.

3. The calibration device of the inertia measurement unit according to claim 1, wherein the swing bracket comprises two symmetrically arranged connecting arms and a mounting plate arranged between the two connecting arms, and the lower ends of the connecting arms are respectively connected with the mounting plate; the upper part of the connecting arm is rotationally connected with the rotating bracket; the detection platform is arranged on the mounting plate.

4. The calibration device of an inertial measurement unit according to claim 3, wherein the connecting arm is a flat plate, and the two connecting arms are parallel to each other and perpendicular to the swing axis of the swing bracket.

5. The calibration device of an inertial measurement unit according to claim 3, wherein the swing bracket is further provided with a first reinforcing structure, and one side of the first reinforcing structure is connected with the connecting arm, and the other side of the first reinforcing structure is connected with the mounting plate.

6. The calibration device for the inertial measurement unit according to any one of claims 1-5, wherein the rotating support comprises a base plate and a support column arranged on the base plate, and a second rotating assembly with a pitch axis is arranged at the upper part of the support column; the pitching shaft is connected with the upper part of the swing bracket; the distance from the pitching shaft to the substrate is larger than the distance from the pitching shaft to the detection platform.

7. The calibration device for the inertial measurement unit according to claim 6, wherein the two support columns are symmetrically arranged on two sides of the base plate, and the swing bracket is arranged between the two support columns; the center of the base plate is located within the axis of rotation of the rotating bracket.

8. The calibration device of the inertial measurement unit according to claim 7, wherein the base plate comprises a flange connection portion and horizontal bearing portions symmetrically arranged on two sides of the flange connection portion, the cross section of the flange connection portion is a circular ring, the diameter of the flange connection portion is larger than the width of the horizontal bearing portions, and the test base is connected with the base plate through the flange connection portion; the two supporting columns are respectively arranged on the two horizontal supporting parts.

9. The calibration device of an inertial measurement unit according to claim 6, wherein the detection platform has mounting holes distributed annularly in the middle, and the maximum distance between the swing axis of the swing bracket and the bottom surface of the detection platform is smaller than the distance between the swing axis and the upper surface of the substrate.

10. The calibration device of an inertial measurement unit according to claim 6, wherein a second reinforcing structure is further provided on the rotating bracket, and one side of the second reinforcing structure is connected to the supporting pillar and the other side is connected to the base plate.