DK2752643T3 - Inertimåleenhed til et ubemandet luftfartøj - Google Patents
Inertimåleenhed til et ubemandet luftfartøj Download PDFInfo
- Publication number
- DK2752643T3 DK2752643T3 DK11871565.5T DK11871565T DK2752643T3 DK 2752643 T3 DK2752643 T3 DK 2752643T3 DK 11871565 T DK11871565 T DK 11871565T DK 2752643 T3 DK2752643 T3 DK 2752643T3
- Authority
- DK
- Denmark
- Prior art keywords
- circuit board
- unmanned aircraft
- measurement unit
- vibration damping
- damping pad
- Prior art date
Links
- 238000005259 measurement Methods 0.000 claims description 50
- 238000013016 damping Methods 0.000 claims description 14
- 230000001133 acceleration Effects 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 230000000116 mitigating effect Effects 0.000 claims 1
- 239000012790 adhesive layer Substances 0.000 description 17
- 230000003139 buffering effect Effects 0.000 description 17
- 239000013013 elastic material Substances 0.000 description 10
- 230000002238 attenuated effect Effects 0.000 description 4
- 230000001010 compromised effect Effects 0.000 description 3
- 230000002349 favourable effect Effects 0.000 description 3
- 230000001788 irregular Effects 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000003534 oscillatory effect Effects 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P1/00—Details of instruments
- G01P1/003—Details of instruments used for damping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F7/00—Vibration-dampers; Shock-absorbers
- F16F7/10—Vibration-dampers; Shock-absorbers using inertia effect
- F16F7/104—Vibration-dampers; Shock-absorbers using inertia effect the inertia member being resiliently mounted
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/04—Details
- G01C19/16—Suspensions; Bearings
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5607—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using vibrating tuning forks
- G01C19/5628—Manufacturing; Trimming; Mounting; Housings
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5642—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using vibrating bars or beams
- G01C19/5663—Manufacturing; Trimming; Mounting; Housings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5719—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using planar vibrating masses driven in a translation vibration along an axis
- G01C19/5769—Manufacturing; Mounting; Housings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5783—Mountings or housings not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P1/00—Details of instruments
- G01P1/02—Housings
- G01P1/023—Housings for acceleration measuring devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
- G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
- G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
- G01P15/0802—Details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Acoustics & Sound (AREA)
- Automation & Control Theory (AREA)
- Vibration Prevention Devices (AREA)
- Gyroscopes (AREA)
- Navigation (AREA)
- Mounting Of Printed Circuit Boards And The Like (AREA)
Claims (13)
1. Inertimåleenhed til et ubemandet luftfartøj omfattende en husindretning, en føleindretning og en vibrationsdæmper, hvor føleindretningen og vibrationsdæmperen er anbragt i husindretningen, hvorved: vibrationsdæmperen omfatter en første vibrationsdæmpningspude (3) til afbødning af vibrationer, føleindretningen omfatter en første printplade (1), en anden printplade (6) og en fleksibel signalledning (7) til kommunikationsmæssig forbindelse med den første printplade (1), og den anden printplade (6), en inertiføler er fast anbragt på den anden printplade (6), og den første printplade (1) er fastgjort på husindretningen, inertimåleenheden omfatter endvidere en vægtblok (5) til øgning af vægten, og inertimåleenheden opnås ved at forbinde den anden printplade (6), vægtblokken (5), den første vibrationsdæmpende pude (3) og den første printplade (1) med hinanden i rækkefølge til et stykke og derefter anbringe dem i husindretningen, og hvorved vægtblokken (5) er anbragt imellem den anden printplade (6) og den første vibrationsdæmpningspude (3), kendetegnet ved, at vægtblokken (5) har en udsparing, som med hensyn til form passer sammen med den anden printplade (6), således at den anden printplade (6) er indlejret i vægtblokkens (5) udsparing.
2. Intertimåleenhed til det ubemandede luftfartøj ifølge krav 1, hvorved vibrationsdæmperen yderligere omfatter en anden vibrationsdæmpningspude (9), som er fast forbundet på den anden printplade (6) og støder op imod en indvendig væg i husindretningen.
3. Intertimåleenhed til det ubemandede luftfartøj ifølge krav 1, hvorved et forbindelsesområde (S2) imellem den anden vibrationsdæmpningspude (9) og den anden printplade (6) er af størrelsesordenen 12,6 til 50,2 mm2.
4. Intertimåleenhed til det ubemandede luftfartøj ifølge krav 1, hvorved vægtblokken (5) har en vægt på fra 1 g til 30 g.
5. Intertimåleenhed til det ubemandede luftfartøj ifølge krav 1, hvorved forbindelsesområdet (S1) imellem den første vibrationsdæmpningspude (3) og den anden printplade (6) ligger i intervallet fra 12,6 til 50,2 mm2.
6. Intertimåleenhed til det ubemandede luftfartøj ifølge krav 1, hvorved husindretningen omfatter et første hus (13) og et andet hus (14), som passer sammen og er fastgjort til hinanden.
7. Intertimåleenhed til det ubemandede luftfartøj ifølge krav 1, hvorved den anden printplade (6) er fast anbragt på en understøtningsplade, og understøtningspladen er fast forbundet med vægtblokken (5).
8. Intertimåleenhed til det ubemandede luftfartøj ifølge krav 1, hvorved inertiføleren omfatter et gyroskop til detektering af et vinkelhastighedssignal og et accelerometer til detektering af et accelerationssignal, hvor vinkelhastighedssignalet og accelerationssignalet overføres til den første printplade (1) via den fleksible signalledning (7).
9. Intertimåleenhed til det ubemandede luftfartøj ifølge krav 1, hvorved en energikilde, en hukommelse, en processor og en kredsløbsenhed er fast placeret på den første printplade (1).
10. Intertimåleenhed til det ubemandede luftfartøj ifølge krav 1, hvorved føleind-retningen yderligere omfatter en signalinput-grænsefladeterminal (11) og en sig-naloutput-grænsefladeterminal (12), hvor signalinput-grænsefladeterminalen (11) og signaloutput-grænsefladeterminalen (12) er forbundet med den første printplade (1) via grænsefladesignaler, og husindretningen danner et indre kammer, som ligger åbent ved to ender, og signalinput-grænsefladeterminalen (11) og signaloutput-grænsefladeterminalen (12) er anbragt i det indre kammer og fastgjort ved snapvirkning til det indre kammers to ender.
11. Intertimåleenhed til det ubemandede luftfartøj ifølge krav 1, hvorved den første vibrationsdæmpningspude (3) er fremstillet af et buffermateriale, som dæmper vibrationerne, som inertimåleren udsættes for, efter at den første vibrationsdæmpningspude (3) er blevet anbragt, til under 30% af dem, der forekom før den første vibrations-dæmpningspude (3) blev anbragt, når det ubemandede luftfartøj genererer en frekvens på ca. 50 Hz.
12. Intertimåleenhed til det ubemandede luftfartøj ifølge krav 2, hvorved den anden vibrationsdæmpningspude (9) har form af en hul terningform, og en hul del af den anden vibrationsdæmpningspude (9) er af form som en‘; _ ”.
13. Intertimåleenhed til det ubemandede luftfartøj ifølge krav 12, hvorved den første vibrationsdæmpningspude (3) har form af en hul terningform, og en hul del af den første vibrationsdæmpningspude (3) har form af en‘O’.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201110260585.7A CN102980584B (zh) | 2011-09-02 | 2011-09-02 | 一种无人飞行器惯性测量模块 |
PCT/CN2011/079705 WO2013029286A1 (zh) | 2011-09-02 | 2011-09-15 | 一种无人飞行器惯性测量模块 |
Publications (1)
Publication Number | Publication Date |
---|---|
DK2752643T3 true DK2752643T3 (da) | 2018-12-03 |
Family
ID=47755234
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DK11871565.5T DK2752643T3 (da) | 2011-09-02 | 2011-09-15 | Inertimåleenhed til et ubemandet luftfartøj |
Country Status (7)
Country | Link |
---|---|
US (5) | US9772343B2 (da) |
EP (2) | EP2752643B1 (da) |
JP (2) | JP5882466B2 (da) |
CN (1) | CN102980584B (da) |
DK (1) | DK2752643T3 (da) |
ES (1) | ES2694562T3 (da) |
WO (1) | WO2013029286A1 (da) |
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CN102121829B (zh) | 2010-08-09 | 2013-06-12 | 汪滔 | 一种微型惯性测量系统 |
CN102980584B (zh) | 2011-09-02 | 2017-12-19 | 深圳市大疆创新科技有限公司 | 一种无人飞行器惯性测量模块 |
SE538479C2 (sv) | 2013-06-20 | 2016-07-26 | Uhlin Per-Axel | Vibrationssensor för registrering av vibrationer i vibrationssensorns vertikala och horisontella led |
CN103738504B (zh) * | 2014-01-06 | 2017-04-19 | 深圳市大疆创新科技有限公司 | 飞行器的装载支架、飞行器及其减震方法 |
WO2015161517A1 (en) | 2014-04-25 | 2015-10-29 | SZ DJI Technology Co., Ltd. | Inertial sensing device |
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JP2016117485A (ja) | 2016-06-30 |
EP3407017B1 (en) | 2020-07-29 |
JP6189409B2 (ja) | 2017-08-30 |
US20160349280A1 (en) | 2016-12-01 |
JP2014526998A (ja) | 2014-10-09 |
EP3407017A1 (en) | 2018-11-28 |
WO2013029286A1 (zh) | 2013-03-07 |
US9841432B2 (en) | 2017-12-12 |
ES2694562T3 (es) | 2018-12-21 |
EP2752643A4 (en) | 2015-04-29 |
EP2752643B1 (en) | 2018-08-08 |
US20180088143A1 (en) | 2018-03-29 |
CN102980584B (zh) | 2017-12-19 |
JP5882466B2 (ja) | 2016-03-09 |
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