KR101241380B1 - Apparatus for measuring error of the acceleration sensor - Google Patents

Abstract

The present invention relates to an apparatus for measuring an acceleration sensor error, and more particularly, to an apparatus for measuring linearity, lateral sensitivity, and sensitivity error between components of an acceleration sensor.
This acceleration sensor error measuring apparatus includes a support; An acceleration disk mounted on one side and fixed to the rotation plate, the rotation disc being installed on the support so as to be rotatable by being fitted to a first rotational center shaft installed on a first rotational center line passing through one side and the other side; Rotating disc rotating means for allowing the rotating disc to rotate about the first rotating center line; A second rotation center axis installed on a second rotation center line perpendicular to the first rotation center axis and connected to the support; Support rotation means for rotating the second rotation center axis such that the rotation disc is rotatable about the second rotation center line; And fixing means for fixing the support rotating means.
According to the present invention, it is possible to simultaneously measure acceleration linearity, lateral sensitivity and sensitivity error between components by providing a horizontal rotation and a vertical rotation structure at the same time.

Description

Acceleration sensor error measuring device {Apparatus for measuring error of the acceleration sensor}

The present invention relates to an apparatus for measuring an acceleration sensor error, and more particularly, to an apparatus for measuring linearity, lateral sensitivity, and sensitivity error between components of an acceleration sensor.

Accelerometers have recently been researched and utilized in universities and the automotive industry, including active control of automobile suspensions, knocking detection of engines, abnormal vibration detection of machines, earthquake detection, automobile navigation systems, robots, etc. It can be used for the purpose of measuring the acceleration of the device or the inclination of the road surface in industrial applications, virtual reality sensors, toys, etc.

In general, the type of the acceleration sensor for detecting the acceleration of the two axes (X-axis, Y-axis) related to the horizontal motion is the same, there is only a difference that is arranged to rotate 90 ° mutually. Therefore, these two horizontal axis sensing structures are difficult to obtain an optimized layout other than reducing their structural size.

On the other hand, the acceleration sensor of the axis (Z-axis) for detecting the vertical motion is different in performance depending on the arrangement of the structure, it is necessary to maximize the performance by properly placing the sensing structure.

However, in the conventional measuring apparatus for measuring the error of the acceleration sensor, the gravity acceleration value was measured by fixing any one of the X, Y, and Z axes, so it was difficult to simultaneously measure the acceleration linearity, the lateral sensitivity, and the sensitivity error between components. .

In addition, when measuring the acceleration linearity, it is inconvenient because the linearity can be measured only by releasing the fixed axis and fixing the corresponding axis again.

The present invention has been proposed to overcome the disadvantages of the prior art raised above, and an object thereof is to provide a measuring device for simultaneously measuring acceleration linearity, lateral sensitivity and sensitivity error between components.

Another object of the present invention is to provide a measuring device capable of measuring both acceleration and linearity of the X, Y, and Z axes by fixing the acceleration sensor once.

The present invention provides an acceleration sensor error measuring apparatus to achieve the problem raised above. This acceleration sensor error measuring apparatus includes a support; An acceleration disk mounted on one side and fixed to the rotation plate, the rotation disc being installed on the support so as to be rotatable by being fitted to a first rotational center shaft installed on a first rotational center line passing through one side and the other side; Rotating disc rotating means for allowing the rotating disc to rotate about the first rotating center line; A second rotation center axis installed on a second rotation center line perpendicular to the first rotation center axis and connected to the support; Support rotation means for rotating the second rotation center axis such that the rotation disc is rotatable about the second rotation center line; And fixing means for fixing the support rotating means.

At this time, the fixing means, the outer housing for forming the outer cover to cover the support rotation means; An outer wall fixing the rear surface of the outer housing; A horizontal plate placed on one side of the outer wall and fixing a side surface of the outer housing; A vertical plate coupled to one side of the horizontal plate to support the horizontal plate; And a support plate coupled to a lower end of the outer wall and on which the vertical plate is mounted.

At this time, the rotating disk rotating means, the stopper is matched with the rotation adjustment groove formed at a predetermined interval for rotation about the first rotation center line on the other side of the rotating disk; An elastic member providing elasticity to the stopper; And characterized in that it comprises a pedestal formed with a stopper groove for seating and fixing the stopper and the elastic member.

In another embodiment, the rotating disc rotating means may be a first step motor.

In this case, the support rotation means, the second rotation center axis; A worm wheel coupled with the second rotational central axis; A worm that is separated from the wormwheel; A worm shaft coupled with the worm; And it may include a handle connected to the worm shaft.

In another embodiment, the support rotation means, the second rotation center axis; A worm wheel coupled with the second rotational central axis; A worm that is separated from the wormwheel; A worm shaft coupled with the worm; And a second step motor connected to the worm shaft.

In addition, one side of the support plate is characterized in that it further comprises a level installed on a vertical line with the first rotational central axis.

In addition, the inclination sensor is provided on one end of the support at a predetermined distance from the rotating disk is characterized in that it is further included.

In addition, the height adjustment unit 149 provided at the edge of the support plate is characterized in that it is further included.

According to the present invention, it is possible to simultaneously measure acceleration linearity, lateral sensitivity and sensitivity error between components by providing a horizontal rotation and a vertical rotation structure at the same time.

In addition, another effect of the present invention is to measure the linearity of the X, Y, and Z axes even when the acceleration sensor is fixed only once based on any one of the X, Y, and Z axes by providing a horizontal rotation and a vertical rotation structure at the same time. It is possible.

1 is a perspective view of an acceleration sensor error measuring apparatus according to the present invention.
FIG. 2 is a perspective view illustrating a worm gear structure for vertically rotating the rotating disc 100 in FIG. 1.
3 is a plan view of a bottom surface of the rotating disc 100 of FIG.
4 is a conceptual diagram illustrating a stopper structure for rotating the rotation disc 100 according to the present invention at an angle.
5 is a configuration conceptual diagram of horizontal and vertical rotation of the angular velocity sensor error measuring apparatus according to the present invention with a step motor.
6 is a conceptual diagram for measuring linearity according to the present invention.
FIG. 7 is a graph showing the results of the linearity measurement of FIG. 6.
8 is a conceptual diagram for measuring the lateral sensitivity and sensitivity error between components according to the present invention.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms and the inventor may appropriately define the concept of the term in order to best describe its invention It should be construed as meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in the present specification and the configuration shown in the drawings are only the most preferred embodiments of the present invention, and do not satisfy all of the technical idea of the present invention, and various equivalents may be substituted for them at the time of the present application. It should be understood that there may be water and variations.

Hereinafter, an apparatus for measuring an acceleration sensor error according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view of an acceleration sensor error measuring apparatus according to the present invention. Referring to Figure 1, the acceleration sensor error measuring device is a rotating disk 100 for fixing the acceleration sensor to rotate, the support 120 for supporting the rotating disk 100, the support rotation structure for rotating the support 120 (Not shown), an outer housing 150 surrounding the support rotational configuration, an outer wall 140 and a horizontal plate 141 fixing the outer housing 150 are included.

The rotation disc 100 is fixed to an acceleration sensor mounted on one side, and is rotatable by being fitted to a first rotation center axis 101 installed on a first rotation center line passing through one side and the other side. That is, rotation about the first rotation center axis 1010 in the clockwise or counterclockwise direction is possible.

3 is a view showing the shape of this rotating disc 100. 3 is a plan view of the bottom surface of the rotating disc 100 of FIG. Referring to the drawings, a fixing hole 102 for assembling and mounting the acceleration sensor in a circle shape is formed. The acceleration sensor 550 is assembled and fixed by the fixing hole 102. Of course, the output terminal 551 is provided at one side of the acceleration sensor 550.

In addition, a rotation adjusting groove 300 for rotating the rotation disc 100 at a predetermined angle is formed inside the fixing hole 102. Of course, the rotation adjustment groove 300 is matched with the stopper 405 as shown in Figure 4 may allow the user to rotate the rotation disc 100 by the required angle. This will be described later.

1, a support 120 for supporting the rotating disc 100 is installed, and an inclinometer sensor 110 for sensing the inclination of the rotating disc 100 is provided at the right end of the supporting plate 120. It is provided. As the inclinometer sensor 110, a digital or analog inclinometer sensor may be used. Therefore, when the inclinometer sensor 110 is used, the inclination of the rotation disc 100 can be measured, so that the position of the rotation disc 100 can be corrected and adjusted to a desired value.

The support 120 is connected to the second rotation center axis 121, and the second rotation center axis 121 is installed on a second rotation center line perpendicular to the first rotation center axis 101.

Of course, there is provided a support rotating means for rotating the second rotation center axis 121 so that the rotation disc 100 is rotatable about the second rotation center line. A diagram showing this is shown in FIG. 2.

Referring to FIGS. 1 and 2, a worm 201 is mounted on a worm wheel 204 on a second rotation center axis 121 that transmits the rotational force of the handle 131 to the support 120, and is wormed with the worm wheel 204. Worm shaft 203 is formed. The worm 201 is formed in the middle of the worm shaft 203, and bearings (not shown) are installed at both ends of the worm shaft 203 to support the worm shaft 203, and one end of the worm shaft 203 is handled. 131 is connected.

Therefore, when the user operates the handle 131, the worm shaft 203 is rotated by the driving of the handle 131. The portion forming the worm gear including the worm 201 and the worm wheel 204 is installed and fixed inside the outer housing 150. In addition, the second rotational central shaft 121 on which the worm wheel 204 is mounted is supported by a bearing (not shown) provided at a lower end of a portion where the worm wheel 114 is mounted in the housing 150.

Referring to FIG. 1, an index portion 130 is formed at one end of the outer housing 150 so that the rotation angle may be adjusted when the user operates the handle 131. Of course, the index unit 130 may be formed integrally with the outer housing 150 or may be configured separately.

The outer housing 150 is provided with a vertical fixing portion 133 and a horizontal fixing portion 135 for fixing. The vertical fixing part 133 is fixed to the outer wall 140, and the horizontal fixing part 135 is fixed to the horizontal plate 141. Of course, this fixing may be used in the manner using a bolt and nut, but is not limited thereto, it is also possible to use a screw.

Of course, the outer wall 140 fixing the rear surface of the outer housing 150 and the horizontal plate 141 placed on one side of the outer wall 140 and fixing the side surface of the outer housing 150 are perpendicular to each other.

The horizontal plate 141 is supported by the vertical plate 142, and consists of two vertical plates 142-1 and 142-2. That is, the vertical plate 142-1 and the vertical plate 142-2 are fixed to both ends of the horizontal plate 141 to have a “┏┓” shape.

Accordingly, the vertical fixing part 133 of the outer housing 150 is fixed to the outer wall 140, and the horizontal fixing part 135 is fixed to the horizontal plate 141.

In addition, the support plate 143 is coupled to the lower end of the outer wall 140, the vertical plate 142 is mounted. The base plate 143 is provided with a height adjusting unit 149 at each corner of the base plate 143 in order to balance the horizontal and vertical balance of the rotating disc 100.

The height adjusting part 149 is screwed, and it is possible to lower or raise the height by rotating.

In addition, the level plate 145 is installed on one side of the support plate 143 for the vertical balance to check whether the first rotation center axis 101 is placed on a vertical line.

4 is a conceptual diagram illustrating a stopper structure for rotating the rotation disc 100 according to the present invention at an angle. In other words, as shown in Figure 1, when rotating in the clockwise or counterclockwise direction to the first rotation center axis 101, it is a structure to rotate only by a predetermined angle.

Referring to Figure 4, on the other side of the rotation disc 100 is formed a rotation adjustment groove 300 formed at a predetermined interval for rotation about the first rotation center line.

Of course, the lower end of the rotating disc 100 is provided with a pedestal 400, the stopper groove 401 for fixing the stopper 405 is matched to the adjustment groove 300 is formed. The stopper groove 401 is provided with a stopper 405 and an elastic member 403 such as a spring.

Of course, the end of the stopper 405 is in the shape of " ∩ " so that when the user applies a force to rotate the rotating disc 100, the stopper 405 is lowered to move to the rotation adjustment groove 300 again When matched to the adjustment groove 300 by the restoring force.

Therefore, the rotating disc 100 remains stationary unless the user exerts a force.

5 is a conceptual diagram illustrating a horizontal and vertical rotation of an acceleration sensor error measuring apparatus according to the present invention with a step motor. That is, the concept of rotating the rotating disc 100 using the first step motor 520 and the second step motor 530 is illustrated.

Of course, the first step motor 520 may be automatically connected to the rotating disc 100 and driven without using the stopper structure shown in FIG. 3 to automatically adjust the rotation angle.

In addition, the second step motor 530 is connected to the shaft shaft 203 instead of the handle 131 in the support rotating means 200 shown in FIG. Therefore, it is possible to automatically adjust the rotation angle of the support 120.

Accordingly, it is possible to rotate the acceleration sensor 550 fixed on the rotation disc 100 to the second rotation center axis 121 while rotating the first rotation center axis 101 shown in FIG. 1. For example, after the support 120 is rotated 90 degrees using the second step motor 530, the rotation disc 100 is rotated 90 degrees by rotating the support 120 using the first step motor 520. Rotating is mentioned.

5, the inclinometer sensor 110 is further configured, and the inclinometer sensor 110, the first step motor 520, the second step motor 530, and the acceleration sensor 550 are the controller 510. )

The controller 510 exchanges control information with the computer 500 and controls the step motors 520 and 530, the inclinometer sensor 110, and the acceleration sensor 550. Of course, it also transmits the acceleration information detected by the acceleration sensor 550 to the computer 500. For this purpose, the controller 510 is provided with a microcomputer, a memory, and the like.

In addition, the computer 500 is equipped with a microprocessor (not shown), a storage device (not shown), a program, software, a display (not shown), etc. to store data measured by the acceleration sensor 550 in real time. Play a role.

The computer 500 also displays on the display linearity, lateral sensitivity and sensitivity error information between components measured by the acceleration sensor 550.

Of course, in order to transmit the acceleration sensor 550 to the computer 500, an output terminal 551 is provided at one side of the acceleration sensor 550.

Now, the principle of measuring linearity, lateral sensitivity, and sensitivity error between components using the acceleration sensor error measuring apparatus shown in FIGS. 1 to 5 will be described. 6 is a conceptual diagram for measuring linearity according to the present invention. That is, when the rotation disc 100 shown in FIG. 1 is rotated counterclockwise about the second rotation center axis 121 which is the second rotation center line, the gravity acceleration value of the Z axis output from the acceleration sensor 550 becomes linear. .

Referring to FIG. 6, (a) indicates that the acceleration sensor 550 is in a zero degree state with respect to the Z axis. At this time, for example, since the acceleration of gravity becomes 1 g, one volt is output from the output terminal 551.

이므로

볼트가 출력단(551)에서 출력된다.(b) shows that the acceleration sensor 550 is in a 45 degree inclined state. In this case, the acceleration of gravity

Because of

The volt is output at the output terminal 551.

(c) shows that the acceleration sensor 550 is in a 90 degree inclined state. In this case, since the gravity acceleration is 0, 0 volts are output from the output terminal 551.

Of course, the above (a) to (c) assume an ideal case. 7 illustrates this linearly. That is, FIG. 7 is a graph showing the result of the linearity measurement of FIG. 6. Referring to FIG. 7, when the acceleration sensor 550 is ideal, as the acceleration sensor 550 is rotated, an output value corresponding to the rotation angle is taken as a linear straight line 700.

However, if the acceleration sensor 550 has an abnormality, it is calculated as a value inside or outside the linear straight line 700. For example, in FIG. 6A, the gravity acceleration value may be 1.01 g instead of 1 g. In this case, since the converted volts may be 1.01 V, the gravity acceleration value deviates from the linear straight line 700.

Of course, the linearity of the X and Y axes can also be obtained. That is, by rotating the rotating disc 100 by 360 degrees after rotating 90 degrees along the X axis or the Y axis using the second rotation center axis 121, it is possible to measure the linearity of the X axis or the Y axis.

8 is a conceptual diagram for measuring the lateral sensitivity and sensitivity error between components according to the present invention. In particular, it is a conceptual diagram which measures the lateral sensitivity of Z-axis and the sensitivity error between components. The acceleration sensor 500 has an axis having the maximum sensitivity, which is called a main axis sensitivity. Originally, the other axis has zero sensitivity, but due to sensor manufacturing error, the signal is also output from the other axis. This is called transverse sensitivity or cross-talk sensitivity and is expressed as a percentage of the maximum transverse sensitivity to the main axis sensitivity.

Referring to FIG. 8, (a) illustrates a state of the acceleration sensor 500 positioned about the Z axis. In this state, as shown in FIG. 1, it rotates 90 degrees clockwise to the 2nd rotation center axis 121 which is a 2nd rotation center line. That is, it rotates 90 degrees in the X-axis direction.

This state is shown in (b). That is, (b) indicates that the rotating disc 100 is in the vertical state. Accordingly, the acceleration sensor 550 also becomes vertical.

This state is shown in (c) for easy understanding. (c) is the top view seen from Z direction in (b). As shown in (c), if normal, the Y-axis direction should be 1g, and the X-axis and / or Z-axis directions should be 0g. However, as mentioned above, if the acceleration sensor 500 has a manufacturing error, the gravity acceleration is measured as 0.01g instead of 0g. Of course these values are for ease of understanding of the invention and are exemplary.

In the state of FIG. 8C, when the rotating disc 100 is rotated about 90 degrees counterclockwise with respect to the first rotation center axis 101 which is the first rotation center line, it becomes (d). Accordingly, when the rotation disc 100 is rotated 360 degrees about the first rotation center axis 101, the lateral sensitivity of the Z axis of the acceleration sensor 500 and the sensitivity error between components are measured. In the state of (d), the gravity acceleration of the Y-axis or Z-axis is, for example, 0.01 g, which is also exemplary.

Of course, in a similar manner, the lateral sensitivity of the X axis and the sensitivity error between components are measured by rotating 360 degrees about the second rotation center axis 121 in the state of FIG. 1.

In addition, the lateral sensitivity of the Y axis and the sensitivity error between components are also rotated 90 degrees in the clockwise direction about the first rotation center axis 101 in the state of FIG. 1, and then the second rotation center axis 121. It is measured by rotating 360 degrees around).

In this way, only DC voltage acceleration sensors are used to measure linearity, lateral sensitivity and sensitivity error between components.

100: rotation disc 101: first rotation center axis
102: fixing hole 110: inclinometer sensor
120: support 121: second rotation center axis
130: index plate 131: handle
133: vertical fixing part 135: horizontal fixing part
140: outer wall 141: horizontal plate
142-1: first vertical plate
142-2: second vertical plate
145: spirit level 300: rotation adjustment groove
400: base 401: stopper groove
403: elastic member 405: stopper
500: computer 510: controller
520: first step motor
530: second step motor
550: 3-axis acceleration sensor
551: output stage

Claims (9)

Support 120;
The rotation disc is mounted to the support 120 so that the acceleration sensor is mounted and fixed to one side, and is inserted into the first rotation center axis 101 installed on the first rotation center line passing through one side and the other side to be rotatable. 100);
Rotating disc rotating means for allowing the rotating disc 100 to rotate about the first center of rotation:
A second rotation center axis 121 installed on a second rotation center line orthogonal to the first rotation center axis 101 and connected to the support 120;
Support rotation means for rotating the second rotation center axis 121 such that the rotation disc 100 is rotatable about the second rotation center line; And
Fixing means for fixing the support rotating means
Acceleration sensor error measuring device comprising a. The method of claim 1,
The rotating disc rotating means,
A stopper 405 on the other side of the rotating disc 100 that is matched with a rotation adjusting groove 300 formed at a predetermined interval for rotation about the first rotation center line;
An elastic member 403 providing elasticity to the stopper 405; And
Acceleration sensor error measuring apparatus comprising a pedestal (400) formed with a stopper groove (401) for seating and fixing the stopper (405) and the elastic member (403). The method of claim 1,
The rotating disc rotation means is a first step motor (520) acceleration sensor error measuring device. The method of claim 1,
The support rotation means,
The second rotation center axis 121;
A worm wheel 204 coupled with the second rotation center axis 121;
A worm 201 that is separated from the worm wheel 204;
A worm shaft 203 coupled with the worm 201; And
Acceleration sensor error measuring device comprising a handle (131) connected to the worm shaft (203). The method of claim 1,
The support rotation means,
The second rotation center axis 121;
A worm wheel 204 coupled with the second rotation center axis 121;
A worm 201 that is separated from the worm wheel 204;
A worm shaft 203 coupled with the worm 201; And
Acceleration sensor error measuring device comprising a second step motor (530) connected to the worm shaft (203). The method of claim 1,
The fixing means,
An outer housing 150 covering the support rotating means to form an outer shape;
An outer wall 140 fixing the rear surface of the outer housing 150;
A horizontal plate 141 placed on one side of the outer wall 140 and fixing a side surface of the outer housing 150;
A vertical plate 142 coupled to one side of the horizontal plate 141 to support the horizontal plate 141; And
Acceleration sensor error measuring device is coupled to the lower end of the outer wall 140, the support plate 143 is mounted on the vertical plate (142). The method according to claim 6,
Acceleration sensor error measuring device further comprises a level on one side of the support plate 143 is installed on a vertical line with the first central axis of rotation (101). The method according to claim 6,
Acceleration sensor error measuring device further comprises a height adjusting unit (149) provided at the corner of the support plate (143). The method according to any one of claims 1 to 8,
Accelerometer sensor error measuring device further comprises an inclinometer sensor (110) provided at one end of the support (120) at a predetermined distance from the rotating disk (100).

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