WO2019148430A1 - 惯性测量单元的安装结构以及云台 - Google Patents

惯性测量单元的安装结构以及云台 Download PDF

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Publication number
WO2019148430A1
WO2019148430A1 PCT/CN2018/074973 CN2018074973W WO2019148430A1 WO 2019148430 A1 WO2019148430 A1 WO 2019148430A1 CN 2018074973 W CN2018074973 W CN 2018074973W WO 2019148430 A1 WO2019148430 A1 WO 2019148430A1
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WIPO (PCT)
Prior art keywords
support member
mounting
measurement unit
inertial measurement
carrier
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PCT/CN2018/074973
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English (en)
French (fr)
Inventor
曾令星
石熙恒
Original Assignee
深圳市固胜智能科技有限公司
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Application filed by 深圳市固胜智能科技有限公司 filed Critical 深圳市固胜智能科技有限公司
Priority to PCT/CN2018/074973 priority Critical patent/WO2019148430A1/zh
Publication of WO2019148430A1 publication Critical patent/WO2019148430A1/zh

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    • 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

Definitions

  • the present application relates to a cloud platform, and more particularly to an installation method of an inertial measurement unit in a cloud platform.
  • a pan/tilt is a support device that mounts, mounts, or cameras a camera that provides a stable angle of view for the camera and camera or allows the camera and camera to move in the desired direction.
  • the pan/tilt usually has an inertial system for measuring the three-axis attitude angle (or angular rate) of the object as well as the acceleration.
  • the IMU Inertial Measurement Unit or Inertial Measurement Sensor
  • the IMU is mounted on the mounting carrier, and the mounting carrier is mounted on the mechanical structure by screws.
  • the usual IMU arrangement makes the IMU coordinate system offset from the ideal carrier coordinate system when the mounting carrier is affected by external forces, resulting in inaccurate measurement and triggering a series of problems based on coordinate system calibration.
  • the present invention mainly provides a mounting structure of an inertial measuring unit and a pan/tilt head using the mounting structure for solving the problem of offset of the inertial measuring unit caused by deformation of the supporting member.
  • an embodiment of the present invention provides an installation structure of an inertial measurement unit, including:
  • a support member that provides support for the mounting carrier and the inertial measurement unit
  • a cushioning structure mounted on the support by a cushioning structure having a flexible material and/or an elastic material capable of absorbing the distortion of the support.
  • the mounting carrier is separated from the support member, and at least two buffer structures are disposed between the mounting carrier and the support member for supporting.
  • At least four buffer structures are supported between the mounting carrier and the support member, and the four buffer structures are squarely distributed.
  • the buffer structure is made of silica gel.
  • the silicone is bonded to the support and the mounting carrier.
  • the mounting carrier is a PCB board.
  • the inertial measurement unit is soldered to a PCB board.
  • the support member is a metal member that is driven by a motor to move.
  • an embodiment provides a pan/tilt head comprising a drive motor, further comprising the mounting structure according to any one of the preceding claims, wherein the support member is driven by a drive motor .
  • the mounting structure includes an inertial measurement unit, a mounting carrier, a support, and a buffer structure.
  • the inertial measurement unit is mounted on a mounting carrier that is mounted to the support by a cushioning structure.
  • the cushioning structure has a flexible material and/or an elastic material that is capable of absorbing the distortion of the support.
  • FIG. 1 is a plan view showing a mounting structure of an inertial measurement unit in an embodiment of the present application
  • FIG. 2 is a side view of a mounting structure of an inertial measurement unit in an embodiment of the present application
  • FIG. 3 is a schematic structural view of a support member when it is deformed according to an embodiment of the present application.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • the embodiment provides an installation structure of an inertial measurement unit (IMU), which can stably mount the inertial measurement unit on the support member, and reduce or avoid the influence of the deformation of the support member on the inertial measurement unit.
  • IMU inertial measurement unit
  • the mounting structure includes an inertial measurement unit 100, a mounting carrier 200, a support 300, and a buffer structure 400.
  • the inertial measurement unit 100 is mounted on a mounting carrier 200 that is mounted on the support 300 by a buffer structure 400.
  • the cushioning structure 400 has a flexible material and/or an elastic material that is capable of absorbing the distortion of the support member 300.
  • a flexible material and/or an elastic material can absorb the deformation generated by the support member 300 by deformation itself when the support member 300 is deformed.
  • the deformation of the support member 300 does not necessarily come from itself, but may also be a deformation caused by other components connected to the support member 300, such as vibration.
  • the deformation of the support member 300 is absorbed by the buffer structure 400, so that the deformation of the support member is not or only a small part is transmitted to the mounting carrier 200, and the inertial measurement unit 100 on the mounting carrier 200 is not It may be less affected by the deformation of the support member 300, thereby ensuring that the inertial measurement unit 100 does not cause movement of the coordinate system relative to the ideal coordinate system due to physical deformation or vibration after calibration, so as to improve the measurement result of the inertial measurement unit 100. accuracy.
  • the mounting carrier 200 is separated from the support member 300, and at least two buffer structures 400 are disposed between the mounting carrier 200 and the support member 300 for supporting.
  • the cushioning structure 400 can be laid directly between the mounting carrier 200 and the support member 300 to form a laminated structure without supporting the mounting carrier 200 in such a multi-point support manner.
  • At least four buffer structures 400 are supported between the mounting carrier 200 and the support member 300 , and the four buffer structures 400 are squarely distributed. This support can effectively support from the four corners of the mounting carrier 200, reducing the influence of the deformation of the support member 300 on the stability of the mounting carrier 200.
  • the buffer structure 400 has the ability to absorb deformation at this time, for example, the flexible material can be buffered by self-deformation, and finally the mounting carrier 200 is not deformed.
  • the buffer structure 400 is made of silica gel.
  • other flexible materials capable of absorbing deformation can also be used.
  • a cushioning structure 400 made of an elastic material such as a spring may be used to absorb the deformation of the support member 300.
  • the silicone is bonded to the support member 300 and the mounting carrier 200.
  • the adhesive bonding of the silicone ensures that the connection between the mounting carrier 200 and the support member 300 is firm, and the deformation of other structures does not cause deformation of the mounting carrier 200, thereby ensuring that the inertial measurement unit 100 does not cause physical deformation or vibration after calibration.
  • the mounting carrier 200 is a PCB board.
  • the inertial measurement unit 100 is soldered to the PCB board to ensure the firmness of the connection with the PCB board.
  • the support member 300 may be a member made of a metal member or other material that is driven by the motor to move.
  • the support member 300 may be one or several, that is, the mounting carrier 200 may be mounted on one component or may be spanned between several components at the same time.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the present embodiment provides a pan/tilt for mounting, fixing a camera or a camera, which can provide a stable shooting angle for the camera and the camera or move the camera and camera in a desired direction for shooting.
  • the pan/tilt head includes a drive motor, and further includes any one of the mounting structures as shown in the first embodiment, wherein the support member in the mounting structure is driven by the drive motor.
  • the inertial measurement unit and the mounting carrier move with the support member, and the buffer structure can absorb the distortion of the support member by self-deformation, thereby avoiding deformation of the mounting carrier.

Abstract

一种惯性测量单元的安装结构，包括惯性测量单元（100）、安装载体（200）、支撑件（300）以及缓冲结构（400）。惯性测量单元（100）安装在安装载体（200）上，安装载体（200）通过缓冲结构（400）安装在支撑件（300）上。缓冲结构（400）具有能够吸收支撑件（300）扭曲变形的柔性材料和/或弹性材料。当支撑件（300）发生扭曲变形时，支撑件（300）的变形由缓冲结构（400）吸收，使得这种变形不会或只是一少部分传递到安装载体（200），使得安装载体（200）上的惯性测量单元（100）不会或较少受到支撑件（300）变形的影响，以便保证惯性测量单元（100）的测量结果的准确性。还包括一种云台。

Description

惯性测量单元的安装结构以及云台 技术领域
本申请涉及云台，尤其是涉及到云台内惯性测量单元的安装方式。
 背景技术
云台是安装、固定摄像机或照相机的支撑设备，其可为摄像机和照相机提供稳定的拍摄角度或者使摄像机和照相机按照希望的方向移动进行拍摄。云台通常具有惯性系统，用于测量物体三轴姿态角(或角速率)以及加速度。IMU（惯性测量单元或惯性测量传感器）是惯性系统的重要组成部分。一般IMU焊装在安装载体上，安装载体通过螺钉安装在机械结构上。
通常的IMU布置方案在安装载体受到外力影响时会使得IMU坐标系相比理想的载体坐标系产生偏移，导致测量不准确，引发一系列基于坐标系标定的问题。
 技术问题
本发明主要提供一种惯性测量单元的安装结构以及采用了这种安装结构的云台，用以解决由于支撑件变形而造成的惯性测量单元产生偏移的问题。
 技术解决方案
根据本申请的一方面，一种实施例中提供一种惯性测量单元的安装结构，包括：
惯性测量单元；
安装载体，所述惯性测量单元安装在所述安装载体上；
支撑件，所述支撑件为安装载体和惯性测量单元提供支撑；
以及缓冲结构，所述安装载体通过缓冲结构安装在支撑件上，所述缓冲结构具有能够吸收支撑件扭曲变形的柔性材料和/或弹性材料。
作为所述安装结构的进一步改进，所述安装载体与支撑件分离，在所述安装载体与支撑件之间设置至少两处缓冲结构进行支撑。
作为所述安装结构的进一步改进，所述安装载体与支撑件之间设置至少四个缓冲结构进行支撑，其中的四个缓冲结构呈方形分布。
作为所述安装结构的进一步改进，所述缓冲结构采用硅胶。
作为所述安装结构的进一步改进，所述硅胶粘接在支撑件和安装载体上。
作为所述安装结构的进一步改进，所述安装载体为PCB板。
作为所述安装结构的进一步改进，所述惯性测量单元焊接在安装在PCB板上。
作为所述安装结构的进一步改进，所述支撑件为由电机驱动进行移动的金属件。
根据本申请的一方面，一种实施例中提供一种云台，其包括驱动电机，还包括如上述任一项所述的安装结构，其中，所述支撑件在驱动电机的驱动下进行运动。
 有益效果
依据上述实施例的安装结构，其包括惯性测量单元、安装载体、支撑件以及缓冲结构。该惯性测量单元安装在安装载体上，安装载体通过缓冲结构安装在支撑件上。该缓冲结构具有能够吸收支撑件扭曲变形的柔性材料和/或弹性材料。当支撑件发生扭曲变形时，该支撑件的变形由缓冲结构吸收，使得这种变形不会或只是一少部分传递到安装载体，使得安装载体上的惯性测量单元不会或较少受到支撑件变形的影响，以便保证惯性测量单元的测量结果的准确性。
 附图说明
图1为本申请一种实施例中惯性测量单元的安装结构的俯视图；
图2为本申请一种实施例中惯性测量单元的安装结构的侧视图；
图3为本申请一种实施例中支撑件发生变形时的结构示意图。
 本发明的实施方式
具体实施方式
下面通过具体实施方式结合附图对本发明作进一步详细说明。其中不同实施方式中类似元件采用了相关联的类似的元件标号。在以下的实施方式中，很多细节描述是为了使得本申请能被更好的理解。然而，本领域技术人员可以毫不费力的认识到，其中部分特征在不同情况下是可以省略的，或者可以由其他元件、材料、方法所替代。在某些情况下，本申请相关的一些操作并没有在说明书中显示或者描述，这是为了避免本申请的核心部分被过多的描述所淹没，而对于本领域技术人员而言，详细描述这些相关操作并不是必要的，他们根据说明书中的描述以及本领域的一般技术知识即可完整了解相关操作。
另外，说明书中所描述的特点、操作或者特征可以以任意适当的方式结合形成各种实施方式。同时，方法描述中的各步骤或者动作也可以按照本领域技术人员所能显而易见的方式进行顺序调换或调整。因此，说明书和附图中的各种顺序只是为了清楚描述某一个实施例，并不意味着是必须的顺序，除非另有说明其中某个顺序是必须遵循的。
本文中为部件所编序号本身，例如“第一”、“第二”等，仅用于区分所描述的对象，不具有任何顺序或技术含义。而本申请所说“连接”、“联接”，如无特别说明，均包括直接和间接连接（联接）。
 
实施例一：
本实施例提供了一种惯性测量单元（IMU）的安装结构，其可将惯性测量单元稳定的安装在支撑件上，减少或避免支撑件变形对惯性测量单元的影响。
请参考图1和2，该安装结构包括惯性测量单元100、安装载体200、支撑件300以及缓冲结构400。
该惯性测量单元100安装在安装载体200上，安装载体200通过缓冲结构400安装在支撑件300上。该缓冲结构400具有能够吸收支撑件300扭曲变形的柔性材料和/或弹性材料。这种柔性材料和/或弹性材料可以在支撑件300的变形时通过自身形变而吸收支撑件300产生的变形。当然支撑件300的变形不一定来自于其本身，也可以是与支撑件300连接的其他部件所引起的变形，例如震动。
当支撑件300发生扭曲变形时，该支撑件300的变形由缓冲结构400吸收，使得支撑件这种变形不会或只是一少部分传递到安装载体200，安装载体200上的惯性测量单元100不会或较少受到支撑件300变形的影响，从而保证惯性测量单元100在标定后不会发生因物理变形或者震动等引起坐标系相对理想坐标系的移动，以便提高惯性测量单元100的测量结果的准确性。
请参考图2，一种实施例中，该安装载体200与支撑件300分离，在安装载体200与支撑件300之间设置至少两处缓冲结构400进行支撑。
当然，在某些实施例中，该缓冲结构400可以直接铺设在安装载体200和支撑件300之间，形成层叠结构，而并非以这种多点支撑的方式完成对安装载体200的支撑。
进一步地，请继续参考图2，一种实施例中，该安装载体200与支撑件300之间设置至少四个缓冲结构400进行支撑，其中的四个缓冲结构400呈方形分布。这种支撑可以有效的从安装载体200四个角实现支撑，减少支撑件300变形对安装载体200稳定性的影响。
如图3所示，当支撑件300变形时，此时缓冲结构400具有吸收变形的能力，例如柔性材料可以通过自身变形实现缓冲，最后来保证安装载体200不变形。
进一步地，一种实施例中，该缓冲结构400采用硅胶。当然，也可以采用其他能够吸收变形的柔性材料。
此外，还可以采用弹簧等弹性材料制成的缓冲结构400来吸收支撑件300的变形。
进一步地，该硅胶粘接在支撑件300和安装载体200上。硅胶粘接固定可以保证安装载体200与支撑件300之间连接牢固，其他结构的变形不会导致安装载体200的变形，从而保证惯性测量单元100在标定后不会发生因物理变形或者震动等引起坐标系相对理想坐标系的移动。
进一步地，一种实施例中，该安装载体200为PCB板。该惯性测量单元100焊接在安装在PCB板上，保证与PCB板连接的牢固性。
该惯性测量单元100在应用到云台中时，该支撑件300可以为由电机驱动进行移动的金属件或其他材料制成的部件。该支撑件300可以是一个或几个，即安装载体200可能安装在一个部件上，也可能同时横跨在几个部件之间。
 
实施例二：
本实施例提供了一种云台，其用于安装、固定摄像机或照相机，其可为摄像机和照相机提供稳定的拍摄角度或者使摄像机和照相机按照希望的方向移动进行拍摄。
该云台包括驱动电机，此外还包括如实施例一所示的任一种安装结构，该安装结构中的支撑件在驱动电机的驱动下进行运动。该惯性测量单元和安装载体随支撑件移动，同时缓冲结构可以通过自身变形吸收支撑件的扭曲变形，从而避免安装载体的变形。
 
以上应用了具体个例对本发明进行阐述，只是用于帮助理解本发明，并不用以限制本发明。对于本领域的一般技术人员，依据本发明的思想，可以对上述具体实施方式进行变化。

Claims (10)

  1. 一种惯性测量单元的安装结构，其特征在于，包括：
    惯性测量单元；
    安装载体，所述惯性测量单元安装在所述安装载体上；
    支撑件，所述支撑件为安装载体和惯性测量单元提供支撑；
    以及缓冲结构，所述安装载体通过缓冲结构安装在支撑件上，所述缓冲结构具有能够吸收支撑件扭曲变形的柔性材料和/或弹性材料。
  2. 如权利要求1所述的安装结构，其特征在于，所述安装载体与支撑件分离，在所述安装载体与支撑件之间设置至少两处缓冲结构进行支撑。
  3. 如权利要求1或2所述的安装结构，其特征在于，所述安装载体与支撑件之间设置至少四个缓冲结构进行支撑，其中的四个缓冲结构呈方形分布。
  4. 如权利要求1-3任一项所述的安装结构，其特征在于，所述缓冲结构采用硅胶。
  5. 如权利要求4所述的安装结构，其特征在于，所述硅胶粘接在支撑件和安装载体上。
  6. 如权利要求1-5中任一项所述的安装结构，其特征在于，所述安装载体为PCB板。
  7. 如权利要求6所述的安装结构，其特征在于，所述惯性测量单元焊接在安装在PCB板上。
  8. 如权利要求1-7中任一项所述的安装结构，其特征在于，所述支撑件为由电机驱动进行移动的金属件。
  9. 一种云台，其包括驱动电机，其特征在在于，包括如权利要求1-7任一项所述的安装结构，其中，所述支撑件在驱动电机的驱动下进行运动。
  10. 如权利要求9所述的云台，其特征在于，所述支撑件为金属件。
PCT/CN2018/074973 2018-02-01 2018-02-01 惯性测量单元的安装结构以及云台 WO2019148430A1 (zh)

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