WO2022095210A1

WO2022095210A1 - Inertial measurement module and unmanned aerial vehicle

Info

Publication number: WO2022095210A1
Application number: PCT/CN2020/135442
Authority: WO
Inventors: 王增跃; 朱誉品; 李佳乘
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-11-05
Filing date: 2020-12-10
Publication date: 2022-05-12
Also published as: CN114729805A; CN213779051U

Abstract

An inertial measurement module (100) and an unmanned aerial vehicle. The inertial measurement module (100) comprises: a circuit board (10) comprising a body portion (11) and an isolation portion (12) located at an edge of the body portion (11), wherein an interval groove (13) is provided between the isolation portion (12) and the body portion (11), and the isolation portion (12) is connected to the body portion (11) by means of a connecting portion (14); an inertial measurement unit (20) arranged on the isolation portion (12), wherein the inertial measurement unit (20) is configured to sense inertial measurement data; and a heating source (30) arranged on the isolation portion (12), wherein the heating source (30) is configured to heat the inertial measurement unit (20) to a preset temperature. The inertial measurement module (100) effectively reduces the influence of thermal stress generated by the heating source (30) during a heating process on the precision and service life of the inertial measurement unit (20).

Description

Inertial measurement modules and unmanned aerial vehicles

technical field

This application relates to inertial measurement modules and unmanned aerial vehicles.

Background technique

Inertial measurement unit is a sensor used to detect the attitude information of moving objects. The inertial measurement unit generally includes an accelerometer and a gyroscope; wherein, the accelerometer is used to detect the acceleration component of the object, and the gyroscope is used to detect the angle information of the object. Due to the function of measuring the acceleration and angular velocity information of objects, inertial measurement units are usually used as the core components of navigation and guidance, and are widely used in vehicles, ships, robots, and aircraft and other equipment that require motion control.

The inertial measurement unit is installed on the circuit board, and will be affected by the thermal stress generated by the heating source on the circuit board during operation, resulting in poor measurement accuracy.

SUMMARY OF THE INVENTION

One aspect of the present application provides an inertial measurement module. The inertial measurement module includes: a circuit board, including a main body part and an isolation part located at the edge of the main body part, a spacing groove is arranged between the isolation part and the main body part, and the isolation part is connected to the main body through the connecting part an inertial measurement unit, arranged in the isolation part, the inertial measurement unit is used for sensing inertial measurement data; and a heating source, arranged in the isolation part, the heating source is used for the inertial measurement unit Heated to preset temperature.

Optionally, the isolation portion is integrally formed with the main body portion, or the isolation portion is electrically connected to the main body portion through a flexible circuit board.

Optionally, the spacing groove includes a first groove and a second groove; the first groove is located on the side of the isolation part away from the outer edge; the second groove is located on the other side of the isolation part, and the second The groove communicates with one end of the first groove.

Optionally, the spacing groove includes a first groove, a second groove and a third groove; the first groove is located on a side of the isolation portion away from the outer edge; the second groove and the third groove are located at the two opposite sides of the isolation part; two ends of the first groove are respectively communicated with one end of the second groove and/or the third groove.

Optionally, the connection part passes through the first groove and connects the isolation part with the body part.

Optionally, the connecting portion passes through the second groove and connects the isolation portion with the body portion.

Optionally, the connecting portion passes through the third groove and connects the isolation portion with the body portion.

Optionally, the width of the spacing grooves ranges from 1 mm to 2 mm.

Optionally, the heating sources are located on opposite sides of the inertial measurement unit.

Optionally, a plurality of heating sources are respectively arranged on opposite sides of the inertial measurement unit.

Optionally, at least one heating source is arranged axisymmetrically or center-symmetrically on two opposite sides of the inertial measurement unit.

Optionally, the distance between the heating source and the inertial measurement unit ranges from 4 mm to 4.5 mm.

Optionally, the thickness of the circuit board ranges from 1 mm to 1.2 mm.

Another aspect of the present application provides an unmanned aerial vehicle. The unmanned aerial vehicle includes a fuselage, an arm arranged in the fuselage, and the above-mentioned inertial measurement module arranged in the fuselage.

In the inertial measurement module of the present application, since a spacer groove is provided between the isolation part and the body part, and the inertial measurement unit and the heating source are arranged in the isolation part, the spacer groove can increase the flexibility of the circuit board, and thus can effectively Reduce the influence of the thermal stress generated by the heating source on the accuracy and life of the inertial measurement unit during the heating process.

Description of drawings

FIG. 1 is a three-dimensional schematic diagram of an inertial measurement module of the present application.

FIG. 2 is a schematic perspective view of another embodiment of the inertial measurement module shown in FIG. 1 .

FIG. 3 is a schematic three-dimensional view of another embodiment of the inertial measurement module shown in FIG. 1 .

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the illustrative examples below are not intended to represent all implementations consistent with this application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as recited in the appended claims.

The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this application and the appended claims, the singular forms "a," "the," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

The inertial measurement module and the unmanned aerial vehicle of the present application will be described in detail below with reference to the accompanying drawings. The features of the embodiments and implementations described below may be combined with each other without conflict.

Referring to FIGS. 1 to 3 , the unmanned aerial vehicle of the embodiment of the present application includes a fuselage, an arm disposed in the fuselage, and an inertial measurement module 100 disposed in the fuselage.

FIG. 1 is a schematic diagram of one embodiment of an inertial measurement module 100 . The inertial measurement module 100 shown in FIG. 1 can be used not only for unmanned aerial vehicles, but also for unmanned vehicles, robots, gimbals, etc., which is not limited thereto.

The inertial measurement module 100 includes a circuit board 10 , an inertial measurement unit 20 and a heating source 30 . The circuit board 10 includes a body portion 11 and an isolation portion 12 located at the edge of the body portion 11 . A spacing groove 13 is provided between the isolation portion 12 and the body portion 11 , and the isolation portion 12 is connected to the isolation portion 12 through the connecting portion 14 . The body portion 11 is connected.

The inertial measurement unit 20 is disposed in the isolation part 12 , and the inertial measurement unit 20 is used for sensing inertial measurement data and transmitting the sensed inertial measurement data to the micro-control unit. In the illustrated embodiment, the micro-control unit is disposed on a main control circuit board (not shown) different from the circuit board 10, and the circuit board 10 and the main control circuit board are connected through cable communication, so that the inertial measurement unit 20 can sense the The measured inertial measurement data is transmitted to the microcontroller unit through the cable. In another embodiment, the micro-control unit is provided on the circuit board 10, the circuit board 10 includes a board body and a wiring arranged on the board body, and the inertial measurement unit 20 is communicatively connected to the micro-control unit through the wiring of the board body, and connects the micro-control unit to the micro-control unit. The sensed inertial measurement data is transmitted to the microcontroller unit.

The microcontroller unit is the core element of the UAV, as the central controller of the UAV, it is used to control the main functions of the UAV. For example, the micro-control unit can be used to manage the working mode of the control system of the unmanned aerial vehicle, to calculate the control rate and generate control signals, to manage the sensors and servo systems in the unmanned aerial vehicle, to The control and data exchange of other tasks and electronic components in the UAV is used to receive ground commands to control the flight action of the UAV and collect the attitude information of the UAV.

The inertial measurement unit 20 is used to determine the heading information of the UAV, and transmit the determined heading information to the micro-control unit, so that the micro-control unit can determine the subsequent operation. The process of determining the heading information of the UAV by the inertial measurement unit 30 is as follows: the acceleration component of the UAV relative to the vertical line is detected by the accelerometer (that is, the acceleration sensor); the UAV is detected by the gyroscope (that is, the speed sensor) The analog-to-digital converter receives the analog variable output by each sensor and converts the analog variable into a digital signal; the micro-control unit will determine and output the pitch angle, roll angle and heading angle of the UAV according to the digital signal. at least one angle information of the UAV, thereby determining the heading information of the unmanned aerial vehicle.

A heating source 30 is disposed on the isolation portion 12, and the heating source 30 is used to heat the inertial measurement unit 20 to a preset temperature. In this way, by setting the heating source 30, the inertial measurement unit 20 is ensured to be in a constant temperature environment, so that the inertial measurement unit 20 can show good performance in any external environment.

In the illustrated embodiment, the heating source 30 may be a heating resistor. In other embodiments, the heat source 30 may be any heat source capable of providing heat.

In the inertial measurement module 100 of the present application, since the spacer 13 is provided between the isolation portion 12 and the body portion 11 , and the inertial measurement unit 20 and the heating source 30 are arranged in the isolation portion 12 , the spacer 13 can increase the number of circuit boards. The flexibility of the inertial measurement unit 10 can effectively reduce the influence of the thermal stress generated by the heating source 30 during the heating process on the accuracy and life of the inertial measurement unit 20 .

In the illustrated embodiment, the isolation portion 12 is integrally formed with the main body portion 11 . In other embodiments, the isolation portion 12 is electrically connected to the main body portion 11 through a flexible circuit board.

Referring to FIG. 1 and FIG. 2 , the spacing groove 13 includes a first groove 131 and a second groove 132 . The first groove 131 is located on the side of the isolation portion 12 away from the outer edge. The second groove 132 is located on the other side of the isolation portion 12 , and the second groove 132 communicates with one end of the first groove 131 . In this embodiment, the first groove 131 and the second groove 132 extend in a straight line, but not limited thereto.

Referring to FIG. 3 , the spacing groove 13 includes a first groove 131 , a second groove 132 and a third groove 133 ; the first groove 131 is located on the side of the isolation portion 12 away from the outer edge; the second groove 132 and The third grooves 133 are respectively located on opposite sides of the isolation portion 12 ; two ends of the first groove 131 are respectively communicated with one end of the second groove 132 and/or one end of the third groove 133 . In this embodiment, the first groove 131 , the second groove 132 and the third groove 133 extend in a straight line, but not limited thereto.

In one embodiment, the connection part 14 passes through the first groove 131 and connects the isolation part 12 with the body part 11 . The connecting portion 14 may pass through the middle position of the first groove 131 or pass through one end of the first groove 131 .

In another embodiment, the connecting portion 14 passes through the second groove 132 and connects the isolation portion 12 with the body portion 11 . The connecting portion 14 may pass through the middle position of the second groove 132 , or may pass through one end of the second groove 132 .

In another embodiment, the connecting portion 14 passes through the third groove 133 and connects the isolation portion 12 with the body portion 11 . The connecting portion 14 may pass through the middle position of the third groove 133 , or may pass through one end of the third groove 133 .

In yet another embodiment, the connecting portion 14 includes two parts, and the two parts pass through the first groove 131 and the second groove 132, respectively. Of course, in other embodiments, the two parts of the connecting part 14 can pass through the first groove 131 and the third groove 133 respectively, or, the two parts of the connecting part 14 can pass through the second groove 132 respectively and the third slot 133 .

In yet another embodiment, the connecting portion 14 includes three parts, and the three parts pass through the first groove 131 , the second groove 132 and the third groove 133 respectively, but not limited thereto.

The width of the spacing grooves 13 is in the range of 1 mm to 2 mm, so as to facilitate the opening of the spacing grooves 13 and at the same time make the circuit board 10 more compact. In some embodiments, the width of the spacing groove 13 may be 1 mm, 1.2 mm, 1.4 mm, 1.6 mm, 1.8 mm, 2 mm, or any value in between.

The heating sources 30 are located on opposite sides of the inertial measurement unit 20 . In this way, all parts of the inertial measurement unit 20 can be kept at the same temperature, and better performance of the inertial measurement unit 20 can be maintained.

A plurality of heating sources 30 are respectively arranged on opposite sides of the inertial measurement unit 20 . Referring to FIG. 1 , three heating sources 30 are respectively arranged on opposite sides of the inertial measurement unit 20 . The number, shape and size of the heating sources 30 on both sides of the inertial measurement unit 20 may be the same or different.

At least one heating source 30 is arranged on opposite sides of the inertial measurement unit 20 axisymmetrically or centrally. Please refer to FIG. 2 and FIG. 3 , two heating sources 30 are respectively arranged on opposite sides of the inertial measurement unit 20 , and the heating sources 30 are of the same shape and size, and the two heating sources 30 are far from the inertial measurement unit 20 . equal distances. In one embodiment, one heating source 30 is arranged axisymmetrically on two opposite sides of the inertial measurement unit 20. In another embodiment, one heating source 30 is arranged centrally symmetrically on two opposite sides of the inertial measurement unit 20 30 heating sources.

The distance between the heating source 30 and the inertial measurement unit 20 ranges from 4 mm to 4.5 mm. In this way, the inertial measurement unit 20 can be better heated, and the influence of thermal stress on the inertial measurement unit 20 can be reduced. In some embodiments, the distance between the heating source 30 and the inertial measurement unit 20 may be 4 mm, 4.1 mm, 4.2 mm, 4.3 mm, 4.4 mm, 4.5 mm, or any of the above-mentioned adjacent ones. some value in between.

The thickness of the circuit board 10 ranges from 1 mm to 1.2 mm. In this way, thermal stress can be reduced, which is beneficial for the inertial measurement unit 20 to maintain good performance. In some embodiments, the thickness of the circuit board 10 may be 1 mm, 1.1 mm, 1.2 mm, or any value in between.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application in any form. Although the present application has been disclosed above with preferred embodiments, it is not intended to limit the present application. Personnel, without departing from the scope of the technical solution of the present application, can make some changes or modifications to equivalent examples of equivalent changes by using the technical content disclosed above, but any content that does not depart from the technical solution of the present application, according to this Any simple modifications, equivalent changes and modifications made to the above embodiments by the technical essence of the application still fall within the scope of the technical solutions of the present application.

The disclosure of this patent document contains material that is subject to copyright protection. This copyright belongs to the copyright owner. The copyright owner has no objection to the reproduction by anyone of the patent document or the patent disclosure as it exists in the official records and archives of the Patent and Trademark Office.

Claims

An inertial measurement module, characterized in that the inertial measurement module comprises:

a circuit board, comprising a main body part and an isolation part located at the edge of the main body part, a spacing groove is arranged between the isolation part and the main body part, and the isolation part is connected with the main body part through a connecting part;

an inertial measurement unit, disposed in the isolation portion, the inertial measurement unit is used for sensing inertial measurement data; and

A heating source is arranged on the isolation part, and the heating source is used for heating the inertial measurement unit to a preset temperature.
The inertial measurement module according to claim 1, wherein the isolation portion is integrally formed with the main body portion, or the isolation portion is electrically connected to the main body portion through a flexible circuit board.
The inertial measurement module according to claim 1, wherein the interval groove comprises a first groove and a second groove;

the first groove is located on the side of the isolation portion away from the outer edge;

The second groove is located on the other side of the isolation portion, and the second groove communicates with one end of the first groove.
The inertial measurement module according to claim 1, wherein the interval groove comprises a first groove, a second groove and a third groove;

the first groove is located on the side of the isolation portion away from the outer edge;

the second groove and the third groove are respectively located on opposite sides of the isolation portion;

Both ends of the first groove communicate with one end of the second groove and/or the third groove, respectively.
The inertial measurement module according to claim 4, wherein the connecting portion passes through the first groove and connects the isolation portion with the body portion.
The inertial measurement module according to claim 4, wherein the connecting portion passes through the second groove and connects the isolation portion with the body portion.
The inertial measurement module according to claim 4, wherein the connecting portion passes through the third groove and connects the isolation portion with the body portion.
The inertial measurement module according to claim 1, wherein the width of the interval grooves ranges from 1 mm to 2 mm.
The inertial measurement module according to claim 1, wherein the heating sources are located on opposite sides of the inertial measurement unit.
The inertial measurement module according to claim 9, wherein a plurality of heating sources are respectively arranged on opposite sides of the inertial measurement unit.
The inertial measurement module according to claim 9, wherein at least one heating source is arranged on opposite sides of the inertial measurement unit axisymmetrically or centrally.
The inertial measurement module according to any one of claims 1 to 11, wherein the distance between the heating source and the inertial measurement unit ranges from 4 mm to 4.5 mm.
The inertial measurement module according to any one of claims 1 to 11, wherein the thickness of the circuit board ranges from 1 mm to 1.2 mm.
An unmanned aerial vehicle is characterized by comprising a fuselage, an arm arranged in the fuselage, and an inertial measurement module according to any one of claims 1 to 13 arranged in the fuselage.