CN114812615B - IMU batch calibration device, calibration method and calibration system - Google Patents

Abstract

The application is applicable to the technical field of fixtures, and provides an IMU batch calibration device, a calibration method and a calibration system. The calibration device includes: a female seat and a plurality of product installation bars, and the plurality of product installation bars are installed on the female seat; each Each product mounting strip includes the IMU product placement part to be tested and the data processing board. The IMU product placement part to be tested is used to place multiple IMU products to be tested side by side, and multiple IMU products to be tested are connected to the data processing board; the data processing board can pass The female base is connected to the external terminal, and the data processing board is used to control multiple IMU products to be tested for calibration according to the control instructions sent by the external terminal. The present application can achieve the effects of simple operation during calibration and an increase in the multiples of the calibration quantity.

Description

IMU batch calibration device, calibration method and calibration system

technical field

The application belongs to the technical field of fixtures, and in particular relates to an IMU batch calibration device, a calibration method and a calibration system.

Background technique

The new growth point of IMU products will be in the field of Internet of Things and artificial intelligence, and the demand for IMU products will show an exponential growth. At present, the bottleneck in the production of IMU products is calibration. The equipment used in the calibration is a dual-axis turntable with a temperature box. The calibration capacity of a single turntable is 100 pieces/day.

In the process of calibration and testing of the existing turntable, each product needs to be interconnected with the turntable channel, the number of turntable channels is small, the number of single calibration is small, and the utilization rate of the turntable is low.

SUMMARY OF THE INVENTION

In order to overcome the problems existing in the related art, the embodiments of the present application provide an IMU batch calibration device, a calibration method and a calibration system, which can achieve the effects of simple operation during calibration and an increase in the number of calibrations.

This application is achieved through the following technical solutions:

In a first aspect, an embodiment of the present application provides an IMU batch calibration device, including: a female base and a plurality of product mounting bars, the plurality of product mounting bars are mounted on the female seat; each product mounting bar includes a A test IMU product placement part and a data processing board, the to-be-tested IMU product placement part is used to place a plurality of to-be-tested IMU products in parallel, and the multiple to-be-tested IMU products are connected to the data processing board; the data processing board It can be connected to an external terminal through the female base, and the data processing board is used for controlling the plurality of IMU products to be tested to perform calibration according to the control instructions sent by the external terminal.

Based on the first aspect, in some embodiments, the female base includes: a circuit board; The product mounting strip is detachably connected; a plurality of pogo pins are arranged on the circuit board, and the data processing board is connected to the circuit board through corresponding pogo pins.

Based on the first aspect, in some embodiments, the base includes:

a base, the base is provided with a plurality of assembly grooves; the bottom surface of each assembly groove is provided with a first threaded hole; the first threaded hole is used to fix the product installation strip on the base;

sliding rails, symmetrically arranged on both sides of the base, for guiding the product mounting strip to be assembled into the mounting groove;

a stop block, arranged at the lower end of the slide rail, for limiting the downward movement position of the product mounting bar;

A fixing bolt is used to cooperate with the first threaded hole to fix the product mounting strip on the base.

Based on the first aspect, in some embodiments, a ventilation hole is provided in the middle of the base; bosses are provided on both sides of the base, and a second threaded hole is provided on the boss, and the second thread The holes are used to secure the submount to the circuit board.

Based on the first aspect, in some embodiments, the number of the IMU product placement parts to be tested on each product mounting strip is two; each of the IMU products to be tested can be connected to the data processing board through a connector .

Based on the first aspect, in some embodiments, the IMU product placement part to be tested includes: a first fixing board and a second fixing board, the first fixing board and the second fixing board are relatively arranged on the data handle both sides of the board;

A plurality of the connectors are soldered on the data processing board.

Based on the first aspect, in some embodiments, the product mounting strip is provided with a third fixing plate;

the first fixing plate and the second fixing plate are connected together by the third fixing plate;

A connecting block is provided on the outer side of the third fixing plate, and a through hole is opened on the connecting block, and the through hole is axially parallel to the third fixing plate;

The fixing bolts, the through holes and the first threaded holes on the bottom surface of the assembling grooves are assembled together to fix the two product mounting strips on the assembling grooves of the base.

Based on the first aspect, in some embodiments, sliding blocks are provided on both sides of the connecting block; the sliding blocks are used for assembling the product mounting bars with the corresponding sliding rails.

A second aspect of the embodiments of the present application provides an IMU batch calibration system, including an external terminal and the IMU batch calibration device according to any embodiment of the first aspect, wherein the IMU batch calibration device is communicatively connected to the external terminal .

A third aspect of the embodiments of the present application provides an IMU batch calibration method, which is implemented based on the IMU batch calibration system described in the second aspect. Control instructions, the control instructions include one-to-one corresponding IMU labels and calibration parameters, and the IMU labels are multiple; the data processing board responds to the control commands and sends the IMU products to be tested corresponding to each of the IMU labels. Send the corresponding calibration parameters, so that the IMU product to be tested executes the corresponding calibration parameters for calibration; the data processing board obtains the calibration feedback information sent by each IMU product to be tested, and passes the calibration feedback information through the mother seat sent to the external terminal.

It can be understood that, for the beneficial effects of the second aspect and the third aspect, reference may be made to the relevant descriptions in the first aspect, which will not be repeated here.

The beneficial effects that the embodiments of the present application have compared with the prior art are:

In the embodiment of the present application, through the expandable design of the product installation strip, the female base composed of the base, the pogo pin, and the circuit board is assembled and formed at one time, and subsequent production does not require disassembly and assembly, only one precise installation is required, which can achieve easy operation during calibration. The effect of multiplying the number of calibrations.

It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the specification.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present application. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic structural diagram of an IMU batch calibration device provided by an embodiment of the present application;

2 is a front view of an IMU batch calibration device provided by an embodiment of the present application;

3 is a left side view of an IMU batch calibration device provided by an embodiment of the present application;

4 is a top view of an IMU batch calibration device provided by an embodiment of the present application;

5 is a schematic structural diagram of a female seat provided by an embodiment of the present application;

6 is a front view of the structure of a female seat provided by an embodiment of the present application;

Fig. 7 is the left side view of the structure of the female seat provided by an embodiment of the present application;

8 is a top view of the structure of a female seat provided by an embodiment of the present application;

9 is a schematic structural diagram of a product mounting strip provided by an embodiment of the present application;

10 is a left side view of the structure of a product mounting strip provided by an embodiment of the present application;

11 is a front view of the structure of a product mounting strip provided by an embodiment of the present application;

12 is a right side view of the structure of a product mounting strip provided by an embodiment of the present application;

13 is a top view of the structure of a product mounting strip provided by an embodiment of the present application;

14 is a schematic structural diagram of the assembly of a product mounting strip and a base provided by an embodiment of the present application;

15 is a front view of the assembly of a product mounting strip and a base provided by an embodiment of the present application;

16 is a schematic diagram of a communication process of an apparatus for batch calibration of IMUs provided by an embodiment of the present application;

FIG. 17 is a schematic diagram of a batch test principle of an IMU batch calibration device provided by an embodiment of the present application.

Detailed ways

In the following description, for the purpose of illustration rather than limitation, specific details such as a specific system structure and technology are set forth in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It is to be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described feature, integer, step, operation, element and/or component, but does not exclude one or more other The presence or addition of features, integers, steps, operations, elements, components and/or sets thereof.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

As used in the specification of this application and the appended claims, the term "if" may be contextually interpreted as "when" or "once" or "in response to determining" or "in response to detecting ". Similarly, the phrases "if it is determined" or "if the [described condition or event] is detected" may be interpreted, depending on the context, to mean "once it is determined" or "in response to the determination" or "once the [described condition or event] is detected. ]" or "in response to detection of the [described condition or event]".

In addition, in the description of the specification of the present application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description, and should not be construed as indicating or implying relative importance.

References in this specification to "one embodiment" or "some embodiments" and the like mean that a particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in other embodiments," etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean "one or more but not all embodiments" unless specifically emphasized otherwise. The terms "including", "including", "having" and their variants mean "including but not limited to" unless specifically emphasized otherwise.

In the face of the fierce battle in the driverless market, the new growth point of IMU products in the future will be in the fields of Internet of Things and artificial intelligence, and the demand for products will increase exponentially. The bottleneck in the production of IMU products is the calibration. The equipment used in the calibration is a dual-axis turntable with a temperature box. The calibration capacity of a single turntable is 100 pieces/day.

Problems encountered during the calibration and testing of the existing turntable: long disassembly and assembly time (each product needs to be interconnected with the turntable channel); large damage to the table mounting hole (heavy fixture and large torque); small number of single calibrations (turntable The number of channels is 22/33), and the utilization rate of the turntable is low; the internal temperature cycle of the turntable is poor, the product heating and cooling rate is slow; the installation accuracy is poor, resulting in a large installation error of the calibrated product.

Based on the above problems, an IMU batch calibration device in an embodiment of the present application includes: a female base and a plurality of product installation bars, and the plurality of product installation bars are installed on the female seat; The placement part of the IMU product to be tested and the data processing board, the placement part of the IMU product to be tested is used to place multiple IMU products to be tested side by side, and the multiple IMU products to be tested are connected to the data processing board; the data processing board can be connected to an external terminal through a female socket , the data processing board is used to control multiple IMU products to be tested for calibration according to the control instructions sent by the external terminal. The IMU batch calibration device can achieve the effects of simple operation during calibration and an increase in the number of calibrations.

The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a schematic structural diagram of an IMU batch calibration device provided by an embodiment of the present application. Referring to FIG. 1 , the IMU batch calibration device includes a female base 100 and a plurality of product installation bars 200 , and the plurality of product installation bars 200 are installed on the female base 100 superior. Each product mounting strip 200 includes an IMU product placement portion to be tested and a data processing board. The IMU product placement portion to be tested is used to place multiple IMU products to be tested 400 in parallel, and the multiple IMU products to be tested 400 are connected to the data processing board. The data processing board can be connected to the external terminal through the female base 100, and the data processing board is used to control a plurality of IMU products 400 to be tested to perform calibration according to the control instructions sent by the external terminal.

In order to more clearly show the relationship between the above-mentioned female base 100 , the plurality of product mounting bars 200 , the IMU product 400 to be tested, and the turntable 300 , as shown in FIG. 2 , FIG. 3 and FIG. 4 .

Exemplarily, the female base 100 is always fixed on the table top of the turntable 300 .

Specifically, the female socket 100 includes: a circuit board 110 , a plurality of bases 120 , a plurality of pogo pins 130 and a plurality of transmission interfaces 140 . A plurality of bases 120 are disposed on the circuit board 110 for carrying a plurality of product mounting bars 200 , and the bases 120 are detachably connected to the product mounting bars 200 . A plurality of pogo pins 130 are disposed on the circuit board 110 , and the data processing board is connected to the circuit board 110 through corresponding pogo pins 130 . A plurality of transmission interfaces 140 are provided on the circuit board 110 for connecting the circuit board 110 with external circuits, as shown in FIG. 5 , FIG. 6 , FIG. 7 and FIG. 8 .

Specifically, the base 120 includes: a base 121 , a slide rail 122 , a stop block 123 and a fixing bolt 124 . The base is provided with a plurality of assembling grooves; the bottom surface of each assembling groove is provided with a first threaded hole; the first threaded hole is used for fixing the product mounting strip 200 on the base 120 . The sliding rails 122 are symmetrically arranged on both sides of the base 121 and are used to guide the product mounting strips to be assembled into the mounting grooves. The stopper block 123 is disposed at the lower end of the slide rail 122 and is used to limit the downward movement position of the product mounting bar 200 . The fixing bolts 124 are used to cooperate with the first threaded holes to fix the product mounting strip 200 on the base 120 .

Specifically, a ventilation hole is provided in the middle of the base 121 ; bosses are provided on both sides of the base, and a second threaded hole is provided on the boss, and the second threaded hole is used to fix the base 121 on the circuit board 110 .

Specifically, each product mounting strip 200 has two IMU product placement portions to be tested, and each IMU product to be tested 400 can be connected to the data processing board 240 through the connector 250 .

The product mounting bar 200 includes: a first fixing board 210 , a second fixing board 220 , a third fixing board 230 , a data processing board 240 and a plurality of connectors 250 . The placement part of the IMU product to be tested includes a first fixing plate 210 and a second fixing plate 220 . The data processing board 240 is arranged between the first fixing board 210 and the second fixing board 220; the first fixing board 210, the second fixing board 220 and the data processing board 240 are connected by screws. A plurality of connectors 250 are soldered on the data processing board 240 , as shown in FIG. 9 , FIG. 10 , FIG. 11 , FIG. 12 and FIG. 13 .

Specifically, the first fixing plate 210 and the second fixing plate 220 are connected together by the third fixing plate 230; a connecting block 260 is provided on the outer side of the third fixing plate 230, and a through hole is opened on the connecting block 260, and the through hole is axially connected to the The third fixing plates 230 are parallel; the fixing bolts 124 and the through holes are assembled with the first threaded holes on the bottom surface of the mounting groove, and the two product mounting bars 200 are fixed on the mounting grooves of the base 120 .

Exemplarily, the product mounting bar 200 and another product mounting bar 200 are fixed on the bottom surface of the mounting groove of the base 120 by the connecting blocks 260 and the fixing bolts 124 arranged on the outer side of the third fixing plate 230; The positions on the third fixing plate 230 are different to achieve mutual stacking, as shown in FIG. 14 and FIG. 15 .

Specifically, the connecting block 260 is provided with a sliding block 270 ; the sliding block 270 is used for assembling the product mounting bar 200 with the corresponding sliding rail 122 .

Exemplarily, 10 Molex connectors 250 are welded on the data processing board 240 of the product mounting bar 200 ; first, the IMU product 400 to be tested is fixed to the first fixing plate 210 and the second fixing plate 220 of the product mounting bar 200 with screws , and then insert the wire end of the IMU product 400 to be tested into the Molex connector 250 .

Exemplarily, the female seat 100 assembled at one time is installed on the turntable 300 by screws, and the female seat 100 composed of the base 120, the pogo pin 130 and the circuit board 110 is fixed on the table surface of the turntable 300 by a positioning device, and subsequent production does not need to be dismantled. Only one precise installation is required to ensure the consistency of the product.

Exemplarily, the connection blocks 260 of the two product mounting bars 200 are pressed against each other, and then the product mounting bars 200 are fixed on the base 120 of the female base 100 by means of M12 fastening nuts. The data processing board 240 of the product mounting strip 200 is in contact and connected with the pogo pins 130 on the circuit board 110, and the assembly is completed.

Exemplarily, the above-mentioned circuit board 110 is formed by splicing a plurality of circuit boards that can collect data.

The embodiment of the present application also provides an IMU batch calibration system. The system includes an external terminal and an IMU batch calibration device as in any of the above-mentioned embodiments, and the IMU batch calibration device is connected in communication with the external terminal.

Exemplarily, the data of the IMU product 400 to be tested is transmitted to the data processing board 240 through the Molex connector 250, and the data processing board 240 on the product mounting bar 200 is connected to the circuit board 110 of the female base 100 through the pogo pins 130, and passes through the circuit. The transmission interface 140 on the board 110 is transmitted to the upper computer, thereby realizing data transmission. The communication process is shown in Figure 16.

Exemplarily, the transmission interface 140 may be an aerial plug or a turntable slip ring.

The embodiment of the present application also provides an IMU batch calibration method, which is implemented based on the IMU batch calibration system of the second aspect. The calibration method includes: the data processing board 240 receives a control command sent by an external terminal through the base 100, and the control command includes a A corresponding IMU label and calibration parameter, there are multiple IMU labels; the data processing board 240 responds to the control command and sends the corresponding calibration parameter to the IMU product 400 under test corresponding to each IMU label, so that the IMU product 400 to be tested executes The corresponding calibration parameters are calibrated; the data processing board 240 obtains the calibration feedback information sent by each IMU product 400 to be tested, and sends the calibration feedback information to the external terminal through the base 100 .

Exemplarily, as shown in Figure 17, the IMU product 400 to be tested is connected to the multi-channel acquisition board through a multi-channel gating switch; The RS422 serial interface of the acquisition board is connected to collect the data of the IMU in turn; the multi-channel acquisition board is the above-mentioned data processing board 240 . The host computer collects data, and the data collection software can be the same as the non-batch test data collection software; the data is processed through the batch calculation software to complete the parameter programming and testing process.

Exemplarily, by using the IMU batch calibration device, 24×20=480 IMU products to be tested can be calibrated at one time, which is about 4.8 times the calibration quantity of a common calibration device.

Exemplarily, the IMU batch calibration device is easy to operate when calibrating. When calibrating, the product mounting strip 200 can be fastened on the female seat 100 with an M12 nut, and the pogo pins 130 on the female seat 100 can communicate signals. The base 120 is provided with a precision slide rail 122, a stopper block 123, and a fixing bolt 124, which limits the five degrees of freedom of the installation bar 200 of the product to be tested, so that it can only move in the up and down direction, with high positioning accuracy and error proofing. it is good.

Exemplarily, the IMU batch calibration device is compared to a "real estate", the product installation strip 200 is compared to a "building", and the gap between the product installation strips 200 is compared to a "street". Due to the "narrow pipe effect", the ventilation holes are provided on the base 120, and the wind speed between the downwind streets or buildings will increase significantly, resulting in building wind. The test product can stabilize at the specified temperature faster. The batch calibration device of the present invention is compared with an ordinary batch calibration device, as shown in Table 1:

Table 1 Comparison between the batch calibration device of the present invention and the ordinary batch calibration device

The main parameters original device After improvement number of installations 100 480 Device assembly time 30min less than 5min Cross-coupling after calibration Fluctuation within 5min~ 20min Fluctuation within 2min~ 9min Device assembly difficulty Simple Heating and cooling rate Big difference between upper and lower layers basically the same

Exemplarily, the base 120 and the product mounting bar 200 are made of 2A12 high-strength hard aluminum alloy, and the connecting block 260 on the product mounting bar is the main force-bearing part, and the material is TC4 titanium alloy. The 480 IMU products to be tested 400 are about 32Kg after assembly (the maximum load-bearing capacity of the turntable is 40Kg), which not only ensures the reliability of the device, but also reduces the weight ratio of the device and improves the utilization rate of the turntable.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: it can still be used for the above-mentioned implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the application, and should be included in the within the scope of protection of this application.

Claims (8)

1. An IMU batch calibration device is characterized by comprising a female seat and a plurality of product mounting strips, wherein the product mounting strips are mounted on the female seat;

each product mounting bar comprises an IMU product placing part to be tested and a data processing board, wherein the IMU product placing part to be tested comprises a first fixing plate and a second fixing plate; the data processing board is arranged between the first fixing board and the second fixing board; the first fixing plate, the second fixing plate and the data processing plate are connected through screws;

the to-be-tested IMU product placing part is used for placing a plurality of to-be-tested IMU products in parallel, and the to-be-tested IMU products are connected with the data processing board;

the data processing board can be connected with an external terminal through the mother seat, and the data processing board is used for controlling the IMU products to be tested to calibrate according to a control instruction sent by the external terminal;

the female block includes: a circuit board;

the multiple bases are arranged on the circuit board and used for bearing the multiple product mounting strips, and the bases are detachably connected with the product mounting strips;

the spring pins are arranged on the circuit board, and the data processing board is connected with the circuit board through the corresponding spring pins;

the transmission interfaces are arranged on the circuit board and used for connecting the circuit board with an external circuit;

the base, including:

a base station provided with a plurality of assembly grooves; a first threaded hole is formed in the bottom surface of each assembling groove; the first threaded hole is used for fixing the product mounting strip on the base;

the sliding rails are symmetrically arranged on two sides of the base platform and used for guiding the product mounting bars to be assembled into the assembling grooves;

the fixing bolt is used for being matched with the first threaded hole to fix the product mounting bar on the base;

the stop block is arranged at the lower end of the slide rail and used for limiting the position of the product mounting bar moving downwards;

and a ventilation round hole is formed in the middle of the base station.

2. The IMU batch calibration device of claim 1, wherein bosses are provided on both sides of the base platform, and second threaded holes are provided on the bosses for fixing the base platform to the circuit board.

3. The IMU batch calibration device of claim 1, wherein the number of the IMU product placement portions to be tested per product mounting bar is two; each IMU product to be tested placed on the IMU product placing part can be connected with the data processing board through a connector.

4. The IMU batch calibration apparatus of claim 3, wherein the IMU product placement section to be tested comprises: the first fixing plate and the second fixing plate are oppositely arranged on two sides of the data processing plate;

a plurality of the connectors are soldered to the data processing board.

5. The IMU batch calibration apparatus of claim 4, wherein the product mounting bar further comprises a third fixing plate;

the first fixing plate and the second fixing plate are connected together through the third fixing plate;

a connecting block is arranged on the outer side of the third fixing plate, a through hole is formed in the connecting block, and the through hole is axially parallel to the third fixing plate;

the fixing bolt, the through hole and the first threaded hole in the bottom surface of the assembling groove are assembled together, and the two product mounting strips are fixed in the assembling groove of the base.

6. The IMU batch calibration device of claim 5, wherein sliding blocks are arranged on two sides of the connecting block; the sliding block is used for assembling the product mounting strip with the corresponding sliding rail.

7. An IMU batch calibration system, comprising an external terminal and an IMU batch calibration apparatus as claimed in any one of claims 1 to 6, the IMU batch calibration apparatus being communicatively connected to the external terminal.

8. An IMU batch calibration method, which is implemented based on the IMU batch calibration system of claim 7, and comprises:

the data processing board receives a control instruction sent by an external terminal through the mother socket, the control instruction comprises IMU labels and calibration parameters which correspond to one another one by one, and the number of the IMU labels is multiple;

the data processing board responds to the control instruction and sends corresponding calibration parameters to the IMU product to be tested corresponding to each IMU label, so that the IMU product to be tested executes the corresponding calibration parameters for calibration;

and the data processing board acquires calibration feedback information sent by each IMU product to be tested and sends the calibration feedback information to the external terminal through the female seat.

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