CN109387657A - Full attitude transducer and vehicle - Google Patents
Full attitude transducer and vehicle Download PDFInfo
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- CN109387657A CN109387657A CN201710676897.3A CN201710676897A CN109387657A CN 109387657 A CN109387657 A CN 109387657A CN 201710676897 A CN201710676897 A CN 201710676897A CN 109387657 A CN109387657 A CN 109387657A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
- G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
- G01P15/125—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values by capacitive pick-up
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Abstract
本发明公开了一种全姿态传感器，包括：加速度测量模块，加速度测量模块包括N个加速度测量子模块，用于测量不同轴向上的加速度信号；角速度测量模块，角速度测量模块包括M个角速度测量子模块，用于测量不同轴向上的角速度信号，其中，N和M均为大于等于3的整数；控制模块，控制模块用于对N个加速度测量子模块中的每个加速度测量子模块输出的加速度信号进行分析处理以输出相应的加速度值，并对M个角速度测量子模块中的每个角速度测量子模块输出的角速度信号进行分析处理以输出相应的角速度值。从而不仅能够通过一个独立的传感器实现全姿态的准确测量，而且体积小、重量轻、成本低。
The invention discloses a full attitude sensor, comprising: an acceleration measurement module, the acceleration measurement module includes N acceleration measurement sub-modules for measuring acceleration signals in different axes; an angular velocity measurement module, the angular velocity measurement module includes M angular velocity measurement modules The sub-module is used to measure the angular velocity signals on different axes, where N and M are both integers greater than or equal to 3; the control module, the control module is used to output each acceleration measurement sub-module in the N acceleration measurement sub-modules The acceleration signal is analyzed and processed to output the corresponding acceleration value, and the angular velocity signal output by each angular velocity measurement sub-module in the M angular velocity measurement sub-modules is analyzed and processed to output the corresponding angular velocity value. Therefore, not only can the accurate measurement of the whole attitude be realized by an independent sensor, but also the volume is small, the weight is light, and the cost is low.
Description
Technical field
The present invention relates to sensor technical field, in particular to a kind of full attitude transducer and a kind of automobile.
Background technique
Vehicle can encounter various complex road conditions and dangerous working condition during traveling, in order to make vehicle under dangerous working condition
Vehicle attitude adjustment can be carried out, accident is avoided, the attitude measurement of vehicle just becomes the key factor of a control vehicle.
Traditional vehicle attitude measurement is carried out by independent sensor, and then in the test data of sensor
On the basis of, final control method or control result are obtained using algorithm and control logic.For example, being surveyed by acceleration transducer
Longitudinal acceleration of the vehicle Ax is measured, yaw rate ω z is measured by yaw-rate sensor, or pass by yaw rate
Sensor measures longitudinal acceleration Ax, the transverse acceleration Ay and yaw velocity ω z of automobile body posture simultaneously, but no matter which
A kind of standalone sensor is all only capable of measuring the posture of vehicle in a certain respect.
In addition, some equipment such as triantennary and gyroscope, although acceleration of the vehicle in each axial direction can be measured
And angular speed, but such equipment volume is big, quality is big and expensive, can not all be configured on each device, only
Test and debugging suitable for vehicle are checked and accepted.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
First purpose be to propose a kind of full attitude transducer, passes through built-in multiple acceleration analysis submodules and multiple angular speed
Submodule is measured to measure the acceleration value and magnitude of angular velocity in each axial direction, so that an independent sensing can not only be passed through
Device realizes the accurate measurement of full posture, and it is small in size, light weight and cost is low.
Second object of the present invention is to propose a kind of vehicle.
To achieve the above object, one aspect of the present invention embodiment proposes a kind of full attitude transducer, comprising: acceleration is surveyed
Module is measured, the acceleration analysis module includes N number of acceleration analysis submodule, for measuring the letter of the acceleration on axially different
Number, wherein N is the integer more than or equal to 3；Angular velocity measurement module, the angular velocity measurement module include M angular velocity measurement
Submodule, for measuring the angular velocity signal on axially different, wherein M is the integer more than or equal to 3；Control module, the control
Molding block is connected with N number of acceleration analysis submodule and the M angular velocity measurement submodule respectively, the control module
For analyzing the acceleration signal of each acceleration analysis submodule output in N number of acceleration analysis submodule
It handles to export corresponding acceleration value, and to each angular velocity measurement submodule in the M angular velocity measurement submodule
The angular velocity signal of output is analyzed and processed to export corresponding magnitude of angular velocity.
Full attitude transducer according to an embodiment of the present invention is measured on axially different by N number of acceleration analysis submodule
Acceleration signal, and the angular velocity signal on axially different is measured by M angular velocity measurement submodule, control module is to N
The acceleration signal of each acceleration analysis submodule output in a acceleration analysis submodule is analyzed and processed to export
Corresponding acceleration value, and the angular speed of each angular velocity measurement submodule output in M angular velocity measurement submodule is believed
It number is analyzed and processed to export corresponding magnitude of angular velocity.To realize full posture by an independent sensor
Accurate measurement, and it is small in size, light weight and cost is low.
According to one embodiment of present invention, when the N and the M are 3, the acceleration analysis module is surveyed respectively
The acceleration signal in x-axis, y-axis and z-axis is measured, the angular velocity measurement module measures the angular speed in x-axis, y-axis and z-axis respectively
Signal.
According to one embodiment of present invention, N number of acceleration analysis submodule is capacitance acceleration transducer, institute
Stating M angular velocity measurement submodule is Vibratory transducer.
According to one embodiment of present invention, above-mentioned full attitude transducer further includes communication module, the communication module
It is connected with the control module, wherein the control module is also used to the acceleration value and institute through the communication module
It states magnitude of angular velocity and is sent to external equipment.
According to one embodiment of present invention, the communication module includes wire communication module and/or wireless communication module.
According to one embodiment of present invention, the wire communication module includes RS232 communication module, RS485 communication mould
One of block and CAN (Controller Area Network controller LAN) communication module are a variety of.
According to one embodiment of present invention, the wireless communication module includes Zigbee communication module, RF (Radio
Frequency, radio frequency) communication module, bluetooth communication and WIFI (Wireless Fidelity, wireless network) communication module
One of or it is a variety of.
In addition, the embodiment of the present invention also proposed a kind of vehicle comprising above-mentioned full attitude transducer.
The vehicle of the embodiment of the present invention can not only pass through an independent sensing by above-mentioned full attitude transducer
Device realizes the accurate measurement of full posture, and it is small in size, light weight and cost is low.
Detailed description of the invention
Fig. 1 is the block diagram of full attitude transducer according to an embodiment of the present invention；
Fig. 2 is the schematic diagram of vehicle axial direction according to an embodiment of the invention；
Fig. 3 is the relation curve of acceleration formula according to an embodiment of the invention；
Fig. 4 is the relation curve of Formula for Angular Velocity of Fuze according to an embodiment of the invention；
Fig. 5 is the block diagram of full attitude transducer according to an embodiment of the invention；And
Fig. 6 is the block diagram of full attitude transducer in accordance with another embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The full attitude transducer proposed according to embodiments of the present invention and vehicle described with reference to the accompanying drawings.
Fig. 1 is the block diagram of full attitude transducer according to an embodiment of the invention.As shown in Figure 1, of the invention
The full attitude transducer of embodiment can include: acceleration analysis module 10, angular velocity measurement module 20 and control module 30.
Wherein, acceleration analysis module 10 may include N number of acceleration analysis submodule (such as acceleration analysis submodule 11,
12 ..., 1N), for measuring the acceleration signal on axially different.Angular velocity measurement module 20 may include M angular velocity measurement
Submodule (such as angular velocity measurement submodule 21,22 ..., 2M), for measuring the angular velocity signal on axially different.Control module
30 are connected with N number of acceleration analysis submodule and M angular velocity measurement submodule respectively, and control module 30 is used for N number of acceleration
The acceleration signal of each acceleration analysis submodule output in degree measurement submodule is analyzed and processed corresponding to export
Acceleration value, and the angular velocity signal of each angular velocity measurement submodule output in M angular velocity measurement submodule is carried out
Analysis processing is to export corresponding magnitude of angular velocity, wherein N and M is the integer more than or equal to 3.
According to one embodiment of present invention, when N and M are 3, acceleration analysis module 10 measures x-axis, y-axis respectively
With the acceleration signal in z-axis, angular velocity measurement module 20 measures the angular velocity signal in x-axis, y-axis and z-axis respectively.
Specifically, the full attitude detection of vehicle is mainly according to the definition of axle for vehicle come what is carried out, the definition of axle for vehicle is such as
Shown in Fig. 2, x-axis is indicated from vehicle centroid to rear of vehicle, y-axis is indicated from vehicle centroid to vehicle right, is hung down from vehicle centroid
It is straight to indicate that z-axis, the full attitude detection of vehicle are exactly to acceleration and angular speed (the rotation angle speed in x-axis, y-axis and z-axis upwards
Degree) detection.
In an embodiment of the present invention, when carrying out the full attitude detection of vehicle, by each axial direction (x-axis, y-axis and z
Axis) on be equipped with an acceleration analysis submodule and an angular velocity measurement submodule, to detect vehicle in x-axis, y-axis and z-axis
On acceleration signal and around x-axis, around y-axis and around the angular velocity signal of z-axis, be denoted as Ax, Ay, Az, ω x, ω y and ω z respectively.
The output end of each acceleration analysis submodule and each angular velocity measurement submodule is connected with control module 30, control module
30 pairs of each acceleration signals obtained and each angular velocity signal are acquired, calculate, are filtered, and obtain vehicle in x
Acceleration value and magnitude of angular velocity in axis, y-axis and z-axis.Wherein, acceleration analysis submodule can be acceleration transducer or add
Velocity sensor chip, angular velocity measurement submodule can be angular-rate sensor or angular-rate sensor chip, control module
30 can select the faster chip of processing speed.
Since the full attitude transducer is built-in with N number of acceleration analysis submodule and M angular velocity measurement submodule, wherein
N and M is the integer more than or equal to 3, thus may be implemented the acceleration at least three axial (such as x-axis, y-axis and z-axis) and
The measurement of angular speed, so that the measurement of the full freedom degree of vehicle attitude can be realized by an independent sensor, compared to three
Antenna or gyroscope, volume and weight is smaller, and moderate, has saved the cost that vehicle realizes full freedom degree measurement,
The measurement of the full freedom degree of vehicle is possibly realized, realizes that each vehicle may be provided with.In addition, when control module selects processing speed
, it can be achieved that efficiently and quickly measuring when spending faster chip, can be realized at DATA REASONING and signal within the Millisecond time
Reason.And the full attitude transducer cannot be only used for vehicular field, and can be used for unmanned plane, agricultural machinery, special vehicle with
And the more areas such as intelligent control, it is applied widely, it is versatile.
Further, it is to be appreciated that existing Yaw rate sensor can measure the acceleration of x-axis, y-axis acceleration and
Around the angular speed of z-axis, it is possible to built-in in the sensor to measure the angular speed around x-axis, the angular speed around y-axis and z
The sensor or chip of axle acceleration reach the detections of 6 parameters, to not only can remain original smaller with save the cost
Volume, and when controlled when chip carries out data processing faster using processing speed, it can be achieved that 6 parameters it is efficient, quick
Measurement.
Further, according to one embodiment of present invention, N number of acceleration analysis submodule can be capacitance acceleration
Sensor, M angular velocity measurement submodule can be Vibratory transducer.
Specifically, the condenser type that N number of acceleration analysis submodule can be the micro-machined pectinate texture of silicon face accelerates
It spends sensor (capacitive accelerometer), each pectinate texture forms a differential capacitor, by being suspended in silicon spring item and consolidating
Determine the vibrating mass that can move freely on counterelectrode composition.When the direction along measurement axis generates acceleration, vibrating mass mass center is inclined
From leading to capacitor distance change, (wherein, the dielectric constant of ε medium between pole plate, S are capacitor by formula C=(ε S)/(4 π kd)
The positive area of pole plate, d are the distance of capacitor plate, and k is electrostatic force constant) it is found that when d changes, capacitance C will
Generate variation.By C=Q/U (wherein, Q is the quantity of electric charge of capacitor plate, and U is capacitor both end voltage) it is found that capacitor corresponds to
One voltage signal uniquely determined, capacitance variation rate correspond to a voltage value rate of change signal uniquely determined,
And acceleration value uniquely corresponds to capacitance variation rate, therefore, control module 30 is detecting voltage value rate of change signal
When, so that it may acceleration value at this time is calculated according to corresponding relationship.
By taking acceleration of the control module 30 to x-axis calculates as an example.It is assumed that being added by the condenser type being arranged in x-axis
The acceleration signal that velocity sensor obtains is A, then according to following formula (1) to can be calculated x-axis upward for control module 30
Acceleration A x:
Ax=(0x8000-A) * 0.0001274 (1)
Wherein, the range of A is 0x0000-0xFFFE (hexadecimal representation), the unit of Ax are as follows: g.
As shown in figure 3, abscissa indicates that acceleration value, ordinate LSB indicate the acceleration transducer measured value (decimal system
Value), when the range of capacitance acceleration transducer is+2.5g, if Ax is more than the maximum limit of+2.5g, control module 30
Then output A is 0x3358 always；If Ax is more than the minimum limitation of -2.5g, output A is 0xCCA7 always if control module 30.
M angular velocity measurement submodule can be Vibratory transducer, such as CVG (Coriolis Vibratory
Gyroscope, Ke Shi oscillation gyro).In sensor rotation movement, the rate of rotation generate one perpendicular to direction of vibration and
The Coriolis force of rotary shaft, leads to capacitance variations.The synchronous demodulation module of Coriolis acceleration rotation is utilized gathers because of vibration
The turn-around speed of the electronics to gather together produces the electric signal for being proportional to angular speed.Control module 30 will be pre-set
Electric signal be converted to corresponding speed of rotation value, and parameter value is exported, obtains corresponding magnitude of angular velocity.
By taking control module 30 calculates the angular speed around x-axis as an example.It is assumed that passing through the oscillatory type being arranged in x-axis
The angular velocity signal of sensor measurement is B, and control module 30 can be calculated the angular velocity omega x around x-axis by following formula (2):
ω x=(B-0x8000) * 0.005 (2)
Wherein, the range of B is 0x0000-0xFFFE, the unit of ω x are as follows: °/s.
As shown in figure 4, abscissa indicates that ω x, ordinate LSB indicate angular-rate sensor measured value (decimal value), when
When the range of Vibratory transducer is+150 °, if ω x is more than+150 ° of maximum limit, control module 30 ifs, exports B always
For 0xF530；If ω x is more than -150 ° of minimum limitation, output B is 0x0AD0 always if control module 30.
It is understood that y-axis is identical with the acceleration analysis mode in x-axis with the acceleration analysis mode in z-axis, around
Y-axis is identical with the angular velocity measurement mode around x-axis with the angular velocity measurement mode around z-axis, is specifically not detailed herein.
According to one embodiment of present invention, as shown in figure 5, the full attitude transducer of the embodiment of the present invention further include: logical
Believe that module 40, communication module 40 are connected with control module 30, wherein control module 30 is also used to accelerate by communication module 40
Angle value and magnitude of angular velocity are sent to external equipment.
In an embodiment of the present invention, communication module 40 may include wire communication module 41 and/or wireless communication module 42,
Wherein, wire communication module 41 may include one of RS232 communication module, RS485 communication module and CAN communication module or more
Kind, wireless communication module 42 may include in Zigbee communication module, RF communication module, bluetooth communication and WIFI communication module
It is one or more.
That is, control module 30 by each axial direction acceleration signal and angular velocity signal be analyzed and processed
Afterwards, corresponding acceleration value and magnitude of angular velocity are exported, and (e.g., RS232 communication module, RS485 are logical by wire communication module 41
Believe module and CAN communication module) or wireless communication module 42 (such as Zigbee communication module, RF communication module, bluetooth communication
With WIFI communication module), acceleration value and magnitude of angular velocity are sent to external equipment (such as entire car controller), so as to external equipment
It is controlled etc. according to the parameter.For example, the z-axis acceleration value of detection can be used to control the stroke control of Active suspension, entirely
Anti-rollover control of vehicle etc. may be implemented in automatic degree.
As a specific example, add as shown in fig. 6, the inside of full attitude transducer is equipped with one in each axial direction
Tachometric survey submodule and an angular velocity measurement submodule amount to six measurements submodule (x-axis acceleration analysis submodules, y
Axle acceleration measures submodule, z-axis acceleration analysis submodule, x-axis angular velocity measurement submodule, y-axis angular velocity measurement submodule
Block, z-axis angular velocity measurement submodule).Each acceleration analysis submodule and angular velocity measurement submodule output end with it is micro-
Controller is connected, and to be handled the signal of measurement by microcontroller, microcontroller is acquired signal, algorithm meter
After the processing such as calculation and filtering, passing through CAN interface, (Serial Peripheral Interface is gone here and there with CAN transceiver progress SPI
Row peripheral device interface) internal communication, final CAN transceiver pass through CAN-H (high position data line) and CAN-L (low data line)
Signal communication is carried out with exterior vehicle network or module (such as entire car controller), exports the acceleration value of corresponding sensor measurement
And magnitude of angular velocity, entire car controller control vehicle according to the acceleration value and magnitude of angular velocity of sensor measurement.For example, inspection
The z-axis acceleration value of survey can be used to control the stroke control of Active suspension, and the anti-rollover control of vehicle may be implemented in full-automatic degree
System etc..
In conclusion full attitude transducer according to an embodiment of the present invention, not by the measurement of N number of acceleration analysis submodule
Acceleration signal on coaxial, and the angular velocity signal on axially different is measured by M angular velocity measurement submodule, it controls
Module is analyzed and processed the acceleration signal of each acceleration analysis submodule output in N number of acceleration analysis submodule
To export corresponding acceleration value, and to the angle of each angular velocity measurement submodule output in M angular velocity measurement submodule
Speed signal is analyzed and processed to export corresponding magnitude of angular velocity.To be realized by an independent sensor
The accurate measurement of full posture, and it is small in size, light weight and cost is low.
In addition, the embodiment of the present invention also proposed a kind of vehicle comprising above-mentioned full attitude transducer.
The vehicle of the embodiment of the present invention can not only pass through an independent sensing by above-mentioned full attitude transducer
Device realizes the accurate measurement of full posture, and it is small in size, light weight and cost is low.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (8)
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| CN109782010A (en) * | 2019-03-07 | 2019-05-21 | 苏州真趣信息科技有限公司 | A kind of vehicle speed measuring method and speed measuring equipment based on acceleration transducer |
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