CN101101202A - Article dynamic obliquity measuring method and device - Google Patents

Abstract

The invention discloses an object dynamic angle measure method and its device, involving in measurement technology; the resolved measurement technology is the measure of the object dynamic angle; the measurement as the following step: 1) dynamic measure the acceleration: using the acceleration indicator to dynamic measure the acceleration weight aX, aY of X-axis, Y-axis; 2) wireless transmission test data; using the RF transmitter and RF receiver module to test data - the wireless transmission of the acceleration weight aX, aY; 3) computing the dynamic angle of object: the dynamic deviation angle of the object round X-axis: theta x = 5.8480ay-0.4006r; dynamic angle of the object around Y-axis: theta y = 5.8480ax-0.4006r. The invention has low cost, long transmission distance, and can solve the test problem of the object dynamic angel by measure of the acceleration and can real-time wireless measure the dynamic angel of the scene object.

Description

The measuring method of article dynamic obliquity and device thereof

Technical field

The present invention relates to measuring technique, particularly relate to a kind of measuring method of article dynamic obliquity and the technology of device thereof.

Background technology

Need monitor the angle of inclination of object in many engineerings field, as waving of ship-borne equipment under the wave effect, the down swing of skyscraper of the wind effect of carrying, the swing of mechanical arm, the inclination of precision optical machinery motion platform etc. under the ambient vibration.At present, article dynamic obliquity is measured and to be adopted inertial gyroscopes or based on the optical system of Doppler effect more.But gyrostatic price is more expensive, and the required utility appliance of optical system is more, testing cost is higher.In addition, should not be detained for a long time and the occasion of field wiring difficulty personnel, it is also very necessary that measurement data is transferred to notebook computer in the mode of radio communication.

Summary of the invention

At the defective that exists in the above-mentioned prior art, technical matters to be solved by this invention provides a kind of problems of measurement that measurement to acceleration just can solve article dynamic obliquity can utilized, and can carry out the measuring method and the device thereof of the article dynamic obliquity of real-time radio remote measurement to the object in situ dynamic inclination.

In order to solve the problems of the technologies described above, the measuring method of a kind of article dynamic obliquity provided by the present invention, step is as follows:

1) kinetic measurement acceleration: with the component of acceleration a on accelerometer kinetic measurement X-axis, the Y-axis _X, a _Y

2) wireless transmission test data; Adopt radiofrequency emitting module and Receiver Module to carry out test data---component of acceleration a _X, a _YWireless transmission;

3) calculate article dynamic obliquity: object around the X-axis dynamic inclination is: θ _x=5.8480a _y-0.4006r; Object around the Y-axis dynamic inclination is: θ _y=5.8480a _x-0.4006r.

Further, described step 2) adopt the 2.4GHz ISM band of exempting to apply for to carry out wireless transmission.

In order to solve the problems of the technologies described above, the measurement mechanism of a kind of article dynamic obliquity provided by the present invention comprises:

One acceleration analysis part is for being used to measure component of acceleration a _X, a _YAccelerometer;

One data wireless hop comprises radiofrequency emitting module and Receiver Module, and the radiofrequency emitting module input end connects the output terminal of accelerometer; Counter T0 by the single-chip microcomputer in the radiofrequency emitting module realizes the pulsewidth counting of PWM, finishes the wireless transmit of data again by the transmitter unit of radio-frequency module; At (Receiver Module) receiving end, by with being connected of RS232 interface, realize handling with the communications and data of PC;

One dynamic inclination calculating section is used to realize and the serial communication of wireless interface receiving end, calculating and two functions of curves drawing that acceleration arrives angle, comprises computer and the RS232 interface that is connected wireless receiving module and computer; Computer is provided with the calculation procedure of article dynamic obliquity, can utilize the component of acceleration a that receives _X, a _Y, according to object be: θ around the X-axis dynamic inclination _x=5.8480a _y-0.4006r, the Y-axis dynamic inclination of object is: θ _y=5.8480a _xThe formula of-0.4006r calculates the inclination angle of object in real time, and draws corresponding curve.

Further, the calculation procedure of the article dynamic obliquity that is provided with of described computer adopts the software of MFC (microsoft foundation class storehouse) programming of VC++ to realize.

Further, adopt the SOC wireless singlechip in the described radiofrequency emitting module.

Further, described computer is a portable notebook computer, and described notebook computer adopts the data communication of a USB-232 patchcord realization and wireless receiving module.

Utilize the measuring method and the device thereof of article dynamic obliquity provided by the invention, reasonably only need to measure the measuring method that acceleration just can calculate article dynamic obliquity owing to adopt, make the present invention only need just can solve the problems of measurement of article dynamic obliquity to the measurement of acceleration by cheap mems accelerometer, and can measure low speed simultaneously and wave the angle of inclination of object around X-axis and Y-axis, carry out radio communication with notebook computer easily; Owing to adopt the wireless transmission data transmission mode, so can carry out (wireless) remote measurement in real time to the dynamic inclination of object in situ; Owing to adopt the SOC wireless singlechip to realize radio communication, reduce cost of development; Owing to adopt the ISM band of the 2.4GHz that the whole world exempts to apply for, and the accessible transmission range in space is about 30 meters, so compare with basket tooth technology, transmission range is long, i.e. the distance of real-time radio remote measurement.

Description of drawings

Fig. 1 is the peripheral circuit diagram of the acceleration analysis part of embodiment of the invention article dynamic obliquity measurement mechanism;

Fig. 2 is the circuit diagram of the radiofrequency emitting module of embodiment of the invention article dynamic obliquity measurement mechanism;

Fig. 3 is that embodiment of the invention object waves inclination angle test curve synoptic diagram.

Embodiment

Below in conjunction with description of drawings embodiments of the invention are described in further detail, but present embodiment is not limited to the present invention, every employing similarity method of the present invention, structure and similar variation thereof all should be listed protection scope of the present invention in.

A kind of article dynamic obliquity measuring method that the embodiment of the invention provided is by cheap MEMS (MEMS (micro electro mechanical system)) accelerometer ADXL202E perception X, the component of acceleration on the Y-axis.Obtain the variation at angle of inclination by certain algorithm.Concrete calculation method is as follows: when object waves, have dynamic acceleration and static acceleration (component of acceleration of gravity) on the sloping shaft.Wave with the angular velocity of 15 °/s around X-axis with object and to be example, the dynamic acceleration that produces along Y-axis (perpendicular to X-axis) is:

$a_{\mathrm{dy}}={\mathrm{\ω}}^{2}r={\left(\frac{15}{180}\mathrm{\π}\right)}^{2}r=0.0685r\left({\mathrm{ms}}^{-2}\right)---\left(1\right)$

In the formula, the r-sensor to axis of oscillation distance.Unit: m.

The static acceleration that produces along Y-axis is:

$a_{\mathrm{sy}}=g\sin {\mathrm{\θ}}_x\≈9.8\frac{{\mathrm{\θ}}_x}{180}\mathrm{\π}=0.1710{\mathrm{\θ}}_x\left({\mathrm{ms}}^{-2}\right)---\left(2\right)$

In the formula, θ _x-object is around the inclination angle of X-axis.Unit: degree.

The accekeration along Y-axis that is recorded by mems accelerometer is:

a _y＝a _dy+a _sy＝0.0685r+0.1710θ _x (3)

Then object around the inclination angle of X-axis is:

${\mathrm{\θ}}_x=\frac{a_y-0.0685r}{0.1710}=5.8480a_y-0.4006r---\left(4\right)$

After the same method, can obtain object around the inclination angle of Y-axis is:

θ _y＝5.8480a _x-0.4006r (5)

For reducing the influence of dynamic acceleration, (wireless) sensor can be installed in position (promptly reducing the value of r) near axis of oscillation to angle of bank measurement.For example, sensor is installed in position apart from 1 centimetre of axis of oscillation, if the angle of oscillation speed of object is less than 15 °/s, then the error of the measurement of dip angle that produces of dynamic acceleration is less than 0.4006*0.01=0.004 (degree), under the less demanding situation of measuring accuracy, this error can be ignored.

The measuring method of a kind of article dynamic obliquity that the embodiment of the invention provided, step is as follows:

1) acceleration analysis: with the component of acceleration a on mems accelerometer ADXL202E while measured X axle, the Y-axis _X, a _Y

2) wireless transmission test data: adopt radiofrequency emitting module and Receiver Module to carry out test data---component of acceleration a _X, a _YWireless transmission;

3) calculate article dynamic obliquity: with notebook computer acceptance test simultaneously data a _X, a _YCalculate the dynamic inclination of object around X-axis: θ by described (4) formula again _x=5.8480a _y-0.4006r; Calculate the dynamic inclination of object around Y-axis: θ by (5) formula _y=5.8480a _x-0.4006r.Resolve and the curve plotting of angle adopts the MFC (the basic class libraries of Microsoft) of VC++ to realize.Runnable interface is seen Fig. 3, and program utilizes MFC (microsoft foundation class storehouse) to write.The horizontal ordinate of curve is that the time, (unit: second), ordinate was the inclination angle (unit: degree) of object.

The measurement mechanism of a kind of article dynamic obliquity that the embodiment of the invention provided comprises:

One acceleration analysis part is mems accelerometer ADXL202E and peripheral circuit thereof; As shown in Figure 1, what one 0.1 μ F was arranged in the circuit removes lotus root capacitor C dc, to eliminate in the circuit power-supply fluctuation to the influence of sensor output signal.Two paths of signals output X _OUTAnd Y _OUTDeliver to the INT0 and the INT1 pin of the P0 mouth of nRF24E1 respectively through the current-limiting resistance of a 18k, realize real-time collection sensor output.In addition, the external capacitor C of 0.1 μ F _XAnd C _YDetermined the sensor bandwidth.Outer meeting resistance R _SETDetermined the cycle of PWM.For reducing stray capacitance and suppressing zero point drift, C _X, C _y, R _SETBe installed near X respectively _FILT, Y _FILTAnd T ₂The pin place.

One data wireless hop comprises nRF24E1 radiofrequency emitting module and Receiver Module; The circuit of radiofrequency emitting module mainly is made up of nRF24E1 and some peripheral components as shown in Figure 2; Wherein, resistance, electric capacity and inductance all adopt 0603 model.The precision of resistance is 1%, and electric capacity is 5%, and inductance then adopts high-precision wire-wound inductor.Crystal oscillator adopts external crystal oscillator, and the characteristic of crystal oscillator is: parallel resonance frequency f=16MHz, CL=12pF, equivalent series resistance ESR＜100 Ω.C5, C6, C7, C8 are the coupling capacitor that goes of power supply; VSS, the direct ground plane of VSS_PA; DVDD, DVDD2 separate with simulation ground by capacitor C 9, C10; IREF has connect the external direct current biasing resistance of a 22k Ω.During receiving mode, ANT1 and ANT2 leads ends provide radiofrequency signal to be input to low noise amplifier (LNA); Under the emission mode, (PA) provides radiofrequency signal to output to antenna from power amplifier.The LC selecting frequency filtering network is set between antenna and nRF24E1, outer undesired signal of filtering band and high frequency noise, this network is made up of L1, L2, C3, C4, C11, C12, C13.What antenna adopted is printed circuit board (PCB) 1/4 wavelength unipole antenna.The output terminal X of ADXL202E _Out, Y _OutOutput PWM ripple, PWM dutycycle and X, the proportional relation of the acceleration of Y-axis; Respectively with X _Out, X _OutPin is by the input end P0.3 of current-limiting resistance and nRF24E1,, the P0.4 pin connects; The counter T0 of 8051 single-chip microcomputers by nRF24E1 inside realizes the pulsewidth counting of PWM, finishes the wireless transmit of data again by the nRF2401 radio frequency unit; At (Receiver Module) receiving end, by the T of nRF24E1 _X, R _XMultiplexing port and MAX232 chip are connected with RS232, realize serial communication and data processing with PC.Adopt SOC wireless singlechip nRF24E1 to realize exempting to apply for the wireless transmission of 2.4GHz ISM band; Compare with basket tooth technology, cost of development is low, and transmission range is long.

In the wireless transmission of test data, packet comprises lead code, address code, valid data and CRC check 4 parts.Wherein, lead code is added automatically by hardware; Address code is 32～40; CRC be CRC check and, can add automatically by built-in CRC error correction and detection hardware circuit, can be made as 0,8 or 16.The total length of address code, valid data and CRC is 256 to the maximum.Short address and verification are set and can improve transfer efficiency, but reliability reduces.

NRF24E1 adopts 144 configuration words, this configuration words stipulated wireless transceiver receiver address, transmitting-receiving frequency, emissive power, wireless transmission rate, wireless transceiving modes, CRC check and length and the length of valid data.In software design, earlier the nRF24E1 chip of transmitting terminal is programmed, export the occupied time of high level in the pulse to read ADXL202, and it is sent to receiving end.Before transmission, need send configuration.Then the nRF24E1 chip of receiving end is programmed.

One dynamic inclination calculating section is used to realize and the serial communication of wireless interface receiving end, calculating and two functions of curves drawing that acceleration arrives angle.Comprise notebook computer and the hardware interface that is connected wireless interface receiving end and notebook computer; Wherein, serial communication adopts 9600 popular baud rates of industry, N, 8,1 forms.In view of there not being 232 interfaces on the general notebook computer, can utilize a USB-232 patchcord to realize the data communication of notebook and wireless receiving module.Notebook computer is provided with the calculation procedure of article dynamic obliquity, can utilize the component of acceleration a that receives _X, a _Y, according to object around X-axis dynamic inclination θ _x=5.8480a _y-0.4006r (4), object around Y-axis dynamic inclination θ _y=5.8480a _xThe formula of-0.4006r (5) calculates the inclination angle of object in real time, and draws corresponding curve.

The scope of application of the measurement mechanism of embodiment of the invention article dynamic obliquity: angle of oscillation speed:＜15 °/s, inclination angle: ± 45 °.Measuring accuracy after the error compensation: ± 0.05 °.The dynamic inclination that measures is carried out difference processing can obtain object angle of oscillation speed.About 30 meters of space barrier-free wireless transmission ranges.

Claims (6)

1, a kind of measuring method of article dynamic obliquity is characterized in that, the step of method is as follows:

1) kinetic measurement acceleration: with the component of acceleration a on accelerometer kinetic measurement X-axis, the Y-axis _X, a _Y

2) wireless transmission test data; Adopt radiofrequency emitting module and Receiver Module to carry out test data---component of acceleration a _X, a _YWireless transmission;

3) calculate article dynamic obliquity: object around the X-axis dynamic inclination is: θ _x=5.8480a _y-0.4006r; Object around the Y-axis dynamic inclination is: θ _y=5.8480a _x-0.4006r.

2, the measuring method of article dynamic obliquity according to claim 1 is characterized in that, described step 2) adopt the 2.4GHz ISM band of exempting to apply for to carry out wireless transmission.

3, a kind of measurement mechanism of article dynamic obliquity is characterized in that, comprising:

One acceleration analysis part is for being used to measure component of acceleration a _X, a _YAccelerometer;

One data wireless hop comprises radiofrequency emitting module and Receiver Module, and the radiofrequency emitting module input end connects the output terminal of accelerometer; Counter T0 by the single-chip microcomputer in the radiofrequency emitting module realizes the pulsewidth counting of PWM, finishes the wireless transmit of data again by the transmitter unit of radio-frequency module; At the receiving end of Receiver Module, by with being connected of RS232 interface, realize handling with the communications and data of PC;

One dynamic inclination calculating section is used to realize and the serial communication of wireless interface receiving end, calculating and two functions of curves drawing that acceleration arrives angle, comprises computer and the RS232 interface that is connected wireless receiving module and computer; Computer is provided with the calculation procedure of article dynamic obliquity, can utilize the component of acceleration a that receives _X, a _Y, according to object be: θ around the X-axis dynamic inclination _x=5.8480a _y-0.4006r, object around the Y-axis dynamic inclination is: θ _y=5.8480a _xThe formula of-0.4006r calculates the inclination angle of object in real time, and draws corresponding curve.

4, the measurement mechanism of article dynamic obliquity according to claim 3 is characterized in that, the calculation procedure of the article dynamic obliquity that described computer is provided with adopts the software of the MFC programming of VC++ to realize.

5, the measurement mechanism of article dynamic obliquity according to claim 3 is characterized in that, adopts the SOC wireless singlechip in the described radiofrequency emitting module.

6, the measurement mechanism of article dynamic obliquity according to claim 3 is characterized in that, described computer is a portable notebook computer, and described notebook computer adopts the data communication of a USB-232 patchcord realization and wireless receiving module.

Images