CN101266146A - Tilt angle measuring apparatus for automatic zero compensation - Google Patents

Abstract

The invention discloses an elevation angle measurement device, which includes a pedestal, a rotating disk, an elevation angle sensor, A/D transverter, and an electrical motor, microprocessor and a digital output interface, the first elevation angle sensor and the second elevation angle sensor are fixed in the edge of the disk, sensitive axis of both is mutually orthogonal, phase position differs for 90 degree, after starting up the elevation angle measurement device, the first output voltage value of the first elevation angle sensor located in the first position is read, then the rotating disk is rotated for 90 degree, the second output voltage value of the second elevation angle sensor located in the second position is read after delaying a period of time, a zero deviation angle between a measurement datum plane and a plane of the rotating disk is calculated, afterwards, the rotating disk is reversely rotated at 90 degree, and the second formal measurement is processed after delaying a period of time. The elevation angle measurement device provided by the invention is easy to use, and can achieve zero compensation under the condition that a standard platform is not provided.

Description

Automatically carry out the incline measurement device of zero compensation

Technical field

The present invention relates to a kind of incline measurement device, more particularly, the present invention relates to a kind of incline measurement device with automatic compensation function, it can be under the situation that need not the standard level worktable, to compensating automatically owing to the zero drift of assembling and other reason forms.

Background technology

In engineering fields such as machinery, building, automobile, oil, geology and electric power, usually require the pitch angle of the relative horizontal direction of accurate measurement plane, for the control of status monitoring or attitude provides controlled variable.

Publication number is the incline measurement device that discloses respectively in the Chinese patent application of CN1003344A, CN1013063A, CN1320808A and CN1668892A based on " liquid pendulum ".Its ultimate principle is, measurement mechanism comprises two potential electrode and its electrode of public affairs, and electrode places in the airtight chamber, and the high-k liquids and gases are housed in the chamber.When measurement mechanism was in the surface level position, two electrodes had equal area to be immersed in the dielectric fluid, constituted two equal capacitors by electrode and open electrode; When inclination measurement instrument rotated an angle, the area that two electrodes are immersed in the liquid was then unequal, and the electric capacity difference of generation is then represented the size at measured pitch angle.

Publication number is that the Chinese patent application of CN1532523A discloses a kind of digital display type level and angel measuring instrument based on " solid pendulum ", it comprises shell and angle measurement unit, angle measurement unit is an electric capacity measurement of angle sensor, the main grid of shell and electric capacity angel measuring instrument or secondary grid are connected, also have a gravity vertical means that automatically replies and remain on the gravity plumbness all the time in the shell inner cavity, the secondary grid of gravity vertical means and electric capacity angel measuring instrument or main grid are connected and coaxial rotation; Also be provided with a precision positions switch that is used to determine absolute zero position on the shell, the gravity vertical means is made of weight, bolster and floating drum, the position of floating drum and being shaped as along the axle rotational symmetry of hanging down in the weight.In addition, notification number is the incline measurement device based on " solid pendulum " that the Chinese patent application of CN2492832Y, CN2530245Y, CN2624179Y and CN2684149Y discloses different structure respectively, and they all are to cause that by detecting by pitch angle change institute the isoparametric variation of resistance, electric capacity or inductance obtains measurement result.

Notification number is that the Chinese patent application of CN2335125Y, CN2505806Y, CN2509562Y, CN2575607Y, CN2622676Y, CN2760507Y and CN2738204Y discloses incline measurement instrument or the instrument that is integrated with dissimilar sensor respectively, the said goods has the multiple peripheral circuit such as power unit, display part, can demonstrate measurement result intuitively.

Yet the zero drift how above-mentioned prior art does not all relate to measurement mechanism compensates automatically.As everyone knows, various measurement mechanisms are in assembling process, and promptly there is certain zero drift in absolute parallel between the measurement face of very difficult assurance measurement mechanism and the sensitive axes of sensor.Therefore, measurement mechanism must be calibrated before using, so that zero drift is compensated.Exists from offset zero deviation method commonly used is that the measurement mechanism that will assemble is positioned on the horizontal operation table top of standard in the prior art, measure its output result, adjust subsequently or to the position of sensor, perhaps output valve is compensated, to eliminate zero drift.This process operation complexity, efficient is lower, is not suitable for producing in enormous quantities.

Summary of the invention

The present invention aims to provide a kind of incline measurement device with automatic compensation function, and it can be under the situation that need not the standard level worktable, to compensating automatically owing to the zero drift of assembling and other reason forms.

For achieving the above object, the invention provides a kind of incline measurement device, it comprises pedestal, rotating circular disk, slant angle sensor, A/D converter, motor, microprocessor and digital output interface, wherein has the measuring basis face on the pedestal, A/D converter is gathered the output voltage of slant angle sensor, and its result is delivered to microprocessor, microprocessor calculates pitch angle between measuring basis face and the surface level based on specific funtcional relationship according to the output voltage of slant angle sensor, first obliquity sensor is installed on rotation diagram plate edge place, second obliquity sensor be installed on first obliquity sensor around the centre rotational axis line half-twist of rotating circular disk after residing position, and the sensitive axes of second obliquity sensor and first obliquity sensor is vertical mutually, rotating circular disk is fixed on the output shaft of motor, can rotate at least 90 ° around the output shaft of motor, after starting, at first reads in the incline measurement device first output voltage values of primary importance place first slant angle sensor, microprocessor control motor rotates then, make the rotating circular disk half-twist, delay time after certain period, read second output voltage values of second place place second sensor, calculate zero drift angle between measuring basis face and the plane, rotating circular disk place according to the difference of first output voltage values and second output voltage values, after this with 90 ° of rotating circular disk reverse rotations, formally measure after certain period of delaying time once more.

The present invention also provides a kind of method of the incline measurement device being carried out automatic zero compensation, wherein said incline measurement device comprises pedestal, rotating circular disk, slant angle sensor, A/D converter, stepper motor, microprocessor and digital output interface, has the measuring basis face on the pedestal, A/D converter is gathered the output voltage of slant angle sensor, and its result is delivered to microprocessor, microprocessor calculates pitch angle between measuring basis face and the surface level based on specific funtcional relationship according to the output voltage of slant angle sensor, first obliquity sensor is installed on rotation diagram plate edge place, second obliquity sensor be installed on first obliquity sensor around the centre rotational axis line half-twist of rotating circular disk after residing position, and the sensitive axes of second obliquity sensor and first obliquity sensor is vertical mutually, rotating circular disk is fixed on the output shaft of stepper motor, can rotate at least 90 ° around the output shaft of stepper motor, described method comprises the steps:

Read first output voltage values of primary importance place first slant angle sensor;

Microprocessor control step motor makes the rotating circular disk half-twist;

Delay time certain period;

Read second output voltage values of second place place second slant angle sensor;

Calculate zero drift angle between measuring basis face and the plane, rotating circular disk place according to the difference of first output voltage values and second output voltage values;

With 90 ° of rotating circular disk reverse rotations;

Delay time once more certain period;

Enter formal measurement, in measuring process, will deduct the zero drift angle according to the angle that the output voltage of slant angle sensor calculates based on specific funtcional relationship.

Incline measurement device provided by the invention is easy to use, can finish zero compensation under the situation that need not the standard level worktable.

Description of drawings

The present invention will be described in more detail with embodiment with reference to the accompanying drawings.Wherein:

Figure 1 shows that structural representation based on the condenser type slant angle sensor of " solid pendulum ";

Synoptic diagram shown in Figure 2 has illustrated the electric signal Vo of output and the relation between the inclination angle phi;

Synoptic diagram shown in Figure 3 has illustrated according to zero drift compensation principle of the present invention;

Synoptic diagram shown in Figure 4 further shows according to zero drift compensation principle of the present invention;

Figure 5 shows that general structure block diagram according to incline measurement device of the present invention;

Figure 6 shows that the process flow diagram of total system work.

Synoptic diagram shown in Figure 7 be when two sensors are installed disk in the situation at primary importance place;

Synoptic diagram shown in Figure 8 be when two sensors are installed disk in the situation at second place place;

Figure 9 shows that the process flow diagram of total system work when two sensors are installed.

Embodiment

Figure 1 shows that structural representation based on the condenser type slant angle sensor of " solid pendulum ".Slant angle sensor among Fig. 1 is measured the angle of inclination by perception by the terrestrial gravitation vector in object axle center, and it comprises a semi-girder that is fixed on the housing, connects a movable pole plate on the semi-girder, and movable pole plate is between two fixed polar plates.For ease of explanation, the semi-girder among Fig. 1 is reduced to elastic system with certain damping.The gravity of object m makes semi-girder produce distortion, for different pitch angle, has corresponding with it semi-girder deflection.Along with semi-girder deforms under the effect of gravity, movable pole plate correspondingly moves between two fixed polar plates, the change in location of movable pole plate will cause the change of electric capacity between the pole plate, by detecting the electric capacity between the pole plate, can know the size at pitch angle.It is to be noted, though the present invention will be described to be based on the condenser type slant angle sensor of " solid pendulum " herein, but those skilled in the art will appreciate that the present invention is equally applicable to the measurement mechanism based on " liquid pendulum " or " gas pendulum " and other technology.

As shown in Figure 1, when the pitch angle was φ, under the action of gravity of object m and the axial force that forms is F=mgsin φ, described acting force made the end of semi-girder produce displacement x:

$x=\frac{F}{k}=\frac{\mathrm{mg}}{k}\sin \mathrm{\φ}---\left(1\right)$

Wherein k is an elastic strength.Can utilize following formula that displacement x is converted to a voltage output quantity:

$\mathrm{Vp}=k_{p}x=\frac{k_p}{k}\mathrm{mg}\sin \mathrm{\φ}---\left(2\right)$

Wherein Kp represents by detecting voltage that capacitance variations obtains and the scale-up factor between the displacement x.Final output behind process gain amplifier Vo as a result is:

$\mathrm{Vo}=\frac{k_p{k}_v}{k}\mathrm{mg}\sin \mathrm{\φ}---\left(3\right)$

Synoptic diagram shown in Figure 2 has illustrated the electric signal Vo of output and the relation between the inclination angle phi.

When whether carpenter and build labourer are in level at measurement plane, normally utilize bubble formula surveyor's staff to measure, concrete way is, earlier bubble formula surveyor's staff is placed on the tested plane, the position of bubble when being recorded in positive dirction, yet, observe the position of bubble when opposite direction with surveyor's staff Rotate 180 °.If the position of bubble is identical then represent that tested plane is in horizontality in twice measuring process, otherwise then has deviation.Synoptic diagram shown in Figure 3 has illustrated according to zero drift compensation process of the present invention; In this application, suppose that the sensitive axes of sensor is OA, another vertical with sensitive axes OA in surface level axis is IA.Describe the zero compensation process of incline measurement device of the present invention below in detail.

At first, slant angle sensor is placed on the rotating circular disk, the surface of described disk is parallel to the measurement plane that is formed by the axes O A of sensor and IA.At primary importance POSITION 1 place, the output voltage of record sensor, yet, with disk Rotate 180 °, write down the output voltage of sensor when second place POSITION 2 once more.If rotating circular disk is in horizontality, then at the output voltage of primary importance sensor during with the second place with identical.If there is certain angle φ between the plane at rotating circular disk place and the surface level, then with difference, the difference between the output voltage is the function of angle φ to sensor at the output voltage of above-mentioned two positions, will the relation between two values be described in detail below.

When rotating circular disk was in horizontality, the output voltage values of sensor should be zero in theory.But in fact sensor still has a less output voltage V _B, it can be defined as the output voltage that does not rely on the slant angle sensor position.If the rotating circular disk among Fig. 3 is in horizontality, then clearly, be at the output voltage of two position tilt angle sensors:

V ₁＝V ₂＝V _B (4)

Synoptic diagram shown in Figure 4 has illustrated according to zero drift compensation principle of the present invention.The reference field of supposing measurement mechanism is in horizontality, if owing to assembling process makes rotating circular disk have zero drift angle φ on the X-direction and between the reference field of measurement mechanism, then the output of the voltage when the primary importance and the second place is respectively:

V ₁＝V _B+V _φ (5)

V ₂＝V _B-V _φ (6)

V wherein _φOutput voltage when being φ for the angle between sensor and the surface level subtracts formula (6) with formula (5) and gets:

$V_{\mathrm{\&phi;}}=\frac{V_1-{\mathrm{<figure-callout\; id="2"\; label="V"\; filenames="A20071008651000161.png"\; state="\{\{state\}\}">V</figure-callout>}}_2}{2}---\left(7\right)$

From equation (7), as can be seen,, can obtain and zero drift angle corresponding output voltage V by measuring the output voltage of primary importance and second place place sensor _φ, through type (3) easily inverse goes out inclined to one side zero drift angle φ, thereby finishes zero compensation.In actual application, following pacing items must satisfy:

Rotating circular disk when the primary importance and the second place is in the same plane.

When zero compensation, should avoid the measurement mechanism vibrations as far as possible.

Because of there is certain response time in sensor, so before the read sensor output voltage, should make rotating circular disk keep certain duration, so that the output of sensor reaches equilibrium state in the primary importance and the second place.

Figure 5 shows that general structure block diagram according to incline measurement device of the present invention.Incline measurement device of the present invention selects for use the stepper motor that is easy to accurately control to realize the rotation of rotating circular disk.Slant angle sensor accurately is installed in the marginal position of rotating circular disk.Differ 180 ° the primary importance and the sensor output voltage at second place place by the A/D converter acquisition phase, microprocessor is handled the data of gathering, finish zero compensation after, by the pitch angle value of RS-232 or other interfaces output measurement face.

Figure 6 shows that the process flow diagram of total system work.After the energising of incline measurement device, microprocessor is initialization stepper motor, A/D converter, input interface and output interface at first.Read the output voltage values V of primary importance place sensor ₁After, microprocessor control step motor makes rotating circular disk Rotate 180 °.Delay time (for example, can be 0.1-5 second) after certain period, read the output voltage values V of second place place sensor ₂Calculating voltage V then _φ, and calculate zero drift angle φ according to this voltmeter.With 180 ° of rotating circular disk reverse rotations, (for example, can be 0.1-5 second) enters normal measurement subroutine after certain period of delaying time once more subsequently.In measuring process, the angle value that measures is in real time deducted zero drift angle φ, can obtain the true pitch angle value of surface measurements.

For above-mentioned measurement mechanism and method, disk needs Rotate 180 ° when carrying out zero compensation automatically.For the structure that makes measurement mechanism is further simplified, can make measurement mechanism disk when carrying out zero compensation only need half-twist by increasing an obliquity sensor, tool will be described below.

As shown in Figure 7, disk is in initial primary importance.Be separated by at figure plate edge place two places of 90 ° are separately installed with obliquity sensor 1 and obliquity sensor 2, and their sensitive axes is respectively OA1 and OA2, in same plane with sensitive axes OA1 and OA2 perpendicular for axis be IA1 and IA2.Make OA1 perpendicular to OA2 by locating device when mounted.

Behind the disk half-twist, as shown in Figure 8, when disk was in the second place, the sensitive axes OA1 of sensor 1 and the sensor 2 sensitive axes OA2 when primary importance overlapped, and direction is identical.The sensitive axes OA2 of sensor 2 and the sensor 1 sensitive axes OA1 when primary importance overlaps, but direction is opposite.Hence one can see that, if sensor 1 is identical with the output characteristics of sensor 2, and sensitive axes OA1 is perpendicular to OA2, and the sensor 2 when then being in the second place is equivalent to sensor 1 and has rotated 180 ° in X-Y plane, according to above analysis, can be carried out the method for zero compensation automatically.

Figure 9 shows that the process flow diagram of total system work when two sensors are installed.Microprocessor is initialization stepper motor, A/D converter, input interface and output interface at first.Read the output voltage values V of primary importance place sensor 1 and sensor 2 ₁₁And V ₂₁After, microprocessor control step motor makes the rotating circular disk half-twist.Delay time (for example, can be 0.1-5 second) after certain period, read the output voltage values V of second place place sensor 1 and sensor 2 ₁₂And V ₂₂Then according to formula (8) calculating voltage V _φ:

$V_{\mathrm{\&phi;}}=\frac{V_{11}-V_{22}}{2}---\left(8\right)$

And calculate zero drift angle φ according to this voltmeter.With 90 ° of rotating circular disk reverse rotations, (for example, can be 0.1-5 second) enters normal measurement subroutine after certain period of delaying time once more subsequently.In measuring process, the angle value that measures is in real time deducted zero drift angle φ, can obtain the true pitch angle value of surface measurements.

Claims (4)

1. incline measurement device, it comprises pedestal, rotating circular disk, slant angle sensor, A/D converter, motor, microprocessor and digital output interface, wherein has the measuring basis face on the pedestal, A/D converter is gathered the output voltage of slant angle sensor, and its result is delivered to microprocessor, microprocessor calculates pitch angle between measuring basis face and the surface level based on specific funtcional relationship according to the output voltage of slant angle sensor, it is characterized in that:

First obliquity sensor is installed on rotation diagram plate edge place, second obliquity sensor be installed on first obliquity sensor around the centre rotational axis line half-twist of rotating circular disk after residing position, and the sensitive axes of second obliquity sensor and first obliquity sensor is vertical mutually, rotating circular disk is fixed on the output shaft of motor, can rotate at least 90 ° around the output shaft of motor, after starting, at first reads in the incline measurement device first output voltage values of primary importance place first slant angle sensor, microprocessor control motor rotates then, make the rotating circular disk half-twist, delay time after certain period, read second output voltage values of second place place second sensor, calculate zero drift angle between measuring basis face and the plane, rotating circular disk place according to the difference of first output voltage values and second output voltage values, after this with 90 ° of rotating circular disk reverse rotations, formally measure after certain period of delaying time once more.

2. incline measurement device as claimed in claim 1 is characterized in that: described slant angle sensor is the condenser type slant angle sensor based on " solid pendulum ".

3. incline measurement device as claimed in claim 1 or 2 is characterized in that: described motor is a stepper motor.

4. method of the incline measurement device being carried out automatic zero compensation, wherein said incline measurement device comprises pedestal, rotating circular disk, slant angle sensor, A/D converter, stepper motor, microprocessor and digital output interface, has the measuring basis face on the pedestal, A/D converter is gathered the output voltage of slant angle sensor, and its result is delivered to microprocessor, microprocessor calculates pitch angle between measuring basis face and the surface level based on specific funtcional relationship according to the output voltage of slant angle sensor, first obliquity sensor is installed on rotation diagram plate edge place, second obliquity sensor be installed on first obliquity sensor around the centre rotational axis line half-twist of rotating circular disk after residing position, and the sensitive axes of second obliquity sensor and first obliquity sensor is vertical mutually, rotating circular disk is fixed on the output shaft of stepper motor, can rotate at least 90 ° around the output shaft of stepper motor, described method comprises the steps:

Read first output voltage values of primary importance place first slant angle sensor;

Microprocessor control step motor makes the rotating circular disk half-twist;

Delay time certain period;

Read second output voltage values of second place place second slant angle sensor;

Calculate zero drift angle between measuring basis face and the plane, rotating circular disk place according to the difference of first output voltage values and second output voltage values;

With 90 ° of rotating circular disk reverse rotations;

Delay time once more certain period;

Enter formal measurement, in measuring process, will deduct the zero drift angle according to the angle that the output voltage of slant angle sensor calculates based on specific funtcional relationship.

Images