CN101634659A - Rotating speed or speed measuring device and detection method based on accelerometer - Google Patents
Rotating speed or speed measuring device and detection method based on accelerometer Download PDFInfo
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Abstract
The invention relates to a rotating speed or speed measuring device and a detection method based on an accelerometer. The rotating speed or speed measuring device consists of a sensing detection part arranged on a carrier and a processing display part arranged on certain fixture at the far end, wherein the sensing detection part is connected with the processing display part through wireless communication. The rotating speed or speed measuring device uses the output signals of the accelerometer to extract the rotating centripetal acceleration of the carrier, obtains the rotating speed of the carrier according to the relations between the centripetal acceleration and the rotating radius and between the centripetal acceleration and the rotating speed, or detects the periodic signals output by the accelerometer in a time domain and a frequency domain to directly obtain the rotating cycle or frequency of the carrier to further obtain the rotating speed or the speed of the carrier. The rotating speed or speed measuring device has the advantages of low cost, simple structure, wide measuring range, high resolution ratio and the like; and simultaneously the device also has the characteristics of monitoring the state of the carrier remotely and providing the functions of prompting and alarming.
Description
Technical field
The present invention relates to rotating speed or velocity pick-up detection range, specifically, is a kind of rotating speed or velocity measuring device, and this device has certain prompting warning function simultaneously.
Background technology
In the daily life production run, rotating speed (or speed) measurement mechanism is seen everywhere, such as speedometer, the tachometer gage of automobile, and the code table of bicycle and the tachometer gage of various engines etc.The mode of these rotating speeds (or speed) measurement mechanism sensing rotating speeds (or speed) also is not quite similar.Traditional speedometer is mechanical, typical mechanical type speedometer connects a flexible axle, a wire hawser is arranged in the flexible axle, the flexible axle other end is connected on the some gears of variator, the gear rotation drives the wire hawser rotation, and wire hawser drives magnet rotation in the mileage watch glasses circle, and the cover circle connects with pointer and by hairspring pointer placed zero-bit, the speed of magnet rotational speed causes the variation of magnetic line of force size, and balance is broken pointer and therefore driven.This speedometer is simple and practical, is widely used on the big kart.But, along with development of electronic technology, now a lot of car instruments have used the electronic vehicle speed table, common a kind of be that speed pickup from the variator obtains signal, the variation by pulsed frequency makes needle deflection or display digit.The employed code table of bicycle is many based on electromagnetic induction principle, a permanent magnet is installed on the bicycle quick spoke, a clarinet is installed on the bicycle rack, bicycle quick whenever revolves and turns around, the magnetic line of force of clarinet cutting magnet produces an electric pulse, write down the frequency of electric pulse and just can know the rotating speed of wheel, if know wheel circumference in advance, bicycle speed just can multiply by wheel circumference by rotating speed and obtain.
Accelerometer all just is applied in the inertial navigation field as a kind of high-precision motion sensor owing to its expensive price always; in recent years because the advancing by leaps and bounds of MEMS technology; numerous semiconductor manufacturers (ADI, Freescale, ST etc.) have all released MEMS acceleration sensor chip separately, and have been applied in automobile (assisting navigation, collision detection etc.) and consumer electronics (hard disk protection, camera are anti-shake, interactive entertainment etc.) field in large quantities.Accelerometer based on the MEMS technology has characteristics such as cost is low, low in energy consumption, volume is little, reliability is high, easy for installation, will be more widely used in growing field.
Another kind of inertial sensor---gyroscope also can be used for the angular speed of sensing carrier, but because gyrostatic cost is higher, be not suitable for the tachometric survey of general occasion, and gyrostatic dynamic range is smaller, is not suitable for the tachometric survey of great dynamic range.Is not acceleration used for carrying out rotating speed (or speed) measurement in respect of possibility so cheaply? answer is sure.If accelerometer is fixed on the carrier of rotation, in rotating process, accelerometer can sense the moving directly related a plurality of physical quantitys of transfer: the centripetal acceleration of rotation, accelerometer orientation change the variation of the component of acceleration of gravity on sensitive axes that causes etc. so.As long as extract these physical quantitys from the output signal of accelerometer, the rotating speed of carrier (or speed) just can obtain so.
Summary of the invention
Existing rotating speed or velocity measuring device are the Mechanical Contact formula mostly, needing mechanical component is connected carrier with rotating speed or velocity measuring device, thereby design is complicated, cost is higher relatively, and be mounted in internal system, be inconvenient to safeguard, and the measurement range of traditional rotation-speed measuring device is smaller, the rotation-speed measuring device price is relatively more expensive again on a large scale; In order to overcome the various shortcoming of existing rotating speed or velocity measuring device, the present invention proposes a kind of novel rotating speed or speed detector and several method of carrying out rotating speed or speed detection based on accelerometer based on accelerometer, and the additional function of realization prompting warning.
For reaching described purpose, rotating speed or velocity measuring device based on accelerometer of the present invention, form by the processes and displays portion that is installed in the sensing detection portion on the carrier and be installed on certain fixture of far-end, sensing detection portion is connected with processes and displays portion, and sensing detection portion is used for sensing, handles the also movable information of wireless launching carrier; Processes and displays portion is used to receive the carrier movement information of sensing detection portion transmission and process and display, and adopts the connected mode of radio communication between described sensing detection portion and the processes and displays portion.
For reaching described purpose, rotating speed or speed detection method based on accelerometer of the present invention, utilize the output signal of accelerometer, extract the centripetal acceleration that carrier rotates, obtain the rotating speed of carrier by the relation of centripetal acceleration and the rotating speed and the radius of gyration, perhaps the cyclical signal to accelerometer output detects in time domain, frequency domain, directly obtains cycle or frequency that carrier rotates, and then obtains the rotating speed or the speed of carrier.
Adopt rotating speed of the present invention or velocity measuring device that following beneficial effect is arranged:
Traditional speedometer, mileometer etc. all have the mechanical hook-up of some contacts to be connected on the gear of wheel box, to obtain rotary speed information, such design has increased the complexity of system mechanics design inevitably, and adopt rotating speed of the present invention or speed detector, sensing detection portion can be directly installed on above the wheel, be used for the rotation of sensing wheel, and what adopt between sensing detection portion and the processes and displays portion is the mode of radio communication, so just do not need any other mechanical part, simplified the structure of system.
Adopt rotating speed of the present invention or velocity measuring device to use as backing sheet, necessary information such as the speed of a motor vehicle are provided when master meter breaks down, improve the reliability of system as the replenishing of traditional speedometer, mileometer; And to adopt rotating speed of the present invention or speed detector be a fully independently system, need not do any repacking on original system, also can not increase the complexity of total system.In addition; adopt rotating speed of the present invention or speed detector can also detect the generation (such as collision) of automobile unsafe condition; when bumping; the accelerometer of sensing detection of the present invention portion can sense the rapid variation of acceleration, thereby takes necessary safeguard measure (for example notifying opening of air bag).
Adopt rotating speed of the present invention or velocity measuring device can also be used for the code table of bicycle, compare with traditional code table, code table of the present invention has lacked parts, has simplified the structure of system; And code table of the present invention provides traditional not available anti-theft alarm function of code table, and traditional code table can only sense the rotation of wheel, all cannot sensing to other motions of bicycle, and adopt code table of the present invention then can sense all motions.If bicycle is moved by the people, wheel does not rotate, so traditional code table does not have any reaction, but in the process of moving, to produce the variation (variation of acceleration of gravity of acceleration inevitably, vibration etc.), thereby adopt code table of the present invention just can sense these variations, and then provide alerting signal.
Adopt rotating speed of the present invention or velocity measuring device also to have the low advantage of cost, because the develop rapidly of semiconductor technology, semiconductor devices is deep into each application with the performance of more and more cheaper price and Geng Gao, realizes that cost of the present invention will be lower than the rotating speed or the velocity measuring device of traditional mechanical formula.And predictably along with the development of semiconductor industry, the cost of rotating speed of the present invention or velocity measuring device will be more and more lower, and performance can be become better and better.
It is wide to adopt rotating speed of the present invention or velocity measuring device also to have measurement range, characteristics such as resolution height, the tachometric survey scope of traditional in the past rotating speed or velocity measuring device probably is that per minute several thousand changes, and more the price of the rotating speed of wide-measuring range or velocity measuring device is all very expensive.And the mems accelerometer that adopts rotating speed of the present invention or velocity measuring device to use has the advantages that response speed is fast, bandwidth is big, can measure the high rotating speed that per minute several ten thousand changes on the theory.Simultaneously because traditional rotating speed or velocity measuring device (such as the bicycle code table) can only produce a pulse signal in the wheel process in one week, resolution is lower, and rotating speed of the present invention or velocity measuring device can adopt detection centripetal acceleration method to measure rotating speed, constantly can both sense the variation of speed in each of wheel, thereby resolution is higher.
Description of drawings
The system chart of Fig. 1 rotating speed of the present invention or velocity measuring device;
Fig. 2 system embodiment synoptic diagram of the present invention
Fig. 3 carrier rotary course of the present invention synoptic diagram
Fig. 4 periodic signal of the present invention is to square-wave signal conversion synoptic diagram
The output signal diagram of Fig. 5 accelerometer of the present invention
Fig. 6 wireless code hoist pennants of the present invention
Embodiment
Provide some specific embodiments with regard to various aspects of the present invention below:
Rotating speed of the present invention or speed detector system chart are as shown in Figure 1, mainly form by the processes and displays portion 2 that is installed in the sensing detection portion 1 on the carrier and be installed on certain fixture of far-end, sensing detection portion 1 is connected with processes and displays portion 2, and sensing detection portion 1 is used for sensing, handles the also movable information of wireless launching carrier; Processes and displays portion 2 is used to receive the carrier movement information of sensing detection portion 1 transmission and process and display, and adopts the connected mode of radio communication between described sensing detection portion 1 and the processes and displays portion 2.
Provide an embodiment of total system below, as shown in Figure 2, this embodiment is made up of sensing detection portion 1 and processes and displays portion 2.
Processes and displays portion 2 is made of battery d3, power module d4, receiving antenna 24,2.4GHz wireless receiving chip RF, 8051 microcontroller MCU, LCD display, battery d3 and power module d4 are responsible for providing power supply to system, wireless receiving chip RF receives the signal that comes from sensing detection portion 1 by receiving antenna 24, and give 8051 microcontroller MCU and handle, the movable information that 8051 microcontroller MCU calculate carrier is presented at these information on the LCD display afterwards.
The acceleration 11 of the sensing detection portion 1 of present embodiment can adopt single shaft, twin shaft or three accelerometer.Signal Pretreatment unit 12 has adopted the A/D analog to digital converter, can also select comparer for use in the time of concrete enforcement, convert the cosine voltage signal of output the square-wave signal of same frequency to, the mode that square-wave signal is carried out step-by-step counting obtains the movable informations such as rotating speed of carrier.Microprocessor 22 present embodiments have been selected 8051 microcontroller MCU for use, also can adopt various dissimilar microprocessors according to system's needs, such as DSP, ARM, PIC etc.Wireless transmitting unit 13 and radio receiving unit 21 present embodiments have been selected 2.4GHz wireless transmission and receiving chip RF for use, also can select the transmission and the receiving chip of ISM band such as 433MHz, 866MHz, 915MHz for use.Wireless transmission antenna 14 and receiving antenna 24 are selected PCB antenna cheaply for use, the littler chip aerial (Chip Antenna) of also can selecting to take up room.The display unit 23 of present embodiment has been selected LCD display commonly used for use, also can select display screens such as OLED.
Speed of the present invention or rotating speed detection method are based on following principle: in the process of carrier movement, accelerometer 11 mainly senses the effect of following several acceleration: the acceleration of gravity of the earth, the centripetal acceleration that the carrier rotation causes and the acceleration of carrier translation.In a lot of occasions (such as the motion of pure rotation, automobile, bicycle), the acceleration of carrier translation is zero or very little and the duration is relatively lacked (most of the time is a uniform motion), can ignore, and mainly considers the effect of preceding two acceleration.Thereby in the carrier rotating process, and rotate closely-related two physical quantitys that have: the cyclical variation on accelerometer 11 sensitive axes of centripetal acceleration and acceleration of gravity.Utilize this two physical quantitys, the detection approach that two kinds of speed or rotating speed are arranged: one. the size of centripetal acceleration is relevant with the rotating speed of carrier and radius of turn, if can extract centripetal acceleration from the output signal of accelerometer 11, and known radius of turn just can be calculated the rotating speed of carrier; Two. the component of acceleration of gravity on the sensitive axes of accelerometer is periodically variable, and the cycle that changes equal the cycle that carrier rotates, if can detect this cycle, also just obtained the rotating speed of carrier.The method that the present invention proposes sum-average arithmetic according to detection approach one obtains centripetal acceleration, because in a short period of time, can think that the rotating speed of carrier is constant, thereby the centripetal acceleration size is also constant, and the component of the acceleration of gravity of the half period of being separated by on sensitive axes opposite sign but equal magnitude just, just can balance out weight component with the method for suing for peace and extract centripetal acceleration, and then obtain the rotating speed or the speed of carrier; The present invention proposes the method for sense cycle in time domain and frequency domain respectively according to detection approach two.In time domain, the method that two kinds of cycle detections are arranged again according to two kinds of selections of Signal Pretreatment unit 12: when analog to digital converter is selected in Signal Pretreatment unit 12, the crest of sense acceleration meter 11 outputs and the time interval of trough, this time interval equals half of carrier rotation period; When Signal Pretreatment unit 12 is selected comparer for use, the aanalogvoltage of accelerometer 11 outputs compares the square-wave signal that produces same frequency through the voltage of comparer and certain setting, be easy to obtain the frequency of square wave by counting or other mode, thereby just can obtain the rotating speed of carrier.In frequency domain, to equal the carrier rotation period amplitude of oscillation be the stack of the sinusoidal signal of acceleration of gravity because the output signal of accelerometer 11 is a direct current signal and one-period, thereby can in frequency domain, detect the amplitude of each frequency component, the frequency of amplitude peak correspondence is the frequency that carrier rotates.
According to above detection principle, provide the specific embodiment of several method:
Method one: as shown in Figure 3, the linear velocity of carrier rotation is v, and radius of turn is R, and gravity acceleration g straight down.Carrier can be similar to the process that runs to state a from state b to be thought at the uniform velocity.Thereby the centripetal acceleration a that accelerometer 11 bears in this process
nFor: a
n=v
2/ R, and be to point to rotation center all the time.When state b, accelerometer 11 is output as: a
b=g+a
n, when state a, accelerometer 11 is output as: a
a=-g+a
nBecause rotate in the process in a week at carrier, these two positions correspond respectively to the maximal value and the minimum value of accelerometer 11 outputs, so as long as the maximal value of detecting and minimum value a
bAnd a
a, a is so just arranged
n=(a
a+ a
b)/2, and then just can draw the linear velocity of carrier rotation
Or the angular speed of carrier
Method two: the method is to detect the rotation period of carrier in time domain, Signal Pretreatment unit 12 is selected analog to digital converter for use, the crest and the trough of sense acceleration meter output signal, the sampling time interval t of crest and trough obtains easily, and sampling time interval t is the carrier rotation used time of half period, and then can be in the hope of the linear velocity v=π R/t of carrier rotation or the angular speed ω=π/t of carrier.
Method three: the method also is to detect the rotation period of carrier in time domain, and Signal Pretreatment unit 12 is selected comparer for use.As shown in Figure 4, the periodic signal of accelerometer becomes the square-wave signal of same frequency later on through comparer, be easy to obtain the frequency f of square-wave signal by modes such as step-by-step countings, thereby the angular speed of carrier is ω=2 π f, the linear velocity of carrier rotation is v=2 π Rf.
Method four: the method is a kind of frequency domain detection method, and the cyclical signal to accelerometer output in frequency domain carries out spectrum analysis, and the pairing frequency of amplitude peak is the rotational frequency of carrier, and then obtains the rotating speed or the speed of carrier.As Fig. 5, accelerometer 11 is output as a as can be seen
t=a
n+ gcos (wt), the amplitude of cosine model stack that is f=w/2 π by a frequency is a
nDirect current signal obtain.So just can draw the frequency of acceleration signal by the method for frequency domain detection, and then know the linear velocity that the angular speed of carrier and carrier rotate, concrete grammar is: the acceleration signal of section sometime that sampling is obtained is done FFT conversion (Fast Fourier Transform (FFT)) earlier, obtain the amplitude of each frequency component of signal, in frequency field, detect the pairing frequency of amplitude peak, be the frequency f that carrier rotates, the angular speed of carrier is ω=2 π f so, and the linear velocity of carrier rotation is v=2 π Rf.
This several method has his own strong points, the first three methods arithmetic speed is than very fast, but may be responsive to the interference and the noise ratio of system, and last a kind of method may be anti-interference more intense with the noise ability, but owing to will do the FFT conversion, arithmetic speed is slower than preceding two kinds of methods, therefore can adopt the method for information fusion that this three is fused to together, to obtain more performance.
Provide an embodiment based on the wireless code table of bicycle of the present invention below in conjunction with concrete the application: traditional code table is many based on electromagnetic induction principle, a permanent magnet is installed on the bicycle quick spoke, a clarinet is installed on the bicycle rack, bicycle quick whenever revolves and turns around, the magnetic line of force of clarinet cutting magnet produces an electric pulse, write down the frequency of electric pulse and just can know the rotating speed of wheel, if know wheel circumference in advance, bicycle speed just can multiply by wheel circumference by rotating speed and obtain.This bicycle use code table generally has three parts, (can merge and be called sensor) except two above-mentioned parts, also needs parts, and controller is for example finished resolving and showing of movable informations such as rotating speed or speed.According to the communication mode between sensor and the controller, traditional code table is divided into wireless and wired two kinds, because the cost and the power consumption of wireless communication chips are more and more lower, adopts the code table of communication will become the main flow in market gradually.The wireless code table that present embodiment will be realized is based on top system embodiment, as shown in Figure 6, easy in order to illustrate, this embodiment synoptic diagram has omitted battery and power module, the acceleration chip is selected the ADXL320 of ADI, the range of a twin shaft is ± the aanalogvoltage output acceleration chip of 5g, the wireless transmission chip is selected the nRF24E1 of Nordic Semiconductor, this is a radio transmitting and receiving chip, integrated one 8051 microcontroller MCU kernel and the A/D converter of 9 passage 12bit, sampling rate is up to 100KSPS.The wireless receiving chip and the microcontroller MCU of processes and displays portion 2 have also selected nRF24E1, and LCDs is selected LCD1602C, and this is a 16X2 character-type liquid crystal display module.Sensing detection portion 1 is installed in above the spoke of bicycle quick, and the sensitive axes of degree of will speed up meter 11 sensing wheel center, and processes and displays portion 2 can be installed in above the handlebar and also can be worn on the wrist as wrist-watch.Several rotating speeds or velocity calculated method in conjunction with the present invention proposes just can demonstrate cycling parameters such as rotating speed, speed, mileage on LCD1602C.
In addition on hardware foundation of the present invention, realized the additional function that prompting is reported to the police: because sensing detection of the present invention portion 1 employed sensor is an accelerometer 11, thereby can monitor in real time the state of carrier, and can point out warning to some motion state of carrier (too fast such as rotating speed, slow excessively, vibration etc.) or the safety case of carrier according to user's setting, or will point out warning message to provide alerting signal by the latter and remind the user by the wireless processes and displays portion that issues far-end.The additional function that the prompting that the present invention realizes is reported to the police comprises: rotating speed is crossed and is reported to the police, carrier vibration alarming, carrier anti-theft warning etc.
Provide the embodiment of a prompting warning function at last: the bicycle anti-theft alarm function of the wireless code table that is based on the foregoing description that present embodiment will be realized, because what adopt between sensing detection portion 1 of this wireless code table and the processes and displays portion 2 is communication, thereby just can realize that sensing detection portion 1 and processes and displays portion 2 carry out radio communication within the specific limits, the operating distance of present short-distance wireless transceiving chip is tens meters and arrives hundreds of rice.When the car owner leaves bicycle, processes and displays portion 2 can be taken off band at one's side like this, and sensing detection portion 1 has the function of monitoring bicycle state, if bicycle remains static always, the output of accelerometer 11 can not become; If in case bicycle has abnormal conditions to take place, for example moved or ride away by the people, the output of accelerometer 11 will change, sensing detection portion 1 will detect this variation, and then need to judge whether to report to the police, reporting to the police if desired then sends alarm command to processes and displays part at a distance, sends alerting signal by processes and displays portion 2, reminds car owner's bicycle that stolen possibility is arranged.
The above; only be the embodiment among the present invention; but protection scope of the present invention is not limited thereto; anyly be familiar with the people of this technology in the disclosed technical scope of the present invention; can understand conversion or the replacement expected; all should be encompassed in of the present invention comprising within the scope, therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (10)
1, a kind of rotating speed or velocity measuring device based on accelerometer, it is characterized in that, form by the processes and displays portion that is installed in the sensing detection portion on the carrier and be installed on certain fixture of far-end, sensing detection portion is connected with processes and displays portion, and sensing detection portion is used for sensing, handles the also movable information of wireless launching carrier; Processes and displays portion is used to receive the carrier movement information of sensing detection portion transmission and process and display, and adopts the connected mode of radio communication between described sensing detection portion and the processes and displays portion.
2, rotating speed according to claim 1 or velocity measuring device, it is characterized in that, sensing detection portion is made of accelerometer, Signal Pretreatment unit, wireless transmitting unit and transmitting antenna, the Signal Pretreatment units in series is between accelerometer and wireless transmitting unit, and the motion of accelerometer sensing carrier also generates aanalogvoltage output; The Signal Pretreatment unit receives aanalogvoltage and also generates numeral or pulse signal, and numeral or pulse signal passed to wireless transmitting unit and sends by transmitting antenna.
3, rotating speed according to claim 1 or velocity measuring device, it is characterized in that, processes and displays portion is made of receiving antenna, radio receiving unit, microprocessor and display unit, microprocessor parallel-series between radio receiving unit and display unit is connected, radio receiving unit receives numeral or the pulse signal that sensing detection portion sends by receiving antenna, microprocessor is handled the numeral or the pulse signal that receive, calculate the rotating speed or the speed of carrier, microprocessor control display unit shows rotating speed or the speed that obtains.
According to the measurement mechanism of claim 1, it is characterized in that 4, described accelerometer is single shaft, twin shaft or three a accelerometer.
According to the measurement mechanism of claim 1, it is characterized in that 5, described Signal Pretreatment unit is analog to digital converter or comparer.
6, a kind of based on the rotating speed of accelerometer or the detection method of speed, it is characterized in that, utilize the output signal of accelerometer, extract the centripetal acceleration that carrier rotates, obtain the rotating speed of carrier by the relation of centripetal acceleration and the rotating speed and the radius of gyration, perhaps the cyclical signal to accelerometer output detects in time domain, frequency domain, directly obtains cycle or frequency that carrier rotates, and then obtains the rotating speed or the speed of carrier.
7, according to the detection method of claim 6, it is characterized in that, utilize the acceleration of gravity and the resultant acceleration of centripetal acceleration on sensitive axes of accelerometer output, extract the centripetal acceleration of carrier by the sum-average arithmetic method, and then obtain the rotating speed or the speed of carrier.
8, according to the detection method of claim 6, it is characterized in that, utilize the cyclical signal of accelerometer output, in time domain, crest or trough by the sense cycle signal, perhaps the square-wave signal that the output of accelerometer is changed into same frequency carries out rotation period or the rotational frequency that step-by-step counting draws carrier, and then obtains the rotating speed or the speed of carrier.
According to the detection method of claim 6, it is characterized in that 9, the cyclical signal to accelerometer output in frequency domain carries out spectrum analysis, the pairing frequency of amplitude peak is the rotational frequency of carrier, and then obtains the rotating speed or the speed of carrier.
10, according to the detection method of claim 6, it is characterized in that, also be the situation by accelerometer monitoring carrier, and abnormal conditions are analyzed, the processes and displays portion that provides prompting alerting signal or notice far-end provides the prompting alerting signal.
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