CN102901487A - Reluctance type inclination angle sensor - Google Patents
Reluctance type inclination angle sensor Download PDFInfo
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- CN102901487A CN102901487A CN2012104283087A CN201210428308A CN102901487A CN 102901487 A CN102901487 A CN 102901487A CN 2012104283087 A CN2012104283087 A CN 2012104283087A CN 201210428308 A CN201210428308 A CN 201210428308A CN 102901487 A CN102901487 A CN 102901487A
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Abstract
The invention provides a reluctance type inclination angle sensor. The reluctance type inclination angle sensor comprises a cylindrical body, an end cover, a connecting piece and a mandrel, a fixed plate, an annular soft magnet, E-type soft magnet coils and a detection circuit, wherein a through groove is formed in the center of the mandrel; the fixed plate is connected with the mandrel through the through groove; the fixed plate and the mandrel penetrate through and are arranged in the annular soft magnet; two side edges of the fixed plate are fixedly connected with the inner side surface of the annular soft magnet; the connecting piece is positioned on the cylindrical body and/or the end cover and is matched with and connected with two ends of the mandrel; the E-type soft magnet coils are arranged on the outer side surface of the cylindrical body; the cylindrical body is in sealed connection with the end cover to form a closed cavity; the annular soft magnet and the cylindrical body are eccentrically fixed through the fixed plate; and the detection circuit is connected with the E-type soft magnet coils and is used for detecting an oscillation frequency value, wherein an inclination angle is obtained by mapping the oscillation frequency value.
Description
Technical field
The present invention relates to the data message detection field, particularly a kind of reluctance type obliquity sensor.
Background technology
Sensor is a kind of pick-up unit, can experience measured information, and the information that detection can be experienced, be for conversion into according to certain rules the information output of electric signal or other desired forms, with the requirements such as transmission, processing, storage, demonstration, record and control of satisfying information.It is the primary link of realizing automatically detection and automatic control.
Obliquity sensor is a kind of as sensor, and it is to be that theoretical foundation is made according to Newton second law, is used for measuring the instrument of object angle with respect to the horizontal plane.That is to say that obliquity sensor can be used for measuring change of pitch angle amount with respect to the horizontal plane.
Obliquity sensor is widely used in the various application that take measurement of an angle.For example, the angle of pitch measurement of high-precision laser instrument level, engineering mechanical device leveling, remote distance mearuring equipment, High Altitude Platform safeguard protection, directed satellite communication antenna, ship's navigation attitude measurement, the application of shield structure push pipe, dam detection, the monitoring of geology device inclined, just firing angle degree measurement of system for artillery, radar vehicle detection of platform, satellite communication car attitude detection etc.
In the feedback control system of above-mentioned various instruments and device, obliquity sensor is self-evident as its importance of main devices of feedback element, its output signal is the important evidence that makes a policy of control system often, the consequence that the distortion of feedback signal may bringing on a disaster property.For example: obliquity sensor fluid,matching level sensor is used for landslide or snowslide monitoring, and it transfers data to central control system by wireless sensing system, and Real-Time Monitoring massif state can effectively reduce the loss that bring the landslide.Again for example: obliquity sensor is applied to railroad rail, particularly, obliquity sensor is applied to the monitoring of electric power line steel tower angle of inclination, can Real-Time Monitoring power transmission line angle of inclination, in case because the disasteies such as strong wind cause the angle of inclination excessive, send in real time early warning signal, keeped in repair by the staff, and then reduce the loss, etc.In the existing obliquity sensor, a class is based on capacitance principle and designs.The typical products of such sensor is AccuStar obliquity sensor produced in USA.Its design mainly between two halves sensor enclosing cover clamping the common capacitance sheet of a slice.This capacitance sheet has formed two variable condenser through etching.Sensor module namely has been full of dielectric medium solution and inert gas between two of electric capacity electrodes.When sensor rotatablely moved, the liquid level of electrolyte between the capacitance electrode of sensor be owing to will keep level also will change the position thereupon, thereby made capacitor produce linear change, finally made sensor export corresponding dip angle signal.
A class obliquity sensor is based on acceleration transducer and designs in addition.Ultimate principle based on the obliquity sensor of acceleration transducer is: acceleration sensor outputs signals is after analog to digital conversion, after transferring to microprocessor and carrying out filtering, level and smooth, variance estimation etc. and process, obtain accurate instantaneous acceleration, the most accurate instantaneous acceleration is resolved and is obliquity information.
Another kind of obliquity sensor is based on the magnetoresistive transducer principle and designs.The representative of such sensor is the TCM series electronic compass of U.S. Precision Navigation company.Such sensor is based on magnetic strength (MI) technology, and namely changes of magnetic field causes the variation of sensing unit inductance value, and the aanalogvoltage of sensor being exported through the A/D circuit converts digital signal to.Because the data that this sensor provides are to calculate in the Fundamentals of Measurement to the terrestrial magnetic field.
Also have a class obliquity sensor to be based on the obliquity sensor of MEMS angular rate gyroscope design.Wherein the sensor of an output angle speed is to reach the XWG80 type low-power consumption micro-mechanical gyroscope of company design and CRS03 type gyroscope produced in USA as the angular rate gyroscope of representative take Beijing StarNet space.The angular rate gyroscope of these two models all is based on MEMS angular rate gyroscope chip design peripheral circuit, makes sensor can export the aanalogvoltage that is directly proportional with turning rate.
Above-mentioned obliquity sensor principle is different, differs from one another, but has again the limitation that can't overcome simultaneously.
Wherein, the measuring principle of capacitance principle sensor and acceierometer sensor is all take gravity pendulum as prototype, capacitance principle sensor and acceierometer sensor can't be eliminated by the impact of translatory acceleration when being used for kinetic measurement, this also from another side illustration these sensors to be used for kinetic measurement be infeasible.
The measurement of magnetic resistance principle sensor, be subjected to the influence of magnetic field of surrounding environment (such as high-lager building, iron ore mine, generating plant, high-tension transformation equipment etc. on the one hand, even the iron and steel article of close sensor), on the other hand, although existing magnetic resistance principle sensor has the static magnetic field calibration function, but it does not have the calibration function for dynamic magnetic field, so be not suitable for the measurement of dip angle in the dynamic system.
High-grade gyroscope can the output region Eulerian angle three rotational angles, angular velocity and angular acceleration, and the translational velocity of three directions, translatory acceleration, although high-grade gyrostatic sensor can be applied to the measurement of dip angle in the dynamic system, but the type sensor price is comparatively expensive, can greatly improve the cost of feedback system, be unfavorable for widespread use.
Therefore, how to provide a kind of obliquity sensor, can overcome above-mentioned shortcoming, become the technical matters that needs to be resolved hurrily.
Summary of the invention
The technical problem to be solved in the present invention is how a kind of reluctance type obliquity sensor is provided, and utilizes eccentric center principle, can measure the problem of inclination angle angle and direction in dynamic system.
For solving the problems of the technologies described above, the invention provides a kind of reluctance type obliquity sensor, comprising: cylindrical shell, end cap, web member, mandrel, fixed head, annular soft magnetic bodies, E type soft magnetic bodies coil, testing circuit;
Wherein, has groove in the middle of the described mandrel; Described fixed head is connected with described mandrel by described groove; Described fixed head and described mandrel are arranged in described annular soft magnetic bodies, and described fixed head dual-side is fixedly connected with described annular soft magnetic bodies medial surface; Described web member is positioned on described cylindrical shell and/or the end cap, and in mating connection with described mandrel two ends; Described E type soft magnetic bodies coil is installed on described cylindrical shell lateral surface; The airtight closed cavity that is connected to form of described cylindrical shell and described end cap; Described annular soft magnetic bodies is eccentric fixing by described fixed head and described cylindrical shell; Described testing circuit is connected with described E type soft magnetic bodies coil, for detection of the oscillation frequency value, obtains the inclination angle angle by the mapping of oscillation frequency value.
Preferably, the eccentric distance of described annular soft magnetic bodies and described cylindrical shell is adjusted in the position of described mandrel by described fixed head.
Preferably, described web member is bearing; Described annular soft magnetic bodies is circular ferrite or nickel oxysome or zinc oxysome; Described E type soft magnetic bodies coil is E type ferrite coil or E type nickel oxysome coil or E type zinc oxysome coil.
Preferably, described fixed head is damping sheet.
Preferably, reluctance type obliquity sensor provided by the invention further comprises: damping fluid, described damping fluid pours in described closed cavity.
Preferably, reluctance type obliquity sensor provided by the invention further comprises: a plurality of blisters, relatively be installed on both sides, described damping sheet upper edge, and away from described annular soft magnetic bodies eccentric direction.
Preferably, be provided with O-ring seal between described cylindrical shell and the described end cap.
Preferably, described E type soft magnetic bodies coil is a plurality of.
Preferably, the two ends, the outside of described cylindrical shell and/or end cap are provided with projecting shaft, are used for fixing when detecting and the support obliquity sensor.
Compared with prior art, characteristics of the present invention are that the present invention utilizes eccentric center principle, change the magnetic resistance change rate that causes by air gap distance, and then by measuring corresponding angle.Therefore, the present invention is simple in structure, and cost is lower, and measurement range is large, reaction velocity, dynamic accuracy height.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention and technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment and the description of the Prior Art, apparently, accompanying drawing in the following describes only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is that the integral body of a kind of obliquity sensor provided by the invention forms structural representation;
Fig. 2 is the principle of work synoptic diagram of a kind of obliquity sensor provided by the invention;
Fig. 3 is many groups E type soft magnetic bodies coil working principle schematic of a kind of obliquity sensor provided by the invention;
Fig. 4 A and Fig. 4 B are respectively front view and the axonometric drawings of the fixed head of a kind of obliquity sensor provided by the invention;
Fig. 5 A and Fig. 5 B are respectively front view and the axonometric drawings of the inner barrel of a kind of obliquity sensor provided by the invention;
Fig. 6 A and Fig. 6 B are respectively front view and the axonometric drawings of the mandrel of a kind of obliquity sensor provided by the invention;
Fig. 7 A and Fig. 7 B are respectively front view and the axonometric drawings of the cylindrical shell of a kind of obliquity sensor provided by the invention;
Fig. 8 A and Fig. 8 B are respectively front view and the axonometric drawings of the end cap of a kind of obliquity sensor provided by the invention;
Fig. 9 A and Fig. 9 B are respectively front view and the axonometric drawings of the annular soft magnetic bodies of a kind of obliquity sensor provided by the invention.
Embodiment
The below will engage the accompanying drawing in the embodiment of the invention, and the technical scheme in the embodiment of the invention is clearly and completely described, and obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
Please refer to shown in Figure 1ly, Fig. 1 is that the integral body of a kind of obliquity sensor provided by the invention forms structural representation.
A kind of obliquity sensor provided by the invention comprises: cylindrical shell 1, end cap 2, web member 4, mandrel 5, fixed head 6, annular soft magnetic bodies 7, E type soft magnetic bodies coil 8, testing circuit;
Wherein, has groove 51 in the middle of the described mandrel 5; Described fixed head 6 is connected with described mandrel 5 by described groove 51; Described fixed head 6 and described mandrel 5 are arranged in described annular soft magnetic bodies 7, and described fixed head 6 dual-sides are fixedly connected with described annular soft magnetic bodies 7 medial surfaces; Described web member 4 is positioned on described cylindrical shell 1 and/or the end cap 2, and in mating connection with described mandrel 5 two ends; Described E type soft magnetic bodies coil 8 is installed on described cylindrical shell 1 lateral surface; Described cylindrical shell 1 and the described end cap 2 airtight closed cavities that are connected to form; Described annular soft magnetic bodies 7 is by described fixed head 6 and described cylindrical shell 1 eccentric fixing; Described testing circuit is connected with described E type soft magnetic bodies coil, for detection of the oscillation frequency value, obtains the inclination angle angle by the mapping of oscillation frequency value.
Described web member is bearing, is positioned at the inboard center of described cylindrical shell and/or end cap.
Please refer to shown in Figure 2ly, Fig. 2 is the principle of work synoptic diagram of a kind of obliquity sensor provided by the invention.
Described E type soft magnetic bodies coil 8 of the present invention is installed on cylindrical shell 1 outside, and along with the object under test rotation, its viewpoint definition that departs from vertical direction is φ, according to the triangle geometric relationship, can draw following equation with cylindrical shell 1:
Wherein, d is air gap distance, i.e. distance between E type soft magnetic bodies coil 8 and the annular soft magnetic bodies 7; R is the internal diameter of cylindrical shell 1; R is the external diameter of annular soft magnetic bodies 7; The m of unit; Δ is that annular soft magnetic bodies 7 is with respect to the eccentric spacing of cylindrical shell 1.By following formula as can be known, air gap distance becomes corresponding relation with angle, and when angle changed, air gap distance changed thereupon, and then causes the change of magnetic resistance, by the measurement of peripheral testing circuit for magnetic resistance, can obtain corresponding angular metric.The present invention is by utilizing eccentric center principle, changes the magnetic resistance change rate that causes by air gap distance, and then by measuring corresponding angle.Therefore, the present invention is simple in structure, and cost is lower, and measurement range is large, reaction velocity, dynamic accuracy height.
Need to prove that the slit that exists between annular soft magnet and the E type soft magnet is referred to as air gap.Coil produces magnetic field, and propagate by the E type coil in magnetic field, and magnetic field is equivalent to electric current corresponding to resistance for magnetic resistance, the conducting effect in expression magnetic field.Much smaller than in the soft magnet of airborne magnetic permeability, so the variation of air gap is on the impact of whole magnetic resistance clearly, the present invention utilizes the magnetic resistance that changes air-gap separation and then change magnetic circuit, then detects the angle that turns over.
The course of work of the present invention and its testing circuit is as follows: after system powers on, and oscillatory circuit starting of oscillation, the sinusoidal waveform that output amplitude is less.Finishing circuit is adjusted sinusoidal waveform, and output duty cycle is 50% square wave.Square-wave signal access check-out console is by the frequency of check-out console measurement square wave.When the sensor run-off the straight, telefault namely E type soft magnetic bodies coil is followed the housing rotation, and annular soft magnetic bodies keeps original position to change hardly under the effect of fixed head.Because the off-centre of annular soft magnetic bodies is installed, so that the spacing of telefault and annular soft magnetic bodies is become greatly with certain geometric relationship gradually by minimum value, causes inductance value to diminish, large thereby the square wave frequency value becomes.Cylindrical shell rotates a circle, and angle changes 360 °, and corresponding square wave frequency value is also finished the output of one-period.Thereby finish measurement to angle by frequency measurement.
In a kind of obliquity sensor provided by the invention, the eccentric distance of described annular soft magnetic bodies 7 and described cylindrical shell 1 can be adjusted in the position of described mandrel 5 by described fixed head 6 according to demand.
With reference to shown in Figure 1, in a kind of obliquity sensor provided by the invention, described web member 4 is bearing again; Described annular soft magnetic bodies 7 is circular ferrite or nickel oxysome or zinc oxysome; Described E type soft magnetic bodies coil 8 is E type ferrite coil or E type nickel oxysome coil or E type zinc oxysome coil.
With reference to shown in Figure 3, Fig. 3 is in a kind of obliquity sensor of the present invention, adopts many group E type soft magnetic bodies coil 8 principle of work synoptic diagram.
Because the symmetry of system architecture, one group of E type soft magnetic bodies coil 8 can be measured angle, but can't obtain the direction of angle.For the direction that obtains taking measurement of an angle, need on cylindrical shell 1, increase by one group or several groups of E type soft magnetic bodies coils 8 according to same principle, as shown in Figure 3.At this moment, one group of circle of serving as theme wherein, such as 8-1, the measurement of angle effect that it is main, another group is ancillary coil such as 8-2, Main Function is the direction of calibration measurements angle.Ancillary coil 8-2 can arrange arbitrarily, but can not be arranged in 180 ° of directions of main coil.
Described E type soft magnetic bodies coil is arranged in the outside of cylindrical shell, and is corresponding with annular soft magnetic bodies, and forms closed magnetic circuit.
Please refer to shown in Fig. 4 A, Fig. 4 B, Fig. 5 A, Fig. 5 B, described Fig. 4 A and Fig. 4 B are respectively front view and the axonometric drawings of the fixed head of a kind of obliquity sensor provided by the invention; Fig. 5 A and Fig. 5 B are respectively front view and the axonometric drawings of the inner barrel of a kind of obliquity sensor provided by the invention.
Described cylindrical shell 1 comprises mandrel 5, damping sheet 6, and annular soft magnetic bodies 7, blister 9, the composition that is consolidated, and be articulated in the inside of cylindrical shell 1 and end cap 2 sensor outer housings by bearing 4.
Described fixed head 6 among the present invention is damping sheet.In 1 interior can also comprising of described cylindrical shell: damping fluid 10, described damping fluid 10 pours in described closed cavity; Described blister can be installed on both sides, described damping sheet upper edge relatively for a plurality of, and away from described annular soft magnetic bodies eccentric direction.Wherein, damping sheet is plate part, provides damping force in damping fluid 10, thereby plays the effect that suppresses the translation noise.
Described annular soft magnetic bodies off-centre be fixed in mandrel, link to each other by damping sheet (fixed head) between them, the plane at damping sheet place is through the center of mandrel and annular soft magnetic bodies, and damping sheet is symmetrical about mandrel, damping fin can being arranged as of symmetry be organized more, and the center of each damping fin overlaps with mandrel.
Please refer to shown in Fig. 6 A and Fig. 6 B, Fig. 6 A and Fig. 6 B are respectively front view and the axonometric drawings of the mandrel of a kind of obliquity sensor provided by the invention.
Described mandrel 5 is axial workpieces, and the centre has groove, is used for installing and fixing damping sheet 6, and adjusts annular soft magnetic bodies 7 with respect to the eccentric spacing of cylindrical shell 1 by the installation site of adjusting damping sheet 6.
Please refer to Fig. 7 A and Fig. 7 B and Fig. 8 A and Fig. 8 B, described Fig. 7 A and Fig. 7 B are respectively front view and the axonometric drawings of the cylindrical shell of a kind of obliquity sensor provided by the invention; Described Fig. 8 A and Fig. 8 B are respectively front view and the axonometric drawings of the end cap of a kind of obliquity sensor provided by the invention.
Wherein, be provided with O-ring seal between described cylindrical shell 1 and the described end cap.The two ends, the outside of described cylindrical shell and/or end cap are provided with projecting shaft, are used for fixing when detecting and the support obliquity sensor.Described cylindrical shell is the thin-walled cup-shaped member, and end sealing, and the output shaft that stretches out are so that fixed installation.Six through holes of openend radial equipartition, fastening by screw and end cap, also be furnished with O-ring seal between the two, formed airtight cavity, described O-ring seal can be the O RunddichtringO.
Please refer to Fig. 9 A and Fig. 9 B, described Fig. 9 A and Fig. 9 B are respectively front view and the axonometric drawings of the annular soft magnetic bodies of a kind of obliquity sensor provided by the invention.
Wherein, annular soft magnetic bodies 7 is ferromagnetism material parts of annular, consists of the magnetic circuit that seals with E type soft magnetic bodies coil 8.Described annular soft magnetic bodies is circular ferrite or nickel oxysome or zinc oxysome; Described E type soft magnetic bodies coil is E type ferrite coil or E type nickel oxysome coil or E type zinc oxysome coil.
The present invention has succeeded in developing experimental prototype, and has carried out implementing test.The parameter of this model machine and performance: measurement range :-180---+180 °, measuring accuracy: ± 0.05 °, kinetic measurement progress: ± 0.1 °.
This shows, the invention provides a kind of obliquity sensor, utilize eccentric center principle, the magnetic resistance change rate that causes by change of distance, and then obtain corresponding angle.
In addition, because the integral body of annular soft magnetic bodies, damping sheet and mandrel, under the acting in conjunction of the eccentric gravity of annular soft magnetic bodies and blister buoyancy, so that damping sheet remains vertical direction; And because liquid only transmits the characteristic of shear wave, and under the effect of damping fluid damping, can effectively suppress the translation impact in the rotation process.
Compare with traditional obliquity sensor, have the following advantages: simple in structure, cost is lower, and measurement range is large, is swift in response, and dynamic accuracy is high, and translation is had good inhibition.The single axle rotation that is applicable under the compound movement condition is measured.
The above only is the preferred implementation of a kind of reluctance type obliquity sensor provided by the invention, does not consist of the restriction to protection domain of the present invention.Number of components among this embodiment is not limited to the mode that adopts among the embodiment, any any modification of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within the claim protection domain of the present invention.
Claims (9)
1. a reluctance type obliquity sensor is characterized in that, comprising: cylindrical shell, end cap, web member, mandrel, fixed head, annular soft magnetic bodies, E type soft magnetic bodies coil, testing circuit;
Wherein, has groove in the middle of the described mandrel; Described fixed head is connected with described mandrel by described groove; Described fixed head and described mandrel are arranged in described annular soft magnetic bodies, and described fixed head dual-side is fixedly connected with described annular soft magnetic bodies medial surface; Described web member is positioned on described cylindrical shell and/or the end cap, and in mating connection with described mandrel two ends; Described E type soft magnetic bodies coil is installed on described cylindrical shell lateral surface; The airtight closed cavity that is connected to form of described cylindrical shell and described end cap; Described annular soft magnetic bodies is eccentric fixing by described fixed head and described cylindrical shell; Described testing circuit is connected with described E type soft magnetic bodies coil, for detection of the oscillation frequency value, obtains the inclination angle angle by the mapping of oscillation frequency value.
2. according to claims 1 described reluctance type obliquity sensor, it is characterized in that the eccentric distance of described annular soft magnetic bodies and described cylindrical shell is adjusted in the position of described mandrel by described fixed head.
3. according to claims 1 described reluctance type obliquity sensor, it is characterized in that described web member is bearing; Described annular soft magnetic bodies is circular ferrite or nickel oxysome or zinc oxysome; Described E type soft magnetic bodies coil is E type ferrite coil or E type nickel oxysome coil or E type zinc oxysome coil.
4. according to claims 1 described reluctance type obliquity sensor, it is characterized in that described fixed head is damping sheet.
5. according to claims 4 described reluctance type obliquity sensors, it is characterized in that further comprise: damping fluid, described damping fluid pours in described closed cavity.
6. according to claims 5 described reluctance type obliquity sensors, it is characterized in that, further comprise: a plurality of blisters, relatively be installed on both sides, described damping sheet upper edge, and away from described annular soft magnetic bodies eccentric direction.
7. according to claims 1 described reluctance type obliquity sensor, it is characterized in that, be provided with O-ring seal between described cylindrical shell and the described end cap.
8. reluctance type obliquity sensor according to claim 1 is characterized in that, described E type soft magnetic bodies coil is a plurality of.
9. require 1 described reluctance type obliquity sensor according to patent, it is characterized in that being, the two ends, the outside of described cylindrical shell and/or end cap are provided with projecting shaft, are used for fixing when detecting and the support obliquity sensor.
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| CN201210428308.7A CN102901487B (en) | 2012-10-31 | 2012-10-31 | Reluctance type inclination angle sensor |
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| CN201210428308.7A CN102901487B (en) | 2012-10-31 | 2012-10-31 | Reluctance type inclination angle sensor |
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| CN107370757A (en) * | 2017-08-28 | 2017-11-21 | 苏州乐菲昂科技有限公司 | Internet of things system, angle measurement method and device based on ANT agreements |
| CN109470210A (en) * | 2018-12-29 | 2019-03-15 | 桂林市利通电子科技有限责任公司 | A kind of falling sensor |
| CN113790707A (en) * | 2021-09-13 | 2021-12-14 | 吉林大学 | Thermal convection type electrochemical tilt angle sensor |
| CN114812617A (en) * | 2022-07-01 | 2022-07-29 | 深圳市沃感科技有限公司 | Intelligent inclination angle calibration device and calibration method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107370757A (en) * | 2017-08-28 | 2017-11-21 | 苏州乐菲昂科技有限公司 | Internet of things system, angle measurement method and device based on ANT agreements |
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| CN109470210A (en) * | 2018-12-29 | 2019-03-15 | 桂林市利通电子科技有限责任公司 | A kind of falling sensor |
| CN109470210B (en) * | 2018-12-29 | 2023-10-27 | 桂林市利通电子科技有限责任公司 | Toppling sensor |
| CN113790707A (en) * | 2021-09-13 | 2021-12-14 | 吉林大学 | Thermal convection type electrochemical tilt angle sensor |
| CN114812617A (en) * | 2022-07-01 | 2022-07-29 | 深圳市沃感科技有限公司 | Intelligent inclination angle calibration device and calibration method thereof |
| CN114812617B (en) * | 2022-07-01 | 2022-10-04 | 深圳市沃感科技有限公司 | Intelligent inclination angle calibration device and calibration method thereof |
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| CN102901487B (en) | 2015-01-21 |
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