CN103217155B - The displacement detection and control method of equipment, the displacement detection of equipment and control unit - Google Patents
The displacement detection and control method of equipment, the displacement detection of equipment and control unit Download PDFInfo
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- CN103217155B CN103217155B CN201210020677.2A CN201210020677A CN103217155B CN 103217155 B CN103217155 B CN 103217155B CN 201210020677 A CN201210020677 A CN 201210020677A CN 103217155 B CN103217155 B CN 103217155B
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Abstract
The present invention relates to displacement detection method and displacement detection unit.The displacement detection unit includes：It is adapted to detect for the acceleration transducer of acceleration produced in equipment；Suitable for the operational part by obtaining the first calculated value to the detected value progress N ranks integration of acceleration transducer on predetermined opportunity, wherein N is predetermined positive integer；Suitable for by subtracting the correction unit that particular value obtains the second calculated value on predetermined opportunity for the first calculated value plus particular value or from the first calculated value；And suitable for being detected as the shifted test section of equipment when the second calculated value exceedes default a reference value.
Description
Technical field
The present invention relates to setting for the displacement for being preferably used for detecting the equipment such as lathe (being hereinafter referred to as " equipment ")
Standby displacement detection and control method, the displacement detection of equipment and control unit.
Background technology
As the goods that can be used for developing mass destruction weapon etc., with high-precision and/or high performance equipment
It is tightly controlled, it is not exported illegally.But, once equipment is exported to abroad, just it is difficult to prevent equipment by third party
It is displaced to the country for not allowing the equipment to export to.If it thus provides a kind of equipment in the case of unauthorized by from
The displacement of its installation site then detects the displacement, and the mechanism for forbidding the equipment to have again been operated.
For the displacement of detection device, traditionally have been used by acceleration transducer to detect due to caused by displacement
The method of Oscillation Amplitude.In addition, also contemplating another method：Second Order Integral is carried out by the value to acceleration transducer and obtained
Displacement is obtained, and if amount of movement exceedes a reference value, then detects displacement.In the following description, the shifting of detection device
The operation of position is referred to as " displacement detection ".
It is used as the mechanism of the displacement for detection device, it is proposed that following method：Detect mechanical oscillation and if inspection
The vibration measured is more than predetermined value, and then equipment can not have again been operated (referring to Japanese Unexamined Patent Publication 2003-35595 publications).In addition,
As described in No. 4173513 publications of Japanese Patent Publication No. and the Japanese Unexamined Patent Publication 2009-271855 publications, the following technology of motion：Will
Angular transducer is installed to equipment, if equipment is rotated or tilted, displacement is detected, so as to forbid equipment to have again been operated.
In addition, in the Japanese Unexamined Patent Publication 2008-134173 publications the following technology of motion：Sensor is arranged between equipment and ground,
And when detecting equipment by from surface uplift, forbid equipment to have again been operated.
The content of the invention
Problems to be solved by the invention
The initial purpose of displacement detection is to prevent high-precision and/or high performance equipment to be used to develop mass destruction
Weapon etc..Therefore, detectability must not be suppressed by malicious third parties.But, it is applied to shaking for equipment by simply detecting
It is dynamic to be difficult to avoid that by seismic flase drop.In addition, in order to avoid caused by the vibration that is produced during equipment operation
Flase drop, it is impossible to increase the sensitivity of sensor.Therefore, if using the truck transport equipment with air suspension, being difficult to prohibit
The only displacement of equipment.In addition, in the case of using angular transducer, being set by being transported in the immovable mode of the angle of equipment
It is standby, the displacement of equipment can be prevented to be detected.In addition, in the case of sensor is arranged between equipment and ground, passing through
Place iron plate between equipment and ground, and with iron plate together transporting equipment, the displacement of equipment can be prevented to be detected.
Second order integro is carried out by the value to acceleration transducer in addition, traditionally having been used in auto-navigation system etc.
Divide in the method for the detection displacement for obtaining position data.But, due to the acceleration transducer as caused by temperature drift etc.
Measurement error accumulated by integration, so positional precision will be reduced as time goes by.In order to solve the problem,
In the case of auto-navigation system etc., by using GPS (global positioning system) and map datum, to acceleration transducer
Measurement error carries out regular calibration.But, in the case of equipment is installed indoors, it is impossible to use GPS.In addition, because drift
Error is accumulated as time goes by, so while equipment is not shifted actually, it is also possible to had falsely detected equipment
Displacement.
In view of the above problems, the purpose of the present invention is whether reliably detect equipment shifted.
The solution used to solve the problem
The present invention is used for the detected value according to the acceleration transducer for being installed to equipment come the displacement of detection device.
First, the first calculating is obtained by carrying out N ranks integration to the detected value of acceleration transducer on predetermined opportunity
Value, wherein N is predetermined positive integer.In addition, by being that the first calculated value add/is subtracted from the first calculated value on predetermined opportunity
Particular value and obtain the second calculated value, and if the second calculated value exceed default a reference value if detection device it is shifted.
The present invention provides a kind of displacement detection method, for the detected value based on the acceleration transducer for being installed to equipment come
The displacement of the equipment is detected, the displacement detection method comprises the following steps：By on predetermined opportunity to the acceleration
The detected value of sensor carries out N ranks integration and obtains the first calculated value, and wherein N is predetermined positive integer；By described predetermined
Opportunity for first calculated value is plus particular value or subtracts particular value from first calculated value and obtains the second calculating
Value；And to be detected as the equipment shifted when second calculated value exceedes default a reference value.
In above-described displacement detection method, the predetermined opportunity refers to confirm the acceleration transducer every time
The detected value when, or each predetermined time interval.
The invention provides a kind of displacement detection unit for the displacement for being adapted to detect for equipment, displacement detection unit includes：It is suitable
The acceleration transducer of the acceleration produced in detection device；Suitable for passing through the inspection on predetermined opportunity to acceleration transducer
Measured value carries out N ranks integration and obtains the operational part of the first calculated value, and wherein N is predetermined positive integer；Suitable for by predetermined
Opportunity subtracts the correction unit that particular value obtains the second calculated value for the first calculated value plus particular value or from the first calculated value；
With suitable for the second calculated value exceed default a reference value when be detected as the shifted test section of equipment.
In above-described displacement detection unit, predetermined opportunity refers to the detected value for confirming acceleration transducer every time
When, or each predetermined time interval.
The effect of invention
According to the present invention, detection device is shifted if the second calculated value exceedes a reference value, wherein, the second calculated value
Be by be the first calculated value on predetermined opportunity plus/subtract particular value from the first calculated value and obtain.Therefore, it is possible to keep away
Flase drop caused by vibration produced in the vibration that is produced when exempting to be occurred as earthquake, operating process etc..Furthermore it is possible to avoid as follows
In the case of displacement missing inspection：The transporting equipment in the way of vibrating and be weakened, for example, utilize the truck transport with air suspension
Equipment.
Brief description of the drawings
Fig. 1 is the block diagram for the in-built example for showing displacement detection unit according to the embodiment of the present invention；
Fig. 2 is the block diagram of the in-built example for the MPU for showing the above-mentioned embodiment according to the present invention；
Fig. 3 is the figure of the example of acceleration for showing to detect when an earthquake occurs；
Fig. 4 is the change for showing the acceleration magnitude by being detected according to the acceleration transducer of above-mentioned embodiment of the invention
The figure of the example of change；
Fig. 5 is the figure for the example for collecting the data in MPU for showing the above-mentioned embodiment according to the present invention；
Fig. 6 is to show to be counted by carrying out Second Order Integral to the acceleration detected according to the above-mentioned embodiment of the present invention
The figure of the example of the amount of movement of the equipment arrived；
Fig. 7 is to show eliminating the influence of temperature drift from acceleration by using 10 seconds simple methods of moving average
In the case of, the figure of the example of displacement；
Fig. 8 is the flow chart of the processing example for the displacement detection unit for showing the above-mentioned embodiment according to the present invention；
Fig. 9 is the acceleration for showing the example of the acceleration detected when an earthquake occurs and being detected when equipment is shifted
Example figure；
Figure 10 is to show that the acceleration detected by the acceleration transducer to the above-mentioned embodiment by the present invention enters
Row Second Order Integral and the figure of the example of displacement obtained, wherein Second Order Integral operation include correction process.
Embodiment
Next, with reference to brief description of the drawings embodiments of the present invention.In the present embodiment, equipment will be installed to application
Displacement (relocation) detection unit 1 and come the displacement of detection device be example by the acceleration that is produced in detection device
(being hereinafter referred to as " this example ") illustrates.
Fig. 1 is the block diagram for the in-built example for showing displacement detection unit 1.
Displacement detection unit 1 with acceleration transducer 5 is installed to equipment (not shown), the acceleration sensing
Device 5 has one or more axles.Typically, for detecting that the 3-axis acceleration sensor of the acceleration on three axles is used as adding
Velocity sensor 5.
Displacement detection unit 1 includes battery (secondary cell) 3 and the charging circuit 2 for being charged to battery 3 so that even if
When the power supply of equipment is cut off, displacement detection unit 1 can still be continued to function.Because battery 3 from power supply by supplying
Electric energy charges, so when the main power source of equipment is cut off, displacement detection unit 1 is still operated.Furthermore, it is contemplated that there is work
The long holiday of factory, it is preferred that the capacity of battery 3 is sufficiently large so that displacement detection unit 1 keeps running about 1 year.
Even if in addition, battery 3 discharges completely, therefore the running of displacement detection unit 1 has stopped, also will be at a dozen
Displacement detection mark (the step S1 in Fig. 8) is just set when opening up standby main power source.When setting displacement detection mark, displacement inspection
Unit 1 is surveyed just to assume to detect the displacement of equipment at once.Therefore, equipment can not be operated, until equipment cancels displacement detection
Signal is sent to displacement detection unit 1.
In addition, displacement detection unit 1 includes displacement detection portion 4, the displacement detection portion 4 is constructed by such as lower component：A/D turns
Parallel operation 6, its be suitable to will the analog acceleration data conversion that be exported by acceleration transducer 5 into digital value；MPU (microprocessing unit)
10, it is suitable to the acceleration information that processing is collected from A/D converter 6；RAM (random access memory) 7, its be suitable to preserve by
Data treated MPU 10；ROM (read-only storage) 8, it is suitable for storage in the processing software performed in MPU 10；And connect
Mouth 9, its controller (not shown) for being used for and belonging to equipment is communicated.Such as flash memory can be used as the Hes of RAM 7
ROM 8。
As the basic function of the displacement detection for carrying out equipment, it is necessary to real in the position that equipment should be installed from it
The displacement of detection device when border is shifted.Therefore, normally, the shifting of the small speed of the equipment detected by displacement detection unit 1
Dynamic can be considered as the error caused by the influence of temperature drift.Therefore, it is the movement that is detected in interval between pre- opportunity
Distance setting a reference value, such as 1m per minute, and when displacement exceedes a reference value, to detect equipment shifted.Profit
The construction is used, displacement detection unit 1 can carry out displacement detection in the case where the accumulated error not detected by position is influenceed.
Here, MPU 10 makes A/D converter 6 change the analogue data of the acceleration detected by acceleration transducer 5
Into numerical data, and by the digital data acquisition into RAM 7.Because acceleration transducer 5 typically has temperature drift
Characteristic so that output is changed with temperature, so MPU 10 is by subtracting average value of the acceleration within the last scheduled period
To remove temperature drift composition.In addition, MPU 10 to the acceleration for having removed temperature drift composition by carrying out time integral
And obtain the translational speed of equipment.Influenceed due to not being completely removed by temperature drift effects, so above-mentioned translational speed
Include deviant (offset value).
When MPU 10 is integrated to obtain displacement, deviant is accumulated as time goes by, even if so
The displacement of equipment is actually zero, and deviant also becomes larger, and just looks like that equipment is mobile the same.In the presence of such load
The heart：When although equipment is actually un-shifted but displacement becomes big as time goes by, displacement detection operation
Error, which may cause to detect equipment, is moved, therefore, it is necessary to remove the deviant of translational speed.In order to remove mobile speed
The deviant of degree, MPU 10 is handled to subtract specific value in every certain time interval so that deviant is close to zero.It is logical
Cross and carry out the processing, when equipment is not shifted, translational speed generally maintains into zero.What 10 couples of MPU was obtained in the above described manner
Translational speed carries out time integral, so as to obtain the displacement of equipment.
If the displacement obtained has exceeded predetermined a reference value, displacement detection unit 1 will determine that equipment has been moved
Position, and operation stop signal is sent with the operation of arrestment.In addition, when restarting equipment, displacement detection unit 1
Response is sent into operation stop signal with quiescing from the inquiry of equipment.In other words, displacement detection unit 1 is kept such as
Lower state：As long as not receiving displacement detection cancelling signal, just operation enabling signal is not sent to equipment., can using the construction
To forbid the equipment of displacement to be operated in the case of unauthorized in destination.
Fig. 2 is the block diagram for the in-built example for showing MPU 10.
MPU 10 includes operational part 11 and correction unit 12.Operational part 11 is suitable on predetermined opportunity to from acceleration transducer
5 inputs, acceleration magnitude by A/D converter 6 numerical data carries out N rank integrations, to obtain the first calculated value, wherein N
It is predetermined positive integer.Correction unit 12 be suitable to when equipment is not shifted, by predetermined opportunity be the first calculated value plus/from
First calculated value subtracts particular value to correct the first calculated value detected, to obtain the second calculated value.Here, term is " predetermined
Opportunity " when referring to confirm every time the detected value of acceleration transducer 5 or each predetermined time interval is (such as per minute, every
Hour etc.)." the first calculated value " is the velocity amplitude for carrying out First-order Integral by the detected value to acceleration transducer 5 and obtaining,
The distance value for either carrying out Second Order Integral by the detected value to acceleration transducer 5 and obtaining." particular value " is that basis adds
The change of temperature around velocity sensor 5 and the detected value from the first calculated value increase/reduction, " particular value " is not influence to move
The value of position detection.
MPU 10 also includes test section 13, and it is suitable to detect equipment when the second calculated value exceedes predetermined a reference value
It is shifted.MPU 10 also includes mark configuration part 14 and signal transmission unit 15.Configuration part 14 is marked to be suitable in test section 13
Detect equipment it is shifted when RAM 7 presumptive area setting detection mark, wherein detection mark represent equipment displacement.Letter
Number sending part 15 is suitable to send a signal to equipment to be stopped operation with instruction equipment, or sends a signal to equipment to allow equipment to grasp
Make.
In the case of test section 13 detects equipment displacement, test section 13 1 detects equipment displacement, would indicate that mark
The setting of configuration part 14 detection mark, and configuration part 14 is marked according to the instruction of test section 13 setting detection mark.When equipment is ask
Ask that, if not setting detection mark, signal transmission unit 15 sends operation enabling signal to setting when whether setting detection mark
It is standby to allow the operation of equipment, or if setting detection mark, then signal transmission unit 15 sends operation stop signal to setting
The standby operation with arrestment.
Fig. 3 shows the example of the acceleration detected when an earthquake occurs.
Acceleration transducer 5 is needed with sufficiently wide detection range so that when equipment is operated under normal operating condition
When or when an earthquake occurs, it is shifted that the acceleration transducer 5 will not have falsely detected equipment.
Here, detection range is shown below for the example of the performance of ± 2G acceleration transducer 5：
Scope：±2G
Sensitivity：1mG
Noise：0.65mG
Temperature drift：1.12mG/℃
Fig. 3 shows the example of the acceleration produced when the strength grade for occurring Nippon Standard is 5 grades of earthquake, and
And the acceleration that equipment is received is 200gal (cm/s/s) (notes to the maximum：200gal (cm/s/s)=0.2G).As can be seen from Figure 3,
If the detection range of acceleration transducer 5 is equal to or wider than that ± 2G, it is enough to correctly detect the vibration.Incidentally, when
When equipment is transported by truck etc., the acceleration that equipment is received is about 0.1G.It follows that using it is simple such as according only to by
The method that the acceleration magnitude that acceleration transducer 5 is exported carrys out detection device displacement, it is impossible to distinguish by seismic flase drop and reality
Border is shifted.
Fig. 4 shows the change of the acceleration magnitude that acceleration transducer 5 is detected in the case of 1 DEG C of temperature rise in 60 seconds
The example of change.
In this example, the sensitivity of acceleration transducer 5 is 1mG, and by the numeral after A/D converter 6A/D conversions
The digit (bit number) of value is 14.As can be seen from Figure 4, due to the influence of temperature drift, detected by acceleration transducer 5
Acceleration magnitude increase as time goes by.
Fig. 5 is the figure for showing actual acquisition to the example of the data in MPU 10.
Understand, at 20 seconds of beginning, because the value of acceleration is too small and can not be detected, when carrying out A/D conversions
It can't detect the output of acceleration transducer 5；But, after this 20 seconds pass, the acceleration exported by acceleration transducer 5
Value is gradually changed to be detected.
Fig. 6 is to show (that is, to move by the first calculated value for carrying out Second Order Integral to acceleration and being calculated by operational part 11
Momentum) example figure.
As shown in figure 5, because not the exporting for 20 seconds in beginning of acceleration transducer 5, the amount of movement of equipment is zero.
But, after this 20 seconds pass, the shifting for the equipment for carrying out Second Order Integral by the output to acceleration transducer 5 and calculating
Momentum is become big by accumulation.
As a result, because the influence of temperature drift, although equipment is not moved actually, but equipment is detected due to 60
Move 1.5m in second and shifted.In order to avoid such flase drop, correction unit 12 from acceleration transducer 5 measure plus
The moving average of acceleration is subtracted in speed, is increased with thus removing the big of the acceleration as caused by temperature drift.
Here, the moving average of acceleration is to acceleration equivalent to by applying low pass filter and the value that obtains, and
And equal to slowly varying compositions such as extraction temperature drifts.It is above-mentioned as temperature drift caused by 1 DEG C of temperature change in 60 seconds
0.019mG acceleration (note can be converted into：0.019mG=0.18mm/S2).The value is too small, and is not qualified as actual shifting
The acceleration produced during dynamic equipment, even if so that the value is removed by subtracting the moving average of acceleration, also will not be right
Displacement detection is impacted.Incidentally, a variety of methods can be used to obtain the moving average of acceleration, such as it is simple mobile
The method of average, the method for weighted moving average, index method of moving average etc., wherein the simple method of moving average is put down in the simple of scheduled period
Average.
Fig. 7 be show in the case of temperature drift is eliminated by using 10 seconds simple methods of moving average, acceleration and
The figure of the example of displacement.
As can be seen from Figure 7, shadow of the temperature drift to acceleration magnitude can be removed substantially by using the simple method of moving average
Ring.Therefore, even if equipment is actually un-shifted, the equipment displacement detected was also subtracted about 0.5m in 60 seconds.But
It is that as can be seen from Figure 7, residual error is integrated, therefore, and displacement increases as time goes by.If increased
Plus displacement by the overall data for being used as being used to carry out displacement detection, then in the presence of following possibility：Although equipment is actually not
Moved, but be due to that the displacement of equipment has exceeded the limit, so flase drop is shifted to equipment.Asked to solve this
Topic, correction unit 12 is corrected processing frequently to make the calculated value of translational speed and the calculated value of displacement close to zero to obtain
Obtain the second calculated value.
If amount of movement is below the correcting value, displacement detection unit 1 can not detect displacement；Asked however, not causing
It is sufficient that small correction of topic.For example, carrying out the translational speed after 1 second by subtracting speed 1cm/s towards speed zero
Correction process, wherein, 1cm/s speed is the speed that it is practically impossible to shift equipment.Similarly, example in an identical manner
Such as the correction process of distance is moved by subtracting 1cm after 1 second.
Fig. 8 is the flow chart for the processing example for showing displacement detection unit 1.
Whether displacement detection unit 1 is shifted come control device using the displacement detection mark being stored in RAM 7
Judge.In addition, displacement detection unit 1 only displacement detection mark be eliminated when ability response apparatus inquiry and send operation license
Signal is to equipment.Therefore, as soon as mark configuration part 14 is set when recognizing the power supply opening of displacement detection unit 1 by interface 9
Determine displacement detection mark (step S1).
Then, mark configuration part 14 judges whether to receive displacement detection cancelling signal (step by the slave unit of interface 9
Rapid S2).Once test section 13, which has been detected by, shifts and is set in RAM 7 displacement detection mark, displacement detection mark
It would not be eliminated, unless the personnel's slave unit possessing cancellation displacement detection authority from manufacturer have sent the cancellation of encryption
Signal.
If being not received by the displacement detection cancelling signal from equipment, processing is moved to step by mark configuration part 14
S4.But, if receiving the displacement detection cancelling signal from equipment, mark configuration part 14 will remove displacement detection mark
(step S3).Afterwards, MPU 10 carries out judging the processing whether equipment has actually shifted.
First, mark configuration part 14 judge whether from be provided with displacement detection unit 1 it is equipment, on displacement
Detect the inquiry of the state of mark.If there is no the inquiry, then processing will go into step S8.
But, if there is the inquiry, then mark configuration part 14 to judge that displacement detection marks whether to have been cleared by (step
S5).If displacement detection mark has been cleared by, signal transmission unit 15 will send operation enabling signal to equipment to allow behaviour
Make (step S6), and handle and will proceed to step S8.But, if displacement detection mark is not eliminated, signal transmission unit
15 will send operation stop signal to equipment to stop operation (step S7), and handle and will proceed to step S8.
Then, operational part 11 judges acceleration AccWhether it is value (step S8) in measurement range.If operational part 11 is sentenced
Disconnected acceleration AccNot in measurement range, then processing will proceed to step S15, to set displacement detection mark, it means that inspection
Measure displacement.
If it is determined that acceleration AccIn measurement range, then operational part 11 will be based on acceleration AccObtain moving average
Accave, and according to following formula (1) by from acceleration AccIn subtract moving average AccaveAnd obtain acceleration A (step S9).
A=Acc-Accave (1)
Then, operational part 11 is multiplied by the time Δ t of passage by acceleration A according to following formula (2) and obtains speed Vn(step
S10)。
Vn=Vn-1+A×Δt (2)
Then, in order to from speed VnMiddle removal deviant, operational part 11 passes through scheduled volume Vk(on the occasion of) carrys out correction rate Vn
(step S11).Here, if speed VnMore than 0, then operational part 11 will obtain speed V according to following formula (3)n.At this moment, if according to
The speed V that formula (3) is obtainednLess than 0, then VnValue will be set to：Vn=0.
Vn=Vn-Vk (3)
But, if speed VnEqual to or less than 0, then operational part 11 will obtain speed V according to following formula (4)n, at this moment, if
The speed V obtained according to formula (4)nMore than 0, then VnValue will be set to：Vn=0.
Vn=Vn+Vk (4)
Then, operational part 11 passes through speed V according to following formula (5)nIt is multiplied by the time Δ t of passage and obtains position Pn(step
S12)。
Pn=Pn-1+Vn×Δt (5)
Then, in order to from position PnMiddle removal deviant, operational part 11 passes through scheduled volume Pk(on the occasion of) carrys out correction position Pn。
Here, if position PnMore than 0, then operational part 11 will obtain position P according to following formula (6)n.At this moment, if obtained according to formula (6)
Position PnLess than 0, then PnValue will be set to：Pn=0.
Pn=Pn-Pk(6)
But, if position PnEqual to or less than 0, then operational part 11 will obtain position P according to following formula (7)n, at this moment, if
The position P obtained according to formula (7)nMore than 0, then PnValue will be set to：Pn=0.
Pn=Pn+Pk (7)
Then, test section 13 judges displacement PnAbsolute value whether exceeded a reference value PT (steps of displacement detection
S14).If displacement PnA reference value PT of the absolute value not less than displacement detection, then MPU 10 can move to step by processing
S2, with repeat step S2 to S14 processing.If displacement PnAbsolute value exceeded a reference value PT of displacement detection, then
Configuration part 14 is marked to set displacement detection mark (step S15).
Fig. 9 is the acceleration for showing the example of the acceleration detected when an earthquake occurs and being detected when equipment is shifted
Example figure.
Seismic waveform is the strength grade of Nippon Standard as described above for the waveform of 5 grades of earthquake, and shift be with
The movement for the 6m that following scheme is carried out：With 0.3m/s2Acceleration accelerate 1 second, then moved 20 seconds, then slowed down with constant speed
Arrive within 1 second and stop.
Figure 10 is the figure for the example for showing the waveform by carrying out Second Order Integral processing to speeding scheme above and obtaining,
Wherein Second Order Integral processing includes above-mentioned correction process.
If the judgment standard of displacement detection is set to about 1m, the mistake shifted as caused by earthquake etc. can be avoided
Inspection, and still it is adapted to the displacement of detection device.Although it using seismic waveform is the strength grade by Nippon Standard as 5 grades that this example, which is,
The example that produces of macroseism exemplified by illustrate, but alternatively, it will be assumed that seismic waveform produced by weaker earthquake,
Therefore judgment standard is tighter set.Obviously, if detecting the acceleration of the detection range more than acceleration transducer 5,
Then it can judge that equipment is shifted at once, without being integrated operation.Incidentally, above-mentioned correction process is specific by subtracting
It is worth and makes acceleration close to zero to carry out；However, it is possible to make acceleration instead of subtracting particular value and carrying out other processing
Close to zero, for example, it is multiplied by 0.9 by acceleration.
Using the displacement detection unit 1 of above-mentioned example, two are carried out by the acceleration detected to acceleration transducer 5
Rank integrates and obtains displacement, and if the section distance exceedes judgment standard between pre- opportunity, has then detected equipment
Displacement.Deviant, deviant of distance due to speed etc. are appropriately corrected, so will not be missed when equipment is not shifted actually
Examine equipment shifted.Therefore, the monitoring of equipment displacement becomes easy.
In addition, eliminating the influence of temperature drift from the value of acceleration transducer 5.In order to serve the purpose, typical case
Ground, acceleration transducer 5 is provided with temperature-compensation circuit；However, the influence of temperature drift can not be removed completely by the circuit.
But, can be several by the moving average subtracted within the period of a few minutes to dozens of minutes using displacement detection unit 1
The acceleration error as caused by temperature drift is removed completely.In addition, by it is obtaining in the above described manner, be practically free of by temperature
The acceleration of error carries out Second Order Integral and results in amount of movement caused by degree drift.But, due to integration operation, exist by temperature
Spend caused by drift or even small error is integrated and presented the situation of big amount of movement as time goes by.In order to solve
The problem, is handled to reduce amount of movement per interval between pre- opportunity so that amount of movement is close to zero.
In addition, if amount of movement exceed a reference value, then test section 13 judge that equipment is shifted, wherein the amount of movement be by
Correction unit 12 make amount of movement as time goes by close to zero subtracted amount carry out subtraction process after and obtain value.
The value that equipment is shifted can not actually be made as subtracted amount by setting 1m per minute etc. for correction unit 12, thus, it is possible to remove
Displacement detection is realized while temperature drift, so as to improve the precision of displacement detection.
In addition, test section 13 is judged by using the distance for being carried out Second Order Integral to acceleration by operational part 11 and being obtained
Whether equipment is shifted.Therefore, do not occur position movement, such as being vibrated as caused by earthquake, equipment itself is shaken
It is dynamic, the displacement of equipment will not be judged as, it can thus be avoided flase drop.In order to avoid the flase drop as caused by earthquake etc., tradition
Ground, reduces the sensitivity of displacement detection；But, utilize the method for the present invention, it is not necessary to reduce the sensitivity of displacement detection.Therefore,
The verification and measurement ratio of displacement detection can be improved, while false drop rate can be reduced.
In addition, in conventional methods where, because the error of caused displacement detection operation when an earthquake occurs will cause equipment
Operation can not restart, until the arrival of manufacturer personnel.But, using the method for the present invention, by seismic vibration
Can mutually it be distinguished with the vibration caused by displacement.Therefore, when an earthquake occurs, in order to safety can automatically arrestment,
And after earthquake, user oneself can restart equipment, without waiting manufacturer personnel.
<Modified example>
Incidentally, in the above-described embodiment, only said exemplified by handling the acceleration along an axle
It is bright；It is preferable, however, that being respectively processed to the acceleration along X, Y and Z axis obtained by acceleration transducer 5.In addition,
Can also be by increasing the rotation detectors such as gyro sensor for displacement detection unit 1, to detect when equipment is shifted
Rotation, and to the acceleration by the way that the acceleration of three axles is transformed into rest frame (earth axes) and obtained
It is corrected.In addition, in the case of acceleration transducer 5 is used for only one axle, it is preferred that acceleration transducer 5 is matched somebody with somebody
Put at Z-direction (that is, gravity direction), with the lifting of detection device.At this moment, it should be noted that, configure adding in Z-direction
Velocity sensor 5 is needed with following detection range：The value for detecting the acceleration as caused by gravity is also allowed to be shifted by.
In addition, in displacement detection unit 1, by carrying out second order integro to the acceleration detected by acceleration transducer 5
Divide and obtain the displacement of equipment；But, if without the concern for the false drop rate on earthquake, displacement detection unit also may be used
With being constructed as below：By obtaining the translational speed of equipment, and if the translational speed to acceleration progress First-order Integral
More than predetermined value, then to detect equipment shifted for test section 13.In this case, cancel Fig. 8 flow in step S12 and
S13, and the displacement in step S14 is changed to translational speed.At this moment, the processing carried out by correction unit 12 can be simplified.
It should be understood that the invention is not restricted to above-mentioned embodiment, and can be without departing substantially from the spirit and scope of the present invention
In the case of carry out various applications and modification.
Claims (4)
1. the displacement detection and control method of a kind of equipment, for the detected value based on the acceleration transducer for being installed to equipment come
The displacement of the equipment is detected, the displacement detection and control method of the equipment comprise the following steps：
Show the displacement detection mark for the displacement for detecting the equipment by receiving displacement detecting solution from the equipment after being set
In the state of being eliminated except signal, judge the detected value of the acceleration transducer whether in measurement range；
If the detected value of the acceleration transducer is in measurement range, by mobile flat to subtracting on predetermined opportunity
The detected value of the acceleration transducer of average carries out N ranks integration and obtains the first calculated value, and wherein N is predetermined just whole
Number；
By the shadow for subtracting the temperature drift by the acceleration transducer from first calculated value on the predetermined opportunity
Loud deviant and obtain the second calculated value；And
Second calculated value exceed default a reference value when or the acceleration transducer the detected value not survey
When in the range of amount, it is shifted to be detected as the equipment, sets the displacement detection mark,
, will if displacement detection mark is eliminated when the equipment sends the inquiry for whetheing there is the displacement detection mark
Allow the operation enabling signal of the equipment operation to be sent to the equipment, if displacement detection mark is set, will make
The operation stop signal that the operation of the equipment stops is sent to the equipment.
2. the displacement detection and control method of equipment according to claim 1, it is characterised in that the predetermined opportunity is
When finger confirms the detected value of the acceleration transducer every time, or each predetermined time interval.
3. a kind of displacement detection and control unit of the displacement and the equipment for the operation for controlling the equipment for being adapted to detect for equipment, institute
Stating the displacement detection and control unit of equipment includes：
Acceleration transducer, it is adapted to detect for the acceleration produced in the equipment；
Operational part, shows the displacement detection mark for the displacement for detecting the equipment by receiving displacement from the equipment after being set
Detection ring off signal and in the state of being eliminated, judge the detected value of the acceleration transducer whether in measurement range, such as
The detected value of really described acceleration transducer in measurement range, the operational part by predetermined opportunity to subtracting shifting
The detected value of the acceleration transducer of dynamic average value carries out N ranks integration and obtains the first calculated value, wherein N be it is predetermined just
Integer；
Correction unit, it is suitable to by being subtracted on the predetermined opportunity from first calculated value by the acceleration transducer
The deviant of the influence of temperature drift and obtain the second calculated value,
Test section, its be suitable to second calculated value exceed default a reference value when or the acceleration transducer institute
When stating detected value not in measurement range, it is shifted to be detected as the equipment, sets the displacement detection mark；And
Signal transmission unit, it is when the equipment sends the inquiry for whetheing there is the displacement detection mark, if the displacement detection mark
Note is eliminated, then the operation enabling signal for allowing the equipment operation is sent into the equipment, if the displacement detection is marked
It is set, then the operation stop signal that the operation for making the equipment stops is sent to the equipment.
4. the displacement detection and control unit of equipment according to claim 3, it is characterised in that the predetermined opportunity is
When finger confirms the detected value of the acceleration transducer every time, or each predetermined time interval.
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| CN201210020677.2A CN103217155B (en) | 2012-01-20 | 2012-01-20 | The displacement detection and control method of equipment, the displacement detection of equipment and control unit |
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| CN107014480B (en) * | 2017-01-24 | 2019-09-13 | 瑞声科技(新加坡)有限公司 | Linear motor displacement amplitude detection method and detection device |
| JP6766689B2 (en) * | 2017-02-28 | 2020-10-14 | ブラザー工業株式会社 | Relocation detection device, relocation detection system and relocation detection method |
| CN107616798B (en) * | 2017-09-19 | 2020-06-19 | 北京工业大学 | Gait asymmetry detection method based on gravity acceleration |
| CN109323758B (en) * | 2018-11-19 | 2021-10-22 | 国网四川省电力公司电力科学研究院 | Self-calibrated substation boundary noise continuous monitoring system |
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