CN106403884A - Rolling stone attitude acquisition device used for debris flow simulation experiment - Google Patents
Rolling stone attitude acquisition device used for debris flow simulation experiment Download PDFInfo
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- CN106403884A CN106403884A CN201610714816.XA CN201610714816A CN106403884A CN 106403884 A CN106403884 A CN 106403884A CN 201610714816 A CN201610714816 A CN 201610714816A CN 106403884 A CN106403884 A CN 106403884A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Gyroscopes (AREA)
- Navigation (AREA)
Abstract
The invention discloses a rolling stone attitude acquisition device used for a debris flow simulation experiment, the rolling stone attitude acquisition device includes a power module, an attitude acquisition module, an attitude analysis module, a control module and a storage module, the control module is used to control the attitude acquisition module, the attitude analysis module and the storage module, the attitude analysis module is connected with the attitude acquisition module and the storage module, rolling stone attitude data acquired by the attitude acquisition module is analyzed and then transferred to the storage module for storage; the power module, the attitude acquisition module, the attitude analysis module, the control module and the storage module are encapsulated in a casing, and when the rolling stone attitude acquisition device is used, the casing is fixedly connected with a rolling stone. The rolling stone attitude acquisition device can obtain attitude change data of the rolling stone in a falling process in debris flow, through the reduction of the attitude change process of the rolling stone, movement state and impact failure strength of the rolling stone in the debris flow can be further known, and a movement rule of the rolling stone in the debris flow and a design theory of a rolling stone blocking structure can be further grasped.
Description
Technical field
The present invention relates to a kind of Rolling Stone Posture acquisition device of debris flows simulation experiment.
Background technology
Mud-rock flow is a kind of distinctive spy of the quick migration carrying the fixed substances such as a large amount of silt particles, gravel and boulder in mountain area
Different natural phenomena.Coarse sand particles can be stable in the presence of slurry buoyancy be suspended among slurry, thicker gravel
Because particle diameter and the great disparity of quality, in quick mud-rock flow, different athletic postures can be shown.Mud-stone flow disaster exists in recent years
China occurs in succession, the serious security of the lives and property threatening local resident.Rolling Stone (boulder) in mud-rock flow is not only to mud-rock flow
The motion process of itself has direct impact, and is also one of principal element that mud-rock flow destroys, and therefore research Rolling Stone exists
Kinetics function in mud-rock flow has great meaning for preventing and reducing natural disasters.
At present both at home and abroad with regard to migration research oarse-grained in mud-rock flow, focus primarily upon the machine of oarse-grained migration characteristics
Reason.Using numerical simulation model conduct a research in order in the future in the wild in the case of probe into stone is how to start, it dynamic
What power factor is.The attitude of Rolling Stone during research mud-rock flow avalanche, the impact of understanding Rolling Stone that can be relative, thus be
The design of structure of blocking provides theoretical foundation.At present, existing researcher is based on angular momentum, principle of conservation of momentum establishes and is applied to
The numerical model equation of bulky grain motion in simulation mud-rock flow.Also there is scientist to carry out debris flows simulation test in the sink, lead to
Overscanning and ultrasonic device record height and the speed of fluid, gather the impact signal of mud-rock flow by strain ga(u)ge, but so far
Special measurement equipment for Rolling Stone in mud-rock flow (boulder) motion state is there is no, to the research of Rolling Stone in mud-rock flow still till the present
Carried out by the way of numerical model emulation.
In recent years, using sensor in mud-stone flow disaster research, but mainly it is utilized in the different depth peace of fluid
Fill three sensors, the impulsive force of real-time monitoring mud-rock flow.The shortcoming of this mode is the master of grasp mud-rock flow that can only be macroscopical
Want movement rule if it is desired to more accurately understand the movement rule of Rolling Stone in mud-rock flow, then need to obtain the attitude of Rolling Stone
Data, by dynamic attitude data in mud-rock flow for the Rolling Stone, can rest in different slurry concentrations, varigrained mud-rock flow
The movement rule of the Rolling Stone of middle different shape and size, thus situational variables factor pair Rolling Stone can start and carry the shadow of rule
Ring.Thus produce technical solution of the present invention.
Content of the invention
It is an object of the invention to provide the Rolling Stone Posture acquisition device in a kind of experiment for debris flows simulation, this system
Attitudes vibration data during landing for the Rolling Stone in mud-rock flow can be obtained, thus by going back to Rolling Stone attitudes vibration process
Former, further appreciate that the motion state of Rolling Stone in mud-rock flow.
Provided by the present invention for the Rolling Stone Posture acquisition device of debris flows simulation experiment, adopt including power module, attitude
Collection module, attitude parsing module, control module and memory module, described power module is used for Posture acquisition module, attitude solution
Analysis module, control module and memory module are powered, and control module is used for controlling Posture acquisition module, attitude parsing module and storage
Module, described attitude parsing module is connected with Posture acquisition module and memory module respectively, and Posture acquisition module is collected
Transmit to memory module storage after the parsing of Rolling Stone attitude data；Above-mentioned power module, Posture acquisition module, attitude parsing module,
Control module and memory module are encapsulated in housing, and housing is provided with charging inlet and memory module interface, during use housing with
Rolling Stone is fixedly connected.
Above-mentioned power module includes chargeable lithium cell, charging voltage conversion portion and supply voltage conversion portion, charges
Voltage conversion portion realizes the charging to built-in lithium battery for the external dc electricity, and charging inlet adopts USB interface；Supply voltage is changed
Built-in lithium battery voltage conversion can be used for other modules by circuit for 3.3v normal voltage.
Above-mentioned Posture acquisition module includes three-axis gyroscope sensor and three axle Gravity accelerometers, or is integrated with three
The MPU6050 chip of axle gyro sensor and three axle Gravity accelerometers.Three-axis gyroscope sensor measurement Rolling Stone exists
Angular velocity component on each direction of principal axis of 3-D walls and floor, three axle Gravity accelerometers measurement Rolling Stone is in each axle of 3-D walls and floor
Gravitational acceleration component on direction.By the calculating of each component of acceleration of gravity can be obtained with the static attitude data of Rolling Stone,
By be can get along the attitude angle data of each axle Rolling Stone each moment to the integration of each component of Rolling Stone angular speed.Due to gyro sensors
Device has larger drift after working long hours it is impossible to correctly determine Rolling Stone attitude, and Gravity accelerometer cannot be to dynamic
The attitude of state Rolling Stone is accurately measured, so present invention additionally comprises attitude parsing module, attitude parsing module is by programming
Program on chip is corrected to three-axis gyroscope sensing data, and according to three-axis gyroscope sensor and three axle gravity
The data calculation of acceleration transducer goes out the real-time attitude data of Rolling Stone.
Above-mentioned control module includes main control chip, button control section and working condition indicating section.Control chip obtains
The associated level pulse command such as the collection of key-press input, time-out, stopping, and control Posture acquisition module to be acquired, will gather
The attitude data arriving after parsing module parsing with binary data transmission to memory module, and by LED to collection, temporarily
Stop, stop three kinds of working conditions and indicated.
Above-mentioned memory module adopts the storage card of FAT32 storage system.The binary system appearance that FAT32 storage system can will obtain
State data is stored in real time with FAT32 form and is preserved to storage card, and storage angular velocity information and acceleration of gravity simultaneously
Information.After collecting work terminates, just the attitude comprising in storage card, angular speed, gravity can be accelerated by common card reader
The file of information is read out.
The course of work of the present invention is as follows：
(1), before debris flows simulation experiment, first the Posture acquisition device of charging is screwed in Rolling Stone mold cavity
Interior, and Posture acquisition device is started by button.First remains stationary is needed about 10 seconds after electricity, then attitude on Posture acquisition device
Harvester is calibrated (eliminating gyro drift) automatically, confirms the whether normal work of Posture acquisition device by relay indicating light
Make, rear sealing Rolling Stone model working properly；
(2) mud-rock flow down comes down in torrents along tank above tank, and it is downward along tank that Rolling Stone model is subject to impact to start
Move and rotate, Posture acquisition device records Rolling Stone attitude data automatically, and is stored in the storage card of Posture acquisition device；
(3) after the completion of debris flows simulation experiment, open Rolling Stone model, the whether normal work of harvester is observed by indicator lamp
Make, then collection is stopped by button, with card reader, the respective file in storage card is copied to computer；
(4) the binary system initial data comprising Rolling Stone attitude is converted into word by the data prediction software passing through in computer
The set form data of symbol type, then the attitude data importing attitude Dynamic Display software after conversion is completed to Rolling Stone motion state
Animated show.
The present invention can obtain attitudes vibration data during landing for the Rolling Stone in mud-rock flow, by Rolling Stone attitudes vibration
The reduction of process, can further appreciate that the motion state of Rolling Stone and impact failure intensity in mud-rock flow, thus blocking knot for Rolling Stone
The design of structure provides theoretical foundation.
Brief description
Fig. 1 is the surface structure front view of the present invention.
Fig. 2 is the surface structure top view of the present invention
Fig. 3 is the internal structure block diagram of the present invention.
Fig. 4 is the execution FB(flow block) of interpretation software of the present invention.
In figure：1 shell, 2 power module, 3 Posture acquisition module, 4 attitude parsing module 5 control module
6 memory module, 11 USB charging inlet, 12 TF card interface, 13 working station indicator 14 switchs 15 buttons
16 installing holes
Specific embodiment
As shown in Figure 1, Figure 2, Figure 3 shows, the present invention includes shell 1 and is arranged on power module 2 in shell 1, Posture acquisition
Module 3, attitude parsing module 4, control module 5 and memory module 6, shell 1 is provided with USB charging inlet 11, TIF card interface
12nd, working station indicator 13, switch 14, button 15 and installing hole 16, during use, shell 1 is fixed by screws in the recessed of Rolling Stone
In chamber.
Described power module 2 includes chargeable lithium cell, charging voltage conversion portion and supply voltage conversion portion, this reality
Apply chargeable lithium cell in example and adopt chargeable single lithium battery, nominal voltage is 3.7v, terminating charging voltage is 4.2v, nominally
Capacity 2000mAh, and there is function of power protection.Live part adopts TP4056-1A lithium battery special charging plate, this charging panel
Charging accuracy is high, and charging current, up to 1A, can carry out quick charge and possess and overcharge protection.Supply voltage conversion portion passes through electricity
Hold and carry out voltage stabilizing, reduced output voltage 3.3v normal voltage, so that each module in Posture acquisition device makes with IN4148 parallel circuit
With.Power module 2 is attached with outside universal charger by the USB charging inlet 11 on housing 1.
The sensor that in the present embodiment, Posture acquisition module adopts is to be integrated with three axis MEMS gyro and 3 axis MEMS weight
Six axle gyro accelerometer MPU6050 chips of power accelerometer, MPU-6050 chip by gather angular speed and acceleration of gravity
Analog data is converted into digital data by the ADC of 16, and is transferred to attitude parsing module 4 by IIC interface.Attitude
Parsing module 4 adopts embedded STM32F051 chip, and programming on chip has Dynamic Kalman Filtering algorithm routine and inertial navigation
Algorithm routine, Dynamic Kalman Filtering algorithm routine angular velocity and acceleration of gravity data carry out noise reduction and correction (eliminates drift
Move) process, inertial navigation algorithm routine goes out the real-time attitude data (appearance of Rolling Stone according to angular speed and acceleration of gravity data calculation
State angle),
Described control module 5 includes main control chip, button control section and working condition indicating section, and main control chip adopts
The 32 8-digit microcontroller STM32F103 that ST Microelectronics produces, main control chip passes through serial line interface and Posture acquisition module
3rd, attitude parsing module 4 and memory module 6 connect.Button control section is switch 14 and button 15 on shell 1.Work
Status indication section is the working station indicator 13 on shell 1, and indicator lamp 13 adopts LED light emitting diode.During work,
Control module 5 response external button triggering command, controls Posture acquisition module 3 to obtain Rolling Stone with the sampling rate of 100 times per second
Angular speed and acceleration of gravity data, and control the attitude number that attitude parsing module 4 will obtain after calculating real-time attitude data
Binary system FAT32 stored in file format is to TF card according to this.
In the present embodiment, memory module 6 adopts TF card, and the read-write of TF card can adopt two kinds of operator schemes of SDIO or SPI, this
Invention adopts SDIO pattern, and SDIO pattern adopts 4 lines to connect, and can obtain higher message transmission rate.Data storage form is adopted
With binary format, can effectively reduce the amount of storage of data, module 6 adopts FAT32 Standard File Format to preserve data, FAT32
The file of form can directly be readable by a computer, and facilitates the extraction of data.
After the completion of experiment, with card reader, the respective file in storage card is copied to computer.Built-in computer have including
Data prediction part and the interpretation software of attitude Dynamic Display part, the implementation procedure of software is as shown in figure 4, wherein several
Data preprocess part is write using C# language, and software adopts windows window structure to use graphic interface to import initial data,
The binary storage structure of initial data is as shown in the table：
Binary system adopts data store organisation figure
| 0x55 | 0x51 | AxL | AxH | AyL | AyH | AzL | AzH | TL | TH | Crc1 |
| 0x55 | 0x52 | WxL | WxH | WyL | WyH | WzL | WzH | TL | TH | Crc2 |
| 0x55 | 0x53 | RL | RH | PL | PH | YL | YH | TL | TH | Crc3 |
Wherein first behavior represent the data store organisation of acceleration, the data store organisation of the second behavior angular speed,
The data store organisation of three behavior attitude angle.
Original binary formatted data is converted for standard line by line with time shaft, by program, binary data is turned
Turn to character type data code, wherein gathered data is represented with the floating number of character type, obtain the attitude data of character type form,
And derived character type data to the text specified by the form of data flow.The concrete form of export such as following table institute
Show：
Data store organisation after original binary data conversion
Attitude Dynamic Display part is write using MATLAB language, and this part reads time sequence number and attitude angle in data
Data, sets up virtual three-dimensional space by program, simultaneously in virtual three-dimensional space Criterion cube Rolling Stone model, empty
The cube intended is rotated with different attitude angle based on time shaft data, is achieved in the dynamic exhibition of Rolling Stone posture changing
Show, animation export section realizes single frame animation is converted to the video AVI format file output of standard.
The above is only the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto, any
Based on the solution of the present invention and design, the improvement carrying out and replacement all should be covered within the scope of the present invention.
Claims (4)
1. a kind of Rolling Stone Posture acquisition device for debris flows simulation experiment it is characterised in that：Adopt including power module, attitude
Collection module, attitude parsing module, control module and memory module, described control module is used for controlling Posture acquisition module, attitude
Parsing module and memory module, described attitude parsing module is connected with Posture acquisition module and memory module, by Posture acquisition mould
Transmit to memory module storage after the Rolling Stone attitude data parsing that block collects；Above-mentioned power module, Posture acquisition module, attitude
Parsing module, control module and memory module are encapsulated in inside the shell, and shell is provided with charging inlet and memory module interface, use
When shell be fixedly connected with Rolling Stone.
2. the Rolling Stone Posture acquisition device for debris flows simulation experiment according to claim 1 it is characterised in that：Described
Posture acquisition module includes three-axis gyroscope sensor and three axle Gravity accelerometers.
3. the Rolling Stone Posture acquisition device for debris flows simulation experiment according to claim 1 it is characterised in that：Described
Posture acquisition module is to be integrated with the MPU6050 chip of three-axis gyroscope sensor and three axle Gravity accelerometers.
4. according to Claims 2 or 3 for debris flows simulation experiment Rolling Stone Posture acquisition device it is characterised in that：
The parsing of described attitude parsing module refers to the data of three-axis gyroscope sensor collection is corrected, and according to three axis accelerometer
The data calculation of instrument sensor and three axle Gravity accelerometers collection goes out the real-time attitude data of Rolling Stone.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610714816.XA CN106403884A (en) | 2016-08-24 | 2016-08-24 | Rolling stone attitude acquisition device used for debris flow simulation experiment |
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| CN201610714816.XA CN106403884A (en) | 2016-08-24 | 2016-08-24 | Rolling stone attitude acquisition device used for debris flow simulation experiment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109269761A (en) * | 2018-09-28 | 2019-01-25 | 杭州电子科技大学 | A kind of self-powered sensor for assessing falling rocks risk |
| CN110346110A (en) * | 2019-07-12 | 2019-10-18 | 成都理工大学 | A kind of multichannel mud-rock-flow-impact state tracking simulation system and operating method |
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| CN109269761A (en) * | 2018-09-28 | 2019-01-25 | 杭州电子科技大学 | A kind of self-powered sensor for assessing falling rocks risk |
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