CN106840100A - A kind of digital obliquity sensor and measuring method - Google Patents
A kind of digital obliquity sensor and measuring method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/12—Measuring inclination, e.g. by clinometers, by levels by using a single pendulum plumb lines G01C15/10
- G01C9/14—Measuring inclination, e.g. by clinometers, by levels by using a single pendulum plumb lines G01C15/10 movable in more than one direction
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Abstract
The invention discloses a kind of digital obliquity sensor and measuring method, it is related to obliquity sensor technical field.The obliquity sensor includes：3-axis acceleration sensor is arranged on turntable, and 3-axis acceleration sensor, the axial original analog acceleration signal for obtaining three axles of the turntable under three-dimensional system of coordinate；Microprocessor, for the axial original analog acceleration signal of three axles to be respectively converted into three axial original figure acceleration signals of axle；For according to three axial original figure acceleration signals of axle, obtaining three nose balance digital acceleration signals of axle；And for according to three nose balance digital acceleration signals of axle, obtaining dip angle signal of the turntable under three-dimensional system of coordinate.The obliquity sensor is " solid pendulum " formula obliquity sensor, and the obliquity sensor being made up of 3-axis acceleration sensor and microprocessor compensate for the big shortcoming of nonlinearity erron in the prior art, improve certainty of measurement.
Description
Technical field
The present invention relates to obliquity sensor technical field, a kind of digital obliquity sensor and measurement side are more particularly related to
Method.
Background technology
Battering methods are to determine object in the inclination in space and the know-how of tendency, and it is applied to the used of spacecraft
Property measuring system, robot mechanical arm stretch determinations, car and boat body inclination measurement, rock mass tendency judge, engineering the drilling track examine
Many aspects such as survey.Obliquity sensor is a kind of device of the measurement on horizontal plane inclination angle, in civil construction, hydrogeology, soldier
The field of engineering technology such as device, Aeronautics and Astronautics, biomedicine have extensive purposes.
Existing obliquity sensor is the characteristic that lead true direction is remained using the Impact direction in gravitational field, by work
Make principle can be divided into " Liquid Pendulum " formula, " liquid pendulum " formula and " solid pendulum " formula, three kinds.In gravitational field, " Liquid Pendulum " formula inclination angle
The sensitive-mass of sensor is gas, and gaseous mass is small, and suffered inertia force is also small under large impact or high overload environment, so tool
There is the ability of stronger anti shock and vibration, but gas motion control is complicated, and motion process is easily influenceed by extraneous factor, therefore its precision
Cannot accomplish very high." liquid pendulum " formula tilt angle sensor system stabilization, applies relatively broad in High Definition Systems, but " liquid
Pendulum " the general volume of formula obliquity sensor is larger, is unsuitable for being used in small portable apparatus." solid pendulum " formula obliquity sensor
Sensitive-mass be pendulum quality, have clear and definite pendulum length and center of oscillation, with the development of MEMS technology, " solid pendulum " formula inclination angle sensing
Device product measurement range, precision and anti high overload are obtained for large increase, and with small volume, the advantages of lightweight.
In sum, obliquity sensor of the prior art, it is small to there is " Liquid Pendulum " formula obliquity sensor precision, and
The big problem of " liquid pendulum " co-volume.
The content of the invention
The embodiment of the present invention provides a kind of digital obliquity sensor and measuring method, is used to solve to exist in the prior art
" Liquid Pendulum " formula obliquity sensor precision is small, and the big problem of " liquid pendulum " co-volume.
The embodiment of the present invention provides a kind of digital obliquity sensor, including：3-axis acceleration sensor and microprocessor；
The 3-axis acceleration sensor is arranged on turntable, the 3-axis acceleration sensor, is existed for obtaining turntable
The axial original analog acceleration signal of three axles under three-dimensional system of coordinate；
The microprocessor, for the axial original analog acceleration signal of three axles to be respectively converted into three axles of axle
To original figure acceleration signal；For according to three axial original figure acceleration signals of axle, by Error Compensation Algorithm,
Obtain three nose balance digital acceleration signals of axle；And for according to three nose balance digital acceleration letters of axle
Number, obtain dip angle signal of the turntable under three-dimensional system of coordinate.
It is preferred that 3 axis MEMS accelerometer of the 3-axis acceleration sensor using ADI companies.
It is preferred that C8051F35X Series of MCU of the microprocessor using Silicon Labs companies.
It is preferred that the 3-axis acceleration sensor passes through the AD conversion module of filtration module and the microprocessor internal
Electrical connection.
It is preferred that power module of voltage regulation by reference power supply module respectively with the 3-axis acceleration sensor and described micro-
Processor is electrically connected.
It is preferred that being electrically connected by serial ports between the microprocessor and computer.
The embodiment of the present invention provides a kind of measuring method of digital obliquity sensor, including：
Rotating table, by 3-axis acceleration sensor, obtains the axially former of three axles of the turntable under three-dimensional system of coordinate
Beginning analog acceleration signal；
The axial original analog acceleration signal of three axles is respectively converted into three axial original figure acceleration of axle
Signal；
According to three axial original figure acceleration signals of axle, by formula (1), three nose balance numbers of axle are obtained
Word acceleration signal；
According to three nose balance digital acceleration signals of axle, by formula (2) and formula (3), turntable is obtained three
Dip angle signal under dimension coordinate system；
The formula (1) is as follows：
The formula (2) is as follows：
The formula (3) is as follows：
Wherein, Ax、AyAnd AzThe respectively nose balance digital acceleration signal of x-axis, y-axis and z-axis；ax、ayAnd azRespectively
It is the axial original figure acceleration signal of x-axis, y-axis and z-axis；c11、c12、c13、c21、c22、c23、c31、c32、c33、d1、d2And d3
It is penalty coefficient；θ is the angle of pitch；R is roll angle.
In the embodiment of the present invention, there is provided a kind of digital obliquity sensor and measuring method, compared with prior art, it has
Beneficial effect is as follows：The obliquity sensor is " solid pendulum " formula obliquity sensor, and thing is gathered by using 3-axis acceleration sensor
The gesture acceleration signal of body, treatment and the error compensation of signal is realized by microprocessor, i.e., by the inclination angle of error compensation
Signal, compensate for the big shortcoming of nonlinearity erron in existing similar technique, improve precision, and the present invention has small volume, power consumption
Small, low cost, anti-vibrating and impact ability are strong, advantages suitable for temperature harsh and unforgiving environments wide.
Brief description of the drawings
Fig. 1 is a kind of digital obliquity sensor theory structure schematic diagram provided in an embodiment of the present invention；
Fig. 2 is a kind of measuring method flow chart of digital obliquity sensor provided in an embodiment of the present invention；
Fig. 3 is the principle schematic of the weight component that three axis accelerometer provided in an embodiment of the present invention measures three axial directions；
Fig. 4 is attitude angular coordinate provided in an embodiment of the present invention.
Description of reference numerals：
1- 3-axis acceleration sensors, 2- microprocessors, 3- filtration modules, 4- reference power supply modules, 5- voltage-stabilized power supply moulds
Block, 6- computers.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 is a kind of digital obliquity sensor theory structure schematic diagram provided in an embodiment of the present invention.As shown in figure 1,
The obliquity sensor includes：3-axis acceleration sensor 1 and microprocessor 2.
Specifically, 3-axis acceleration sensor 1 is arranged on turntable, 3-axis acceleration sensor 1, is existed for obtaining turntable
The axial original analog acceleration signal of three axles under three-dimensional system of coordinate；Microprocessor 2, for the axial direction of three axles is original
Analog acceleration signal is respectively converted into three axial original figure acceleration signals of axle；For according to three axially originals of axle
Beginning digital acceleration signal, by Error Compensation Algorithm, obtains three nose balance digital acceleration signals of axle；And be used for
According to three nose balance digital acceleration signals of axle, dip angle signal of the turntable under three-dimensional system of coordinate is obtained.
It is preferred that 3 axis MEMS accelerometer of the 3-axis acceleration sensor 1 using ADI companies.
It should be noted that typically the component that acceleration transducer and signal conditioning circuit are made after integrated is called accelerating
Degree meter.Accelerometer is widely used for measurement inclination angle, inertia force, shock and vibration etc..The units of measurement of accelerometer is g, and g is
Refer to object in the case where only gravity is received, the acceleration produced by Action of Gravity Field, referred to as acceleration of gravity be (acceleration of gravity
The analysis that computing formula sees below).The classification of accelerometer can according to measurement range be divided into low accelerometer (<L0g it is) and high
Accelerometer (>l0g)；Number according to measurement axle is divided into single shaft, twin shaft or multi-axial accelerometer.
It should be noted that on earth the object of any position it is all affected by gravity and produce an acceleration,
3-axis acceleration sensor is fixed on object, when gestures of object changes, the sensitive axes output of 3-axis acceleration sensor
Signal changes therewith, therefore using the 3-axis acceleration sensor installed along carrier coordinate system, can determine under static state
The change at the attitude inclination angle of carrier is the angle of pitch and inclination angle.
It is preferred that C8051F35X Series of MCU of the microprocessor 2 using SiliconLabs companies.
Measurement of dip angle principle is as follows：
Acceleration transducer can be used to determine change or constant acceleration.The object of any position is all received on earth
An acceleration is produced to the effect of gravity, acceleration of gravity is exactly a special case of constant acceleration.
3-axis acceleration sensor is fixed on object, when gestures of object changes, the sensitive axes of acceleration transducer
Changed relative to gravitational field, the sensitive axes output gravity of acceleration transducer is believed in the weight component that its respective direction is produced
Number Ai, therefore be that can determine that the inclination angle of carrier using the 3-axis acceleration output signal installed along carrier coordinate system.
The principle of weight component of three axial directions is measured using three axis accelerometer as shown in figure 3, three axis accelerometer is by three
Individual single-axis accelerometer Orthogonal Composite is formed, and the gravity that each single-axis accelerometer is respectively used to measure OX, OY, 0Z axial direction accelerates
Angle value.Each measures output signal of axle respectively with Ax, Ay, Az to 3-axis acceleration sensor, when being horizontal, due to
X-axis, Y-axis are horizontally oriented, and now acceleration signal Ax, Ay of two axles are respectively 0g, and Z axis are due to vertically downward, now
Acceleration signal be 1g.
With the static weight component of acceleration of three vectorial axle gravitational accelerometer measurement object axial directions, from the connected coordinate in ground
System (OXdYdZd) go under the connected coordinate system (OXYZ) of object, by numerical computations, the inclination of the accurate judgment object of energy judges thing
The inclination angle of body.
It is preferred that 3-axis acceleration sensor 1 is electrically connected by filtration module 3 with the AD conversion module inside microprocessor 2
Connect.
It is preferred that power module of voltage regulation 5 by reference power supply module 4 respectively with 3-axis acceleration sensor 1 and microprocessor
Device 2 is electrically connected；It is that 3-axis acceleration sensor 1 and microprocessor 2 provide 3.3V voltages by reference power supply module 4.
It is preferred that being electrically connected by serial ports between microprocessor 2 and computer 6；Computer 6 is used to show inclination value.
Fig. 2 is a kind of measuring method flow chart of digital obliquity sensor provided in an embodiment of the present invention.Such as Fig. 2 institutes
Show, the measuring method includes：
Step S201, rotating table, by 3-axis acceleration sensor, obtains three axles of the turntable under three-dimensional system of coordinate
Axial original analog acceleration signal.
Step S202, three axial original numbers of axle are respectively converted into by the axial original analog acceleration signal of three axles
Word acceleration signal.
Step S203, according to three axial original figure acceleration signals of axle, by formula (1), three axles of acquisition
Nose balance digital acceleration signal.
Formula (1) is as follows：
It should be noted that due under non-ideal working environment, due to three road signals of three axis accelerometer output
Zero-bit, sensitivity etc. are inconsistent, and again by the amplification of the system, the link such as sampling, the input signal for sampling has error,
According to the analysis to source of error, the error compensation that the trimming process of acceleration transducer can be equivalent to ask in formula (1) is closed
It is 12 coefficients in formula.
It should be noted that compensation matrix coefficient is stored in advance in Flash, on single-chip microcomputer after electricity, ram in slice is loaded into
In.Free from error component signal is obtained after the compensated calculating of input signal.Its correction parameter can be passed directly according to 3-axis acceleration
The measured value of sensor is solved and calculated.
It should be noted that trimming process is：Turntable is adjusted to horizontality, and 3-axis acceleration sensor is constituted
Inclination measuring system is placed on turntable, and rotating table is located under the different angles of pitch and roll angle assembled gesture, records three axles
The output of sensor and the corresponding angle of pitch and roll angle, so as to calculate penalty coefficient by multigroup record value.
Step S204, according to three nose balance digital acceleration signals of axle, by formula (2) and formula (3), obtains
Dip angle signal of the turntable under three-dimensional system of coordinate.
Formula (2) is as follows：
Formula (3) is as follows：
Wherein, Ax、AyAnd AzThe respectively nose balance digital acceleration signal of x-axis, y-axis and z-axis；ax、ayAnd azRespectively
It is the axial original figure acceleration signal of x-axis, y-axis and z-axis；c11、c12、c13、c21、c22、c23、c31、c32、c33、d1、d2And d3
It is penalty coefficient；θ is the angle of pitch；R is roll angle.
It should be noted that pitching angle theta：Measurement object axle OX and horizontal plane OXdYdBetween angle.When axle X inclines upward
When tiltedly, θ is for just.Roll angle r：Measure the symmetrical plane OX of thingdYdWith comprising axle XdVertical plane between angle.Press the right hand
Rule, have a down dip when right side, left side updip when, r is for just.
Fig. 4 is attitude angular coordinate provided in an embodiment of the present invention.As shown in figure 4, Ax、AyAnd AzDivide after being rotated for coordinate system
The acceleration magnitude of each axle not measured, θ and r represents the angle of pitch and roll angle respectively, and slewing area is [- 90 ° ,+90 °].θ is represented
Coordinate system X1Y1Z1Around axle Y1The angle of axle rotation, so as to obtain X2Y2Z2, r denotation coordinations system X2Y2Z2Around axle X2The angle of axle rotation
Degree, so as to obtain three axis accelerometer in X1Y1Z1The value of the 3-axis acceleration measured under coordinate system is [0,0, g], in XYZ coordinate
The value of the 3-axis acceleration measured under system is [Ax, Ay, Az]。
If rotational angle φ, θ and r are forward direction, the first curve map according to Fig. 4 has：
Had by three curve maps of Fig. 4：
Had by above formula：
Can be obtained by above three formula：
Equation below can be obtained by above formula：
So as to obtain：
Attitude inclination angle required by the present invention is：
Understand that inclination angle solution formula is according to above-mentioned theory analysis：
It should be noted that cordic algorithm is used as a kind of iterative algorithm calculated for Vector Rotation, its basic think of
Think it is that a certain special angle of pre-rotation is decomposed, represented with the linear combination of one group of prespecified basic transform angle set, that is, enter
The row repeatedly rotation of angle substantially.
As can be seen that inclination angle resolves carries out arctangent computation.Realized using the vector pattern of cordic algorithm, iteration side
Journey is as follows：
In vector pattern, i.e. μ (i) is sign function, and value is determined that X (0), Y (0) (uses X afterwards by the symbol of Y (i)0,Y0) be
Two two component values for giving vector, Z (0)=0.Iteration starts, and choosing suitable S (i) makes Y (i+1) minimum, μ now
Corresponding X (i+1) is sought in the formula 1 of (i), S (i) substitution iterative equation, the α [S (i)] for obtaining that tabled look-up by μ (i) and S (i) seeks Z (i+
1) an iteration process, is so far completed.By RmAfter secondary iteration, output result is：
Wherein, the compensation process of the calculating and Vector Mode plus scale factor is needed also exist for, even K=1/P, X (i+1) '
=K*X (i+1)
Iteration result is finally：
As can be seen that by CORDIC iteration, not only having obtained arc-tangent value, the mould of vector, precision have also incidentally been obtained
Meet and require.
It should be noted that the corresponding data only with angle value that iteration is obtained, in addition it is also necessary to be further converted to
Actual angle value, so as in exporting computer.The resolution ratio of default angle is 0.1 °.
It should be noted that above-mentioned compensation method is alignment error compensation method, present invention additionally comprises nonlinear compensation side
The output signal of method, i.e. individual axis acceleration is directly proportional to the sine value at its angle of inclination, therefore, we employ by sine value with
The method of acceleration magnitude linearisation, carries out the acceleration nonlinear compensation of each axle.Specific method is as follows：
(1)：Corresponding angle x under each sine value is calculated first, it is then determined that axle of calibrating accolerometer, according to
Secondary rotational alignment axle is recorded in table the output acceleration magnitude of calibration of axes to angle x.
(2)：The purpose of curve matching is to remove to approach a complexity or unknown function with a simple function, institute according to
According to condition be all the limited functional value of sampled point on an interval.If f (x) is to be interpolated function, p (x) is one
Individual multinomial, when the quadratic sum for meeting two differences of function is minimum, claims the Least squares approach that p (x) is f (x).Curve is sampled
When Least square-fit is fitted, a coefficient vector is really sought, the coefficient vector is a polynomial coefficient.Originally set
Meter needs to turn in each axis：Sin (angle)=k*ai+b, that is, obtain the value of k and b.
In sum, obliquity sensor of the invention is " solid pendulum " formula obliquity sensor, by using 3-axis acceleration
Sensor gathers the gesture acceleration signal of object, and treatment and the error compensation of signal are realized by microprocessor, i.e., by missing
The dip angle signal of difference compensation, compensate for the big shortcoming of nonlinearity erron in existing similar technique, improve precision, and the present invention has
Small volume, small power consumption, low cost, anti-vibrating and impact ability are strong, advantages suitable for temperature harsh and unforgiving environments wide.
Disclosed above is only several specific embodiments of the invention, and those skilled in the art can be carried out to the present invention
It is various to change with modification without departing from the spirit and scope of the present invention, if these modifications of the invention and modification belong to the present invention
Within the scope of claim and its equivalent technologies, then the present invention is also intended to comprising these changes and modification.
Claims (7)
1. a kind of digital obliquity sensor, it is characterised in that including：3-axis acceleration sensor (1) and microprocessor (2)；
The 3-axis acceleration sensor (1) is arranged on turntable, the 3-axis acceleration sensor (1), for obtaining turntable
The axial original analog acceleration signal of three axles under three-dimensional system of coordinate；
The microprocessor (2), for the axial original analog acceleration signal of three axles to be respectively converted into three axles of axle
To original figure acceleration signal；For according to three axial original figure acceleration signals of axle, by Error Compensation Algorithm,
Obtain three nose balance digital acceleration signals of axle；And for according to three nose balance digital acceleration letters of axle
Number, obtain dip angle signal of the turntable under three-dimensional system of coordinate.
2. digital obliquity sensor as claimed in claim 1, it is characterised in that the 3-axis acceleration sensor (1) is adopted
With the 3 axis MEMS accelerometer of ADI companies.
3. digital obliquity sensor as claimed in claim 1, it is characterised in that the microprocessor (2) uses Silicon
The C8051F35X Series of MCU of Labs companies.
4. digital obliquity sensor as claimed in claim 1, it is characterised in that the 3-axis acceleration sensor (1) is led to
Filtration module (3) AD conversion module internal with the microprocessor (2) is crossed to electrically connect.
5. digital obliquity sensor as claimed in claim 1, it is characterised in that power module of voltage regulation (5) is by benchmark electricity
Source module (4) is electrically connected with the 3-axis acceleration sensor (1) and the microprocessor (2) respectively.
6. digital obliquity sensor as claimed in claim 1, it is characterised in that the microprocessor (2) and computer (6)
Between by serial ports electrically connect.
7. a kind of measuring method of digital obliquity sensor, it is characterised in that including：
Rotating table, by 3-axis acceleration sensor, obtains the original mould in axial direction of three axles of the turntable under three-dimensional system of coordinate
Intend acceleration signal；
The axial original analog acceleration signal of three axles is respectively converted into three axial original figure acceleration signals of axle；
According to three axial original figure acceleration signals of axle, by formula (1), the nose balance numeral for obtaining three axles adds
Rate signal；
According to three nose balance digital acceleration signals of axle, by formula (2) and formula (3), obtain turntable and sat in three-dimensional
Dip angle signal under mark system；
The formula (1) is as follows：
The formula (2) is as follows：
The formula (3) is as follows：
Wherein, Ax、AyAnd AzThe respectively nose balance digital acceleration signal of x-axis, y-axis and z-axis；ax、ayAnd azRespectively x
The axial original figure acceleration signal of axle, y-axis and z-axis；c11、c12、c13、c21、c22、c23、c31、c32、c33、d1、d2And d3For
Penalty coefficient；θ is the angle of pitch；R is roll angle.
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| CN107685773A (en) * | 2017-08-17 | 2018-02-13 | 上海海事大学 | A kind of automobile tire deflection angle measuring device and measuring method |
| CN109470209A (en) * | 2018-11-20 | 2019-03-15 | 北京源清慧虹信息科技有限公司 | A kind of inclination angle measurement method based on three axis accelerometer |
| CN110514178A (en) * | 2019-09-03 | 2019-11-29 | 北京源清慧虹信息科技有限公司 | Inclination angle measurement method and device based on single-axis acceleration sensors |
| CN112345199A (en) * | 2020-10-29 | 2021-02-09 | 中国空气动力研究与发展中心高速空气动力研究所 | Temporary-impulse high-speed wind tunnel attack angle sensor vibration influence correction method |
| CN112815916A (en) * | 2020-12-30 | 2021-05-18 | 上海凌泽信息科技有限公司 | Inclination measuring system and method based on micro-electromechanical digital sensing technology |
| CN113701574A (en) * | 2020-05-21 | 2021-11-26 | 北京机械设备研究所 | Rocket nozzle swing angle measuring method and device |
| CN114396913A (en) * | 2022-01-17 | 2022-04-26 | 浙江敏源传感科技有限公司 | Cascade multi-node space arbitrary attitude dip angle deformation monitoring device and calculation method |
| CN115235425A (en) * | 2022-07-25 | 2022-10-25 | 天津市千里智能科技有限责任公司 | System and method for detecting inclination angle of logistics box |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107685773A (en) * | 2017-08-17 | 2018-02-13 | 上海海事大学 | A kind of automobile tire deflection angle measuring device and measuring method |
| CN109470209A (en) * | 2018-11-20 | 2019-03-15 | 北京源清慧虹信息科技有限公司 | A kind of inclination angle measurement method based on three axis accelerometer |
| CN110514178A (en) * | 2019-09-03 | 2019-11-29 | 北京源清慧虹信息科技有限公司 | Inclination angle measurement method and device based on single-axis acceleration sensors |
| CN110514178B (en) * | 2019-09-03 | 2021-11-26 | 北京源清慧虹信息科技有限公司 | Inclination angle measuring method and device based on single-axis acceleration sensor |
| CN113701574A (en) * | 2020-05-21 | 2021-11-26 | 北京机械设备研究所 | Rocket nozzle swing angle measuring method and device |
| CN113701574B (en) * | 2020-05-21 | 2023-04-11 | 北京机械设备研究所 | Rocket nozzle swing angle measuring method and device |
| CN112345199A (en) * | 2020-10-29 | 2021-02-09 | 中国空气动力研究与发展中心高速空气动力研究所 | Temporary-impulse high-speed wind tunnel attack angle sensor vibration influence correction method |
| CN112345199B (en) * | 2020-10-29 | 2022-07-22 | 中国空气动力研究与发展中心高速空气动力研究所 | Method for correcting impact of vibration of attack angle sensor of temporary-impulse high-speed wind tunnel |
| CN112815916A (en) * | 2020-12-30 | 2021-05-18 | 上海凌泽信息科技有限公司 | Inclination measuring system and method based on micro-electromechanical digital sensing technology |
| CN114396913A (en) * | 2022-01-17 | 2022-04-26 | 浙江敏源传感科技有限公司 | Cascade multi-node space arbitrary attitude dip angle deformation monitoring device and calculation method |
| CN114396913B (en) * | 2022-01-17 | 2024-05-24 | 浙江敏源传感科技有限公司 | Cascade multi-node space arbitrary posture inclination deformation monitoring device and calculation method |
| CN115235425A (en) * | 2022-07-25 | 2022-10-25 | 天津市千里智能科技有限责任公司 | System and method for detecting inclination angle of logistics box |
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