CN107091640B - Master controller action attitude detection device and electronic control system - Google Patents
Master controller action attitude detection device and electronic control system Download PDFInfo
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- CN107091640B CN107091640B CN201710373648.7A CN201710373648A CN107091640B CN 107091640 B CN107091640 B CN 107091640B CN 201710373648 A CN201710373648 A CN 201710373648A CN 107091640 B CN107091640 B CN 107091640B
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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
- G01C21/165—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 combined with non-inertial navigation instruments
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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
- G01C21/20—Instruments for performing navigational calculations
Abstract
The invention discloses a master controller action attitude detection device and an electric control system, wherein the master controller action attitude detection device comprises a measurement device for detecting the action attitude of a handle on a master controller and a processor which is connected with the measurement device and used for receiving a first signal detected by the measurement device and generating a second signal corresponding to a master signal, and the processor is connected with a communication module for transmitting the second signal to an electronic auxiliary system. The detection device is adopted to realize the real-time detection of the action posture of the handle, and transmit the second signal which is generated after the detection and corresponds to the master signal to the electronic auxiliary system, thereby providing a powerful guarantee for the intelligent monitoring of the equipment and the improvement of the operation reliability.
Description
Technical Field
The invention relates to the field of master controllers, in particular to a master controller action posture detection device. In addition, the invention also relates to an electronic control system comprising the master controller action posture detection device.
Background
A master controller (also called a master switch) is mainly used in an electric transmission device, and contacts are switched on and off according to a certain sequence to achieve the purposes of issuing commands or interlocking and converting other control circuits. The magnetic starter is suitable for frequently switching on and switching off a circuit, is often matched with a magnetic starter to carry out remote control on starting, braking, speed regulation and reversing of a wound asynchronous motor, and is widely applied to control systems of dragging motors of various hoisting machines.
The action principle of the master controller is to control the closing of the contact system by a cam. The combination of cams with different shapes can make the contacts act in a certain sequence, the rotation angle of the cams is determined by the structure of the controller, and the number of the cams depends on the requirements of a control circuit.
At present, mechanical equipment is developing towards the direction of intellectualization and informatization, various electronic auxiliary systems are more and more appeared on the mechanical equipment, the electronic auxiliary systems need to collect various signals from an equipment electrical control system, wherein a master control signal is an important collection object and is an important parameter for analyzing the operation condition of the equipment. Because the control circuit of the master controller is connected with the secondary circuit of the electrical system and is an independent circuit loop, the purpose of detecting the master signal can be achieved by directly obtaining the contact switch signal of the master controller from the loop, but the original circuit structure of the electrical system is damaged, and the safety risk is relatively high; meanwhile, the detection of the existing switch signal has a high cost requirement, and therefore, how to acquire the master signal of the existing master controller for the application of the electronic auxiliary system is a technical problem to be solved urgently.
Disclosure of Invention
The invention provides a master controller action attitude detection device and an electric control system, which are used for solving the technical problems that a master signal of the existing master controller cannot be directly acquired or acquired through a secondary loop, so that the structure is complex, and the safety risk caused by damaging the circuit structure exists.
The technical scheme adopted by the invention is as follows:
according to one aspect of the invention, the master controller action gesture detection device comprises a measuring device and a processor, wherein the measuring device is used for detecting the action gesture of a handle on a master controller, the processor is connected with the measuring device and used for receiving a first signal detected by the measuring device and generating a second signal corresponding to a master signal, and the processor is connected with a communication module used for transmitting the second signal to an electronic auxiliary system.
Furthermore, the measuring device is an electronic attitude sensor arranged on the handle and used for detecting the action attitude of the handle or a combined limit switch arranged on the periphery of the handle and used for detecting whether the handle is displaced to a set position state.
Furthermore, the electronic attitude sensor comprises a triaxial gyroscope measuring unit for detecting the angular velocity of the rotation of the handle, a triaxial accelerometer for detecting the acceleration corresponding to the handle and a triaxial electronic compass for detecting the magnetic induction intensity corresponding to the handle;
the electronic attitude sensor also comprises an attitude determination unit which is used for receiving the detection data of the triaxial gyroscope measuring unit, the triaxial accelerometer and the triaxial electronic compass and generating a sampling value corresponding to the current attitude of the handle.
Furthermore, the electronic attitude sensor further comprises a temperature compensation module, which is used for performing temperature compensation on the detection data in the process of generating the sampling value by the attitude determination unit so as to obtain the sampling value corresponding to the current attitude after the temperature compensation.
Further, the sampling value comprises a pitch angle, a roll angle and a heading angle corresponding to the current posture of the handle.
Further, the processor comprises a posture judging module which is used for comparing a sampling value corresponding to the received current posture of the handle with a preset threshold model so as to generate a second signal for judging the master signal generated by the master controller.
Further, when the measuring device is a combined limit switch, the processor comprises a switch signal judging module for generating a second signal for judging the master signal generated by the master controller according to the received switch signal.
Further, the communication module is a wired communication module or a wireless communication module.
According to another aspect of the present invention, an electronic control system is further provided, which includes the above-mentioned master controller motion attitude detection device, and the detection device is connected to the electronic auxiliary system via the communication module to transmit the second signal generated by the detection to the electronic auxiliary system.
Further, the electronic auxiliary system is a processing terminal arranged at a local end or a processing terminal arranged at a remote end.
The invention has the following beneficial effects:
according to the master controller action posture detection device and the electronic control system, the detection device is adopted to realize real-time detection of the handle action posture, and the second signal which is generated after detection and corresponds to the master signal is transmitted to the electronic auxiliary system, so that powerful guarantee is provided for intelligent monitoring and improvement of operation reliability of equipment.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a master controller combined with a measurement device according to a preferred embodiment of the present invention;
FIG. 2 is a schematic block diagram of a master controller motion gesture detection apparatus in accordance with a preferred embodiment of the present invention;
FIG. 3 is a schematic representation of the master controller handle action in a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating gesture detection corresponding to master controller handle actuation in accordance with a preferred embodiment of the present invention;
fig. 5 is a diagram of a threshold model for sample values in a preferred embodiment of the present invention.
Description of reference numerals:
1. a master controller; 11. a handle; 2. a measuring device; 21. an electronic attitude sensor;
3. a processor; 4. a communication module; 5. a power source.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
To current master controller for gathering master signal, need gather the signal on master controller's control circuit, lead to destroying electrical system's original circuit structure easily, cause the problem of safe risk, this embodiment provides the collection scheme of the master signal that need not to change secondary circuit on the neotype current master controller, and its reliability is high, compatibility and maintainability are good. Referring to fig. 1 and 2, a preferred embodiment of the present invention provides a master controller motion gesture detection apparatus, which includes a measurement apparatus 2 for detecting a motion gesture of a handle 11 on a master controller 1, and a processor 3 connected to the measurement apparatus 2 for receiving a first signal detected by the measurement apparatus 2 and generating a second signal corresponding to a master signal, wherein the processor 3 is connected to a communication module 4 for transmitting the second signal to an electronic auxiliary system.
In the embodiment, the real-time detection of the action posture of the handle is realized by adopting the measuring device, and the second signal which is generated after the detection and corresponds to the master signal is transmitted to the electronic auxiliary system, so that the intelligent monitoring and the improvement of the operation reliability of the equipment are powerfully guaranteed.
In this embodiment, the measuring device 2 is an electronic posture sensor 21 provided on the handle 11 for detecting the movement posture of the handle 11, or a combined limit switch provided around the handle 11 for detecting whether the handle 11 is displaced to a set position state. The master controller of the embodiment is an operation console used for operating the tower crane or the construction hoist to change the operation condition.
In one embodiment, the electronic attitude sensor 21 includes a three-axis gyroscope measuring unit for detecting an angular velocity of rotation of the handle 11, a three-axis accelerometer for detecting an acceleration corresponding to the handle 11, and a three-axis electronic compass for detecting a magnetic induction corresponding to the handle 11; the electronic attitude sensor 21 further includes an attitude determination unit, which is configured to receive detection data of the triaxial gyroscope measurement unit, the triaxial accelerometer, and the triaxial electronic compass and generate a sampling value corresponding to the current attitude of the handle 11.
Referring to fig. 3 and 4, when the handle 11 is operated under the control of the operator, the direction and posture thereof are changed in real time, i.e., components corresponding to the X-axis, Y-axis and Z-axis are changed in real time. This embodiment realizes the real-time detection of the corresponding gesture of handle through electronic attitude sensor 21 on locating handle 11, specifically: the electronic attitude sensor in the embodiment is a high-performance three-dimensional motion attitude measurement system, and comprises a three-axis gyroscope measurement unit, a three-axis accelerometer and a three-axis electronic compass, wherein data such as a three-dimensional attitude, an orientation and the like subjected to temperature compensation are obtained through an embedded low-power-consumption processor (corresponding to an attitude determination unit and a temperature compensation module). In this embodiment, the temperature compensation module is configured to perform temperature compensation on the detection data in the process of generating the sampling value by the posture determination unit, so as to obtain the sampling value corresponding to the current posture after the temperature compensation. The attitude determination unit outputs zero-drift three-dimensional attitude and azimuth data (corresponding sampling values) represented by quaternions and Euler angles in real time by using a quaternion-based three-dimensional algorithm and a special data fusion technology.
In this embodiment, the three-axis gyroscope measuring unit detects the angular velocity of the rotation of the handle, and the corresponding angle value can be obtained through integration, and the calculation formula is as follows:
θk＝(ωk-ωbias_k)dt+θk-1， (1)
in equation (1): thetakThe angle value of the current moment; thetak-1Is the angle value of the previous moment; omegakMeasuring the angular velocity of the gyroscope at the current moment; omegabias_kThe offset of the angular velocity at the current moment; dt is the integration time, i.e. the sampling period of the angle calculation.
The triaxial accelerometer measures acceleration components of 3 axes, and the angular attitude is solved by using a trigonometric function relationship in the embodiment:
in the formula (2), Ax、Ay、AzX, Y, Z acceleration components for these 3 axes, respectively; gamma is an included angle between the Z axis and the gravity acceleration; rho is a pitch angle; phi is a roll angle.
The triaxial electronic compass measures the magnetic induction intensity of 3 axes, and because the magnetic induction intensities of X, Y two axes are synthesized and then are always directed to the magnetic north pole, the detection of the course angle can be realized by measuring the included angle between the sensitive axis and the magnetic north pole. When the triaxial electronic compass is in a horizontal position and has no external magnetic field interference, the heading angle can be calculated through the following trigonometric function relationship:
in the formula (3), HxAnd HyRespectively, the magnetic induction intensity data output by the X axis and the Y axis.
When the electronic compass is not in the horizontal position, the error of the course angle detection can be reduced by a tilt compensation method. The tilt compensation formula is:
in formula (4); mx、My、Mz: 3 axis data respectively output by the electronic compass; ρ and φ are the pitch angle and roll angle, respectively, as detected by the tri-axial accelerometer. Utilizing compensated magnetic induction H'x、H’yAnd equation (3) may calculate the compensated heading angle.
In this embodiment, the sampling value generated by the electronic attitude sensor 21 includes a pitch angle ρ, a roll angle Φ, and a heading angle α corresponding to the current attitude of the handle 11, where the pitch angle ρ corresponds to an angle between the X-axis and the ground, the roll angle Φ corresponds to an angle between the Y-axis and the ground, and the heading angle α corresponds to an angle of rotation around the Z-axis.
In this embodiment, the processor 3 includes a posture determining module, configured to compare a received sampling value corresponding to the current posture of the handle 11 with a preset threshold model, so as to generate a second signal for determining the master signal generated by the master controller 1. In this embodiment, when the handle 11 of the master controller 1 moves in one direction, the sampling value corresponding to the corresponding dimension of the electronic attitude sensor 21 changes, and the handle movement direction is determined by the change value; when the handle switches gears in the direction, the change ranges of the corresponding dimension sampling values are different, and the gear position of the handle is judged according to the size of the change ranges. Referring to fig. 3, when the master controller performs a command operation to the left, the electronic attitude sensor detects a change in data in the X-axis and Y-axis directions, and accordingly, the X-axis mode value increases, the Y-axis direction value decreases, and the Z-axis direction value does not change, assuming that the current left-side motion is a 1-gear command, and the left-side motion continues to be a 2-gear command after a certain range, the change range of the X-axis and Y-axis values increases (see fig. 5), and when the change range exceeds a set threshold, it is determined that a second signal corresponding to the 2-gear command is generated. This is merely an example, and those skilled in the art will appreciate that a corresponding threshold model may be set depending on the type of gear setting of the master controller.
The functional block diagram of the master controller action attitude detection apparatus of the present embodiment is shown in fig. 2, wherein the power supply 5 supplies power to each component, the electronic attitude sensor 21 obtains a sampling value corresponding to the current attitude of the generating handle, and the sampling value is processed by the processor 3 to generate a second signal, and then the sampling value is packaged into communication data by the communication module 4 according to a protocol format and transmitted to the electronic auxiliary system through the communication chip for subsequent analysis and application. Communication module 4 of this embodiment may be wired communication module 4 or wireless communication module 4, for example, adopt serial communication module or adopt wireless mobile communication modules such as 3G/4G/WIFI.
In another embodiment, the measuring device 2 is a mechanical structure, and is a combined limit switch. Specifically, the limit switches are arranged around the handle and keep a certain distance with the handle, when the handle moves in one direction, the handle touches the limit switches in the corresponding direction to close the contacts of the limit switches, and the processor 3 connected with the rear stage of the limit switches acquires a switch signal to judge the motion direction of the handle.
According to another aspect of the present invention, an electronic control system is further provided, which includes the master controller motion attitude detection device of the above embodiment, and the detection device is connected to the electronic auxiliary system via the communication module 4 to transmit the second signal generated by the detection to the electronic auxiliary system. The electronic auxiliary system of the embodiment is a processing terminal arranged at a local end or a processing terminal arranged at a remote end, so as to display the operation process of the master controller or record the master signal of the master controller for subsequent analysis and application.
From the above description, it can be known that the detection device is adopted in the embodiment to realize the real-time detection of the action posture of the handle, and transmit the second signal which is generated after the detection and corresponds to the master signal to the electronic auxiliary system, so that a powerful guarantee is provided for the intelligent monitoring of the equipment and the improvement of the operational reliability.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The master controller action attitude detection device is characterized by comprising a measurement device (2) for detecting the action attitude of a handle (11) on a master controller (1), and a processor (3) connected with the measurement device (2) and used for receiving a first signal detected by the measurement device (2) and generating a second signal corresponding to a master signal, wherein the processor (3) is connected with a communication module (4) for transmitting the second signal to an electronic auxiliary system;
the measuring device (2) is an electronic attitude sensor arranged on the handle (11) and used for detecting the action attitude of the handle (11) or a combined limit switch arranged on the periphery of the handle (11) and used for detecting whether the handle (11) is displaced to a set position state;
the electronic attitude sensor comprises a triaxial gyroscope measuring unit for detecting the rotating angular speed of the handle (11), a triaxial accelerometer for detecting the acceleration corresponding to the handle (11) and a triaxial electronic compass for detecting the magnetic induction intensity corresponding to the handle (11);
the electronic attitude sensor also comprises an attitude determining unit which is used for receiving the detection data of the triaxial gyroscope measuring unit, the triaxial accelerometer and the triaxial electronic compass and generating a sampling value corresponding to the current attitude of the handle (11);
the three-axis gyroscope measuring unit detects the angular speed of handle rotation, and a corresponding angle value can be obtained through integration, and the calculation formula is as follows:
θk＝(ωk-ωbias_k)dt+θk-1， (1)
in equation (1): thetakIs the angle value of the current time, thetak-1Is the angle value, omega, of the previous momentkMeasuring angular velocity, omega, of the current moment for the gyroscopebias_kDt is the offset of the angular velocity at the current moment, and dt is the integration time, namely the sampling period of the angle calculation;
the three-axis accelerometer measures acceleration components of 3 axes, and the angular attitude is resolved by utilizing a trigonometric function relationship:
in the formula (2), Ax、Ay、AzX, Y, Z acceleration components for these 3 axes, respectively; gamma is an included angle between the Z axis and the gravity acceleration; rho is a pitch angle; phi is a roll angle;
the three-axis electronic compass measures the magnetic induction intensity of 3 axes, realizes the detection of the heading angle by measuring the included angle between the sensitive axis and the geomagnetic north, and can calculate the heading angle through the following trigonometric function relationship when the three-axis electronic compass is in the horizontal position and has no external magnetic field interference:
in the formula (3), HxAnd HyRespectively outputting magnetic induction intensity data of an X axis and a Y axis;
when the electronic compass is not in the horizontal position, the error of course angle detection can be reduced by a tilt compensation method, and the tilt compensation formula is as follows:
in the formula (4), Mx、My、Mz3 shaft data respectively output by the electronic compass, wherein rho and phi are a pitch angle and a roll angle detected by a triaxial accelerometer respectively, and the compensated magnetic induction intensity H 'is utilized'x、H’yAnd equation (3) may calculate the compensated heading angle.
2. The master controller motion gesture detection apparatus of claim 1,
the electronic attitude sensor further comprises a temperature compensation module for performing temperature compensation on the detection data in the process of generating the sampling value by the attitude determination unit so as to obtain the sampling value corresponding to the current attitude after the temperature compensation.
3. The master controller motion gesture detection apparatus according to claim 1 or 2,
the processor (3) comprises an attitude determination module, and is used for comparing a received sampling value corresponding to the current attitude of the handle (11) with a preset threshold model to generate a second signal for determining a master command signal generated by the master command controller (1).
4. The master controller motion gesture detection apparatus of claim 1,
when the measuring device (2) is a combined limit switch, the processor (3) comprises a switch signal judging module, and the switch signal judging module is used for generating a second signal for judging the master signal generated by the master controller (1) according to the received switch signal.
5. The master controller motion gesture detection apparatus of claim 1,
the communication module (4) is a wired communication module (4) or a wireless communication module (4).
6. An electronic control system, characterized in that it comprises a master controller action attitude detection device according to any one of claims 1 to 5, said detection device being connected to an electronic auxiliary system via a communication module (4) to transmit a second signal generated by its detection to said electronic auxiliary system.
7. The electrical control system of claim 6,
the electronic auxiliary system is a processing terminal arranged at the local or a processing terminal arranged at the remote end.
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