CN108020224A - A kind of autonomous type opening self-detective instrument and its measuring method - Google Patents
A kind of autonomous type opening self-detective instrument and its measuring method Download PDFInfo
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- CN108020224A CN108020224A CN201711360931.2A CN201711360931A CN108020224A CN 108020224 A CN108020224 A CN 108020224A CN 201711360931 A CN201711360931 A CN 201711360931A CN 108020224 A CN108020224 A CN 108020224A
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- Prior art keywords
- gate
- autonomous type
- detective instrument
- opening self
- type opening
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Classifications
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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
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of autonomous type opening self-detective instrument and its measuring method, including housing, display screen, function button, power supply and data cable.It is accrued that high-precision three axis accelerometer, three-axis gyroscope and gravity-feed tank are integrated with housing interior circuit board.The present invention is theoretical based on advanced inertial navigation, the acceleration magnitude and posture beat during shutter motion are measured by accelerometer and gyroscope, and integral operation is carried out to the time, so that the shift length of the movement velocity and opening direction during drawing shutter motion.Autonomous type opening self-detective instrument installation is simple, suitable for any gate door type, is referred to without the external world, theoretical measurement range is unrestricted, can be widely applied to the detection of water conservancy and hydropower gatage.
Description
Technical field
The present invention relates to a kind of autonomous type opening self-detective instrument and its measuring method, belong to gate in hydraulic and hydroelectric engineering field
The innovative product of aperture instrument.
Background technology
In water conservancy and hydropower industry, gate plays the important function of draining water storage.People need to know opening for gate at any time
Degree state, and the keying of gate is promoted by hydraulic cylinder mostly, then most opening self-detective instruments are all installed on hydraulic cylinder
On, to detect the stroke of piston rod, so as to detect gatage value.At present, the displacement sensing of common measurement gatage
Device device has diversified forms, is broadly divided into three kinds：Wire rope rotating encoder, black ceramic piston rod add CIMS strokes to examine
Survey, magnetostrictive displacement sensor.
Wire rope rotating encoder is product ripe earliest in hydraulic engineering, its critical piece has：Rotary encoder,
Steel wire rope, automatic cable winder.Its measuring principle is：When hydraulic cylinder ceramic cylinder rod moves, steel wire rope is pulled and band
Dynamic rotary encoder rotation, therefrom just learns the distance of ceramic cylinder rod movement, so as to draw the aperture of gate.Wire rope rotating
Installation of the encoder on hydraulic cylinder is divided into built-in and external.Built-in precision is high, and strong interference immunity is affected by environment
Small, without considering winter Anti-freezing problem, the drawback is that installation requirement is higher, live maintenance is difficult, once steel wire rope is drawn
It is disconnected, it is likely that damage hydraulic cylinder inwall processing face, this is not only the replacement of sensor, further relates to the damage of hydraulic cylinder in itself
It is huge with dismounting, quantities.External steel wire rope can be used as individual components to be installed on hydraulic pressure cylinder surfaces or lock wall, although effectively
The shortcomings that built-in is avoided, but this mounting means is larger by such environmental effects, especially when steel wire rope is immersed in the water, water
The factors such as stream impact, water surface icing, water float thing can all make reading misalignment.Skid and zero point drift in addition, steel wire rope also exists
The problems such as shifting, influence reading stability.
Ceramic cylinder rod sensor is also one of more common product in hydraulic engineering, and critical piece has：Ceramic piston
Bar, CIMS device for detecting distance of travel.Ceramic cylinder rod has done cutting pretreatment, CIMS device for detecting distance of travel peace before ceramic coated
Determine that ceramics are living mounted in the junction of hydraulic cylinder and ceramic cylinder rod, and by gathering the small teeth groove of the multirow on ceramic cylinder rod
The displacement of stopper rod.This kind of sensor manufacture is difficult, of high cost, and is easily blocked at teeth groove by silt, influences reading accuracy.
For magnetostriction class displacement sensor mostly using built-in, its central principle is that waveguide is moved in magnetic field and sent
Electric signal determines displacement.Although this kind of sensor can obtain higher precision, it is detected, and length is longer, and error is then got over
Greatly, for its range mostly in 5 meters, stroke is long also restricted to hydraulic cylinder works state at present, meeting during hydraulic cylinder horizontality
Cause waveguide to be worn because amount of deflection is bent, cause the service life of sensor to shorten, later maintenance is also inconvenient.
The content of the invention
The technical problem to be solved in the present invention is the ingenious use defect for avoiding above-mentioned existing product, a kind of autonomous type is proposed
Opening self-detective instrument, changes traditional measure of gate position mode, without any external device with reference to, it can be achieved that gatage it is direct
Measurement, suitable for various gate door types, measures contactless no abrasion.
On this basis,, will three axis of high accuracy based on inertial navigation principle the present invention further provides a kind of measuring method
Accelerometer, three-axis gyroscope and gravity-feed tank is accrued is integrated in opening self-detective instrument, opening self-detective instrument of the present invention is mounted directly
It is fixed on gate, by measuring acceleration and attitudes vibration in shutter motion, to determine gate displacement stroke, its range is not
By any gate door type and travel limit, and measurement accuracy is met the requirements.
The present invention is in order to solve the above technical problems, adopt the following technical scheme that：
A kind of autonomous type opening self-detective instrument, including housing, have display screen, function button on housing, contain circuit in housing
Plate, circuit board are electrically connected with function button and display screen respectively；It is characterized in that：Be integrated with circuit board three axis accelerometer,
Three-axis gyroscope, gravity-feed tank be accrued and controller；Adding when three axis accelerometer is arranged to detect shutter motion with shutter motion
Velocity amplitude, three-axis gyroscope are arranged to the position and attitude angle of detection gate all the time, and gravity-feed tank is accrued to be arranged to determine lock
The absolute vertical direction that door is opened；Autonomous type opening self-detective instrument is directly fixedly mounted on the upper end of gate, passes through power supply and data
Line connects autonomous type opening self-detective instrument with external gate control system.
Further, during initial installation, opening self-detective instrument is fixed on gate under gate full-shut position.
Further, after opening self-detective instrument is fixed on gate, to three axis accelerometer, three-axis gyroscope, gravity sensing
Each sensing data initialization is counted, and sets relatively each sensor direction of motion of gate.
Further, the gate opens door for vertical direction.
Further, the gate is vertical lifting door, arc-shaped door, herringbone turnover board type gate.
Further, only need to be after three-axis gyroscope zeroing, by lock when the gate is displaced sideways starting gate for level
Door opening direction parameter replaces measuring angle use on vertical direction.
Further, the aperture state of any gate, the theory unlimited system of aperture measurement scope can be measured.
Using the method for autonomous type opening self-detective instrument measurement gatage, it is characterised in that：, will based on inertial navigation principle
High-precision three axis accelerometer, three-axis gyroscope and gravity-feed tank is accrued is integrated in opening self-detective instrument, opening self-detective instrument is direct
It is fixed on gate, by measuring acceleration and attitudes vibration in shutter motion, to determine gate displacement stroke.
Further, further, the gate opens door for vertical direction；When the gate is opened for horizontal lateral movement
When opening gate, only gate opening directioin parameter need to be replaced to measure angle use on vertical direction after three-axis gyroscope zeroing
.
Further, the aperture state of any gate, the theory unlimited system of aperture measurement scope can be measured.
Further, the acceleration magnitude and attitude angle, the velocity amplitude at can draw gate each moment upon actuation
And opening value：
vn=vn-1+anΔ t (n=1,2,3 ...)
Wherein, vnFor the velocity amplitude of n-th of time Δt after gate opening, anFor after gate opening n-th time Δt plus
Velocity amplitude, SN aperturesFor the gatage value of n-th of time Δt after gate opening, θnN-th of time Δt speed side after gate opening
To the angle value with set gatage direction.Δ t=2ms in embodiment, initial value v0=0, S0=0.
The present invention looks for another way, and the ingenious use defect for avoiding above-mentioned existing product, proposes a kind of autonomous type gatage
Instrument, for the present invention compared with other prior arts, its advantage is as follows：
1. simple installation, is directly installed at the top of gate, maintenance cost is low.
2. change traditional measure of gate position mode, without any external device with reference to, it can be achieved that gatage it is direct
Measurement, suitable for various gate door types, measures contactless no abrasion.
3. wide range of measurement, theory unlimited system.
4. strong environmental adaptability, different external form materials may be selected in different environment, corrosion-resistant, high pressure resistant, and waterproof, prevent
It is dirt, shockproof, and there is wide in range operating temperature range.
5. high sensitivity, favorable repeatability, the linearity is high, and fast response time can reach Millisecond.
Brief description of the drawings
Fig. 1 is the three-dimensional view of autonomous type opening self-detective instrument of the present invention.
Fig. 2 is the control module structure chart of core processing circuit plate of the present invention.
Fig. 3 is the schematic diagram (arc-shaped door) that autonomous type opening self-detective instrument of the present invention is installed on gate.
Fig. 4 is the side view of Fig. 3.
Fig. 5 is the schematic diagram (herringbone door overlook direction) that autonomous type opening self-detective instrument of the present invention is installed on gate.
Fig. 6 is the Velocity-time image schematic diagram that shutter motion starts to stopping.
In Fig. 1-5, each reference numeral corresponds to as follows：1st, housing；2nd, display screen；3rd, function button；4th, power supply and data cable
Cable；5th, gate.
Embodiment
The autonomous type opening self-detective instrument structure diagram of the present invention as shown in Figs. 1-5, includes housing 1, display screen 2, work(
Can button 3 and power supply and data cable 4.Include core processing circuit plate inside the housing 1, on circuit board as shown in Fig. 2,
Gravity-feed tank is accrued main to include integrated high-precision three axis accelerometer, three-axis gyroscope and gravity-feed tank is accrued and the chip of controller
With peripheral power supply circuit.
Autonomous type opening self-detective instrument is integrally attached on gate and with shutter motion, three axis accelerometer, three-axis gyroscope
It is connected respectively with controller signals with gravity sensing meter, acceleration magnitude, attitude angle, absolute vertical bearing data is sent to control
Device, controller are connected with display screen 2 and show data on a display screen, while controller is connected with sluice control system signal,
So as to which Measuring opening information is sent to sluice control system, controlled for gatage.
As shown in Figure 3-4, it is autonomous type opening self-detective instrument installation diagram on gates of segmental shape 5.Gates of segmental shape 5 is in gate
Under control system control, left side upland water is completely cut off around the rotation of rotary opening and closing axis and closes reservoir.By autonomous type gate
Aperture instrument (figure middle casing 1) is arranged on the upper end of gate 5, and power supply and data cable 4 pass through water-proofing treatment, power supply and data cable
4 are connected housing 1 with external power supply and sluice control system.When gate is fully closed, as shown in figure 3, by autonomous type lock of the present invention
1 part of housing of door aperture instrument is fixed on the top of gate 5, connects power supply and data cable 4, will by function button 3
Data initialization, and set shutter motion direction.
If Fig. 5 is autonomous type opening self-detective instrument of the present invention installation diagram on herringbone turnover board type gate 5.Overlook direction
Look, herringbone two fan door with center vertical axis (point midway) for rotation axis rotates folding and rear side upper pond level is closed or
Open.Remaining is identical with Fig. 3-4 embodiments.Equally, it is general for the gate of vertical direction unlatching, such as vertical lifting door.For
The gate that level lateral movement is opened can be also applicable in, and need to only be replaced gate opening directioin parameter after three-axis gyroscope zeroing
Angle use is measured on vertical direction.
In the various embodiments described above, the housing 1 uses stainless steel, and hermetically sealed encapsulation, and good weatherability can be long-term
Used in outdoor adverse circumstances.High-precision three axis accelerometer and gyroscope have very high sensitivity, can detect micro-
Small acceleration magnitude and attitudes vibration angle.Integrated high accuracy three axis accelerometer, three-axis gyroscope and gravity-feed tank is accrued and control
The preferred InvenSense MPU-9250 of chip of device processed.High-precision three axis accelerometer working frequency is 500Hz, that is, works as gate
During startup, accelerometer exports an acceleration magnitude every 2ms, meanwhile, high-precision three-axis gyroscope also exports a gate appearance
State angle, gravity-feed tank is accrued to be used for determining absolute vertical direction.The time is integrated by acceleration magnitude, can show that gate is transported
Dynamic speed and displacement distance, further according to attitude angle, can draw displacement distance of the gate in opening direction, the i.e. aperture of gate.
The operation principle of the present invention：
The present invention is theoretical based on advanced inertial navigation, utilizes high-precision three axis accelerometer, three-axis gyroscope and gravity
Induction meter, acceleration of motion, posture beat to gate measure, and the time are integrated, so as to draw the fortune of gate
Dynamic distance.
Gate starts to stopping from inactive state, its Velocity-time image schematic diagram based on acceleration as shown in figure 4, surveyed
Value, can obtain speed and distance：
In formula, vnFor tnThe instantaneous velocity at moment, anFor tnThe instantaneous acceleration at moment, SnFor tnThe original state at moment arrives
tnTime in total displacement, Δ SnFor time tn-1To tnMoment intrinsic displacement increment.
Because accelerometer output is discrete data, and sample frequency is very high, can according to higher mathematics calculus principle
Regard movement of the gate within the accelerometer sampling interval as uniformly accelrated rectilinear motion,
Then：
Under original state, v0=0, S0=0, accelerometer sampling time interval：
Δ t=t1-t0=t2-t1=...=tn-tn-1(n=1,2,3 ...) (4)
Then：
vn=vn-1+anΔ t (n=1,2,3 ...) (5)
The speed and displacement that each Δ t (Δ t=2ms in embodiment) measures in the time at this time are vector value, therefore will
The speed and shift value on some direction are obtained, the measured value of three-axis gyroscope must be coordinated.
It is respectively α, β that three-axis gyroscope might as well be set angle is measured on horizontal xy-plane, and in the vertical direction measures angle
For γ, then by taking vertical floodgate gate as an example, gatage value is：
The gate that formula (7) opens vertical direction is general, such as vertical lifting door, arc-shaped door, herringbone plate-turning door.Together
Reason, only formula need to be replaced for the gate that horizontal lateral movement is opened after sensor zeroing by α or β (gate opening direction)
(7) γ in.
Thus, the invention discloses a kind of autonomous type opening self-detective instrument and its measuring method, including housing, display screen, work(
Can button, power supply and data cable.High-precision three axis accelerometer, three-axis gyroscope and gravity are integrated with housing interior circuit board
Induction meter.The present invention is theoretical based on advanced inertial navigation, during accelerometer and gyroscope measurement shutter motion
Acceleration magnitude and posture beat, and integral operation is carried out to the time, so as to movement velocity during drawing shutter motion and open
Open the shift length in direction.Autonomous type opening self-detective instrument installation is simple, suitable for any gate door type, is referred to without the external world,
Theoretical measurement range is unrestricted, can be widely applied to the detection of water conservancy and hydropower gatage.
Claims (10)
1. a kind of autonomous type opening self-detective instrument, including housing, there are display screen, function button on housing, contain circuit board in housing,
Circuit board is electrically connected with function button and display screen respectively；It is characterized in that：Three axis accelerometer, three axis are integrated with circuit board
Gyroscope, gravity-feed tank be accrued and controller；Three axis accelerometer is arranged to detect acceleration during shutter motion with shutter motion
Value, three-axis gyroscope are arranged to the position and attitude angle of detection gate all the time, and gravity-feed tank is accrued to be arranged to determine that gate is opened
The absolute vertical direction opened；Autonomous type opening self-detective instrument is directly fixedly mounted on the upper end of gate, will by power supply and data cable
Autonomous type opening self-detective instrument is connected with external gate control system.
2. autonomous type opening self-detective instrument according to claim 1, it is characterised in that：During initial installation, in the fully closed shape of gate
Opening self-detective instrument is fixed on gate under state.
3. autonomous type opening self-detective instrument according to claim 1 or 2, it is characterised in that：Opening self-detective instrument is fixed on gate
After upper, three axis accelerometer, three-axis gyroscope, the accrued each sensing data of gravity-feed tank are initialized, and it is opposite to set gate
Each sensor direction of motion.
4. autonomous type opening self-detective instrument according to claim 1, it is characterised in that：The gate is opened for vertical direction
Door.
5. autonomous type opening self-detective instrument according to claim 1, it is characterised in that：The gate is vertical lifting door, arc
Shape door, herringbone turnover board type gate.
6. autonomous type opening self-detective instrument according to claim 1, it is characterised in that：The gate is opened for horizontal lateral movement
When opening gate, only gate opening directioin parameter need to be replaced to measure angle use on vertical direction after three-axis gyroscope zeroing
.
7. using the method for autonomous type opening self-detective instrument measurement gatage, it is characterised in that：Based on inertial navigation principle, by height
Precision three axis accelerometer, three-axis gyroscope and gravity-feed tank is accrued is integrated in opening self-detective instrument, opening self-detective instrument is directly pacified
Dress is fixed on gate, by measuring acceleration and attitudes vibration in shutter motion, to determine gate displacement stroke.
8. the method according to claim 7 using autonomous type opening self-detective instrument measurement gatage, it is characterised in that：Institute
State gate and open door for vertical direction；, only need to be in three-axis gyroscope tune when the gate is displaced sideways starting gate for level
After zero, gate opening directioin parameter is replaced to measure angle use on vertical direction.
9. the method according to claim 7 using autonomous type opening self-detective instrument measurement gatage, it is characterised in that：Energy
Enough measure the aperture state of any gate, the theory unlimited system of aperture measurement scope.
10. the method according to claim 7 using autonomous type opening self-detective instrument measurement gatage, it is characterised in that：
The acceleration magnitude and attitude angle, the velocity amplitude and opening value at can draw gate each moment upon actuation：
vn=vn-1+anΔ t (n=1,2,3 ...)
Wherein, vnFor the velocity amplitude of n-th of time Δt after gate opening, anFor the acceleration of n-th of time Δt after gate opening
Value, SN aperturesFor the gatage value of n-th of time Δt after gate opening, θnAfter gate opening n-th time Δt directional velocity with
The angle value in set gatage direction.
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| CN201711360931.2A CN108020224A (en) | 2017-12-18 | 2017-12-18 | A kind of autonomous type opening self-detective instrument and its measuring method |
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| CN201711360931.2A CN108020224A (en) | 2017-12-18 | 2017-12-18 | A kind of autonomous type opening self-detective instrument and its measuring method |
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Cited By (1)
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