CN109798976A - A kind of vibration interference processing unit, method and the terminal device being applicable in - Google Patents
A kind of vibration interference processing unit, method and the terminal device being applicable in Download PDFInfo
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- CN109798976A CN109798976A CN201910281277.9A CN201910281277A CN109798976A CN 109798976 A CN109798976 A CN 109798976A CN 201910281277 A CN201910281277 A CN 201910281277A CN 109798976 A CN109798976 A CN 109798976A
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- 238000001514 detection method Methods 0.000 claims abstract description 46
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- 238000006073 displacement reaction Methods 0.000 claims description 12
- 230000005611 electricity Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
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- 238000005516 engineering process Methods 0.000 description 2
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Abstract
The embodiment of the invention discloses the terminal device that a kind of vibration interference processing unit, vibration interference processing method and the device are applicable in, which includes: vibrating sensor, Interference Detection sensor and one-chip computer module；The vibrating sensor connects the one-chip computer module, for obtaining the acceleration value of terminal device, and sends the acceleration value of the terminal device to the one-chip computer module；The Interference Detection sensor, connects the one-chip computer module, for obtaining the interference data of interference source in the terminal device, and sends the interference data to the one-chip computer module；The one-chip computer module, for receive the terminal device acceleration value and the interference data, and calculate according to presetting rule the actual acceleration value of the terminal device.The present invention solve vibrating sensor be interfered source interference, lead to the problem that prohibited data detection is true, got the true acceleration value of terminal device.
Description
Technical field
The present invention relates to detection technique field more particularly to a kind of vibration interference processing unit, vibration processing interference method,
And the terminal device that the device is applicable in.
Background technique
With the fast development of modern industry, digitlization, the information-based direction for also becoming modern detecting development, and
The front end of detection technique is exactly sensor technology.Especially along with fast-developing in recent years IC technology and computer skill
Art, as an important branch of sensor field, vibrating sensor is widely used in every field, and vibrating sensor obtains
The accuracy of access evidence just becomes more and more important.
However, when obtaining the data of detected object, often there is one or more interference sources, example in vibrating sensor
Such as, motor, electron speed regulator, propeller etc., these interference sources can generate extreme influence to the data that vibrating sensor acquires, no
The truthful data of detected object can be obtained.
Summary of the invention
Based on the above, the object of the present invention is to provide a kind of vibration interference processing units, vibration interference processing
The terminal device that method and the device are applicable in, by obtaining the interference data of interference source and the measurement number of vibrating sensor
According to obtain the true acceleration value of terminal device.
In order to achieve the above object, the invention adopts the following technical scheme:
A kind of vibration interference processing unit, comprising: vibrating sensor, Interference Detection sensor and one-chip computer module；
The vibrating sensor connects the one-chip computer module, for obtaining the acceleration value of terminal device, and sends institute
The acceleration value of terminal device is stated to the one-chip computer module；
The Interference Detection sensor, connects the one-chip computer module, for obtaining interference source in the terminal device
Data are interfered, and send the interference data to the one-chip computer module；
The one-chip computer module, for receive the terminal device acceleration value and the interference data, and according to pre-
Set the actual acceleration value that rule calculates the terminal device.
A kind of vibration interference processing method, comprising:
Obtain the interference data of interference source in the acceleration value and the terminal device of terminal device；
The reality of the terminal device is calculated according to the acceleration value of the terminal device, the interference data and presetting rule
Border acceleration value.
A kind of terminal device, comprising: the vibration interference processing unit.
The invention has the benefit that obtaining the acceleration value of terminal device by vibrating sensor, pass through Interference Detection
Sensor obtains the interference source data inside terminal device, according to the terminal device acceleration value of acquisition and interference source data, benefit
The true acceleration value of terminal device is calculated with one-chip computer module, interference source is eliminated and vibrating sensor acquisition data is done
It disturbs, accurately acquires the true acceleration value of terminal device.
Detailed description of the invention
Figure 1A is a kind of vibration interference processing unit structure chart that the embodiment of the present invention one provides；
Figure 1B is a kind of vibration interference processing unit structure chart that the embodiment of the present invention one provides；
Fig. 1 C is the structure chart for the vibrating sensor that the embodiment of the present invention one provides；
Fig. 2 is a kind of flow chart of vibration interference processing method provided by Embodiment 2 of the present invention；
Fig. 3 is a kind of structure chart for terminal device that the embodiment of the present invention three provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
As shown in Figure 1A, Figure 1B and Fig. 1 C, a kind of vibration interference processing unit is present embodiments provided, which includes:
Vibrating sensor 1, Interference Detection sensor 2 and one-chip computer module 3.
Vibrating sensor 1 connects the one-chip computer module 3, for obtaining the acceleration value of terminal device, and described in transmission
The acceleration value of terminal device is to the one-chip computer module 3.
Vibrating sensor 1 is a kind of parameter for experiencing mechanical movement vibration and is converted into the sensor of usable output signal,
As shown in Figure 1 C, vibrating sensor includes pick-up unit 11, measuring unit 12 and signal element 13.Pick-up unit 11, including machine
Tool subelement 111 and electronic unit 112, mechanical subelement 111 is used to receive the input quantity of vibrating sensor 1, i.e., original to survey
Mechanical signal, be converted into another be suitable for transformation mechanical signal；Electronic unit 112, for receiving transformed machinery
It measures and is converted to electricity.Measuring unit 12 receives the electricity that pick-up unit 11 issues and measures, obtains electric signal；Signal
Unit 13, the electric signal for exporting measuring unit 12 is sent to analytical equipment, display equipment or recording equipment, in this implementation
In example, the electric signal that measuring unit 12 exports is sent one-chip computer module 3 by signal element 13.
Optionally, in the present embodiment, vibrating sensor 1 is vibration acceleration sensor, and vibration acceleration sensor connects
It receives mechanical oscillation amount and is converted to acceleration signal value proportional thereto.
Optionally, the vibrating sensor 1 is located inside the terminal device, and installation site is by controlled terminal equipment
Structure and the type of interference source determine；When interference source is multiple, installation site will also comprehensively consider the vibrating sensor
With the relative distance of each interference source.
Interference Detection sensor 2 connects one-chip computer module 3, for obtaining the interference data of interference source in terminal device, and
Interference data are sent to the one-chip computer module 3.
The interference source can be motor and propeller equal power device, be also possible to other elements or dress for generating vibration
It sets.By taking motor as an example, the reason of causing motor oscillating have it is very much, such as: the electromagnetism side such as rotor core loosening, stator winding broken string
The influence in face, also have bearing fault, Mechanical Structure Strength not enough etc. mechanical aspects the reason of, there are also unilateral electromagnet pulls, axial direction
Influence in terms of the electronics such as vibration；And the vibration of motor, can have greatly to the true acceleration information for obtaining controlled terminal equipment
Ground influences, it is therefore desirable to set up Interference Detection sensor 2, detect for the interference data to motor, i.e., to the vibration of motor
Dynamic data are detected.
Optionally, the Interference Detection sensor 2 is located inside the terminal device, and the Interference Detection of contact is passed
Sensor needs to connect with interference source, if it exists multiple interference sources, then each interference source will connect an interference inspection
Survey sensor；For contactless Interference Detection sensor, can be installed on the interference source be nearby less than or equal to it is default
At distance.The number of the Interference Detection sensor is less than or equal to the number of interference source in the terminal device, when described dry
Disturb the distance between detection sensor and multiple interference sources both less than or be equal to the pre-determined distance when, can only with one interference
Detection sensor obtains the integrated interference data of multiple interference sources.Near the interference source in pre-determined distance, Interference Detection sensor 2
It is able to detect that the interference data of the interference source, pre-determined distance can be in conjunction with the structure and Interference Detection sensor of terminal device
Requirement determines, for example, 0.8mm；Outside interference source pre-determined distance, Interference Detection sensor 2 is unable to detect that interference source
Interference data.In embodiments of the present invention, the type of Interference Detection sensor 2 is not especially limited.
Optionally, the Interference Detection sensor 2 is vibration acceleration sensor, correspondingly, the interference data are dry
Disturb acceleration value.
Optionally, the Interference Detection sensor 2 is vibrating speed sensors, correspondingly, the interference data are interference
Velocity amplitude.
Optionally, the Interference Detection sensor 2 is vibration displacement sensor, correspondingly, the interference data are interference
Shift value.
One-chip computer module 3, for receive the terminal device acceleration value and the interference data, and according to preset rule
Then calculate the actual acceleration value of the terminal device.
The one-chip computer module 3 includes subtracter, for the acceleration value of computing terminal equipment and the acceleration of interference source
The difference of value obtains the actual acceleration value of the terminal device.
Optionally, when Interference Detection sensor 2 is vibration acceleration sensor, the received interference number of one-chip computer module 3
According to the acceleration value for being interference source, in the first subtracter, adding for interference source is subtracted with the acceleration value of the terminal device of acquisition
Velocity amplitude, the difference obtained from, the actual acceleration value of the as described terminal device.
Optionally, when Interference Detection sensor 2 is vibrating speed sensors, the received interference data of one-chip computer module 3
It is the velocity amplitude of interference source, the received disturbance velocity value is converted disturbing acceleration value by the one-chip computer module, then
In the second subtracter, the disturbing acceleration value after converting is subtracted with the acceleration value of the terminal device of acquisition, thus
The difference arrived, the actual acceleration value of the as described terminal device.
Optionally, when Interference Detection sensor 2 is displacement detecting sensor, the received interference data of one-chip computer module are
The shift value of interference source, the one-chip computer module 3 convert disturbing acceleration value for the received interference displacement value, then exist
In third subtracter, the disturbing acceleration value after converting is subtracted with the acceleration value of the terminal device of acquisition, to obtain
Difference, the actual acceleration value of the as described terminal device.
The present embodiment obtains the acceleration value of terminal device by vibrating sensor, is obtained eventually by Interference Detection sensor
The interference data of interference source in end equipment, by the acceleration value of one-chip computer module receiving terminal apparatus and interference data, and root
The actual acceleration value that terminal device is calculated according to presetting rule, solve vibrating sensor be interfered source interference, cause to examine
The problem of measured data inaccuracy has got the exact value of terminal device acceleration to substantially increase detection accuracy.
Embodiment two
Fig. 2 is a kind of flow chart of vibration interference processing method provided by Embodiment 2 of the present invention, and this method is suitable for benefit
The case where interference source data is to make vibrating sensor obtain accurate data is detected with multiple sensors, this method can be by vibrating
Countermeasure set is handled to execute, this method comprises:
S201 obtains the interference data of interference source in the acceleration value and the terminal device of terminal device.
Since the vibration of terminal device produces the vibration acceleration of terminal device, obtain the acceleration of terminal device
The process of degree needs firstly, by input signal, i.e. the mechanical signal of terminal device vibration, is converted to electricity；Then, measurement electricity
Magnitude；Finally, outputting electrical signals to analytical equipment, display equipment or recording equipment.It in the present embodiment, can be by output
Electric signal is sent to one-chip computer module and carries out data calculating.
Optionally, the detection device of terminal device acceleration can be vibrating sensor, it is particularly possible to be vibration acceleration
Sensor, the mechanical oscillation amount of vibration acceleration sensor receiving terminal apparatus are simultaneously converted to acceleration signal proportional thereto
Value.
In order to which the acceleration value for obtaining terminal device is more accurate, the interference of extraneous factor, terminal device acceleration are avoided
Detection device should be placed in inside terminal device, installation site is determined by the structure of controlled terminal equipment and the type of interference source
It is fixed；When interference source is multiple, installation site will also comprehensively consider the detection device at a distance from each interference source.
For terminal device, due to functional demand, internal various components, for example, electronic speed regulation degree device etc.
Control device, motor, propeller equal power device can all generate vibration, and the presence of these interference sources can set the terminal of acquisition
Standby acceleration value has an impact.By taking motor as an example, the reason of causing motor oscillating have it is very much, such as: rotor core loosening, stator
The influence in terms of electromagnetism such as winding broken string, also have bearing fault, Mechanical Structure Strength not enough etc. mechanical aspects the reason of, there are also single
Influence in terms of the motors such as side electromagnet pull, axial motion；And the vibration of motor, it can add to the true of controlled terminal equipment is obtained
Speed data, having greatly influences, it is therefore desirable to detect, i.e., be carried out to the vibration data of motor to the interference data of motor
Detection.
Since the interference source data of acquisition is come from inside terminal device, interference detecting apparatus is also installed on terminal
It inside equipment, can be connected with interference source, alternatively, being less than or equal to pre-determined distance at a distance from interference source, and interfere inspection
The number for surveying device is less than or equal to the number of interference source in the terminal device, when the interference detecting apparatus and multiple interference
When the distance between source is both less than or is equal to the pre-determined distance, multiple interference sources only can be obtained with an interference detecting apparatus
Integrated interference data.
Optionally, in order to obtain disturbing acceleration value, it can choose vibration acceleration sensor as interference detecting apparatus.
Optionally, in order to obtain disturbance velocity value, vibrating speed sensors be can choose as interference detecting apparatus.
Optionally, in order to obtain interference displacement value, it can choose vibration displacement sensor as interference detecting apparatus.
S202 calculates the terminal according to the acceleration value of the terminal device, the interference data and presetting rule and sets
Standby actual acceleration value.
The presetting rule is that the acceleration value of terminal device subtracts the acceleration value of interference source.
The calculating process can be completed by one-chip computer module, and one-chip computer module needs to include subtracter, pre- for realizing
The calculation method of rule, the i.e. difference of the acceleration value of the acceleration value and interference source of computing terminal equipment are set, to obtain institute
State the actual acceleration value of terminal device.
Optionally, when the interference data of acquisition are the acceleration value of interference source, the acceleration of available terminal device
The difference of value and the acceleration value of interference, which is the actual acceleration value of the terminal device.
Optionally, it when the interference data of acquisition are the velocity amplitude of interference source, needs first to convert the disturbance velocity value
For disturbing acceleration value, the difference of the acceleration value of terminal device and the acceleration value of interference source is then obtained again, which is
For the actual acceleration value of the terminal device.
Optionally, it when the interference data of acquisition are the shift value of interference source, needs first to convert the interference displacement value
For disturbing acceleration value, the difference of the acceleration value of terminal device and the acceleration value of interference source is then obtained again, which is
For the actual acceleration value of the terminal device.
The interference data of interference source in acceleration value and terminal device of the present embodiment by obtaining terminal device, and combine
Presetting rule has obtained the true acceleration value of the terminal device, solve obtain terminal device acceleration value during by
The interference of interference source leads to the problem that prohibited data detection is true, to substantially increase detection accuracy, has got terminal device
The exact value of acceleration.
Embodiment three
Fig. 3 is a kind of terminal device that the embodiment of the present invention three provides, and the terminal device is integrated with the embodiment of the present invention
In vibration interference processing unit, utilize the accurate vibration acceleration of the available terminal device of the vibration interference processing unit
Value, optionally, the terminal device in the present embodiment is specifically as follows robot or unmanned plane.
It may include N number of interference source in terminal device, wherein N is positive integer；As shown in figure 3, to include in terminal device
For three interference sources C1, C2 and C3, each interference source is fitted with corresponding Interference Detection sensor 2, to obtain interference source
The interference data of C1-C3, and interference data are sent to one-chip computer module 3.Vibrating sensor 1 in terminal device obtains terminal
The acceleration value of equipment, and it is sent to one-chip computer module 3.One-chip computer module 3 can be calculated terminal according to presetting rule and set
Standby actual acceleration value, to eliminate interference of the internal interference source to terminal device vibration acceleration.
The terminal device during the motion, internal multiple interference sources, such as: motor, electron speed regulator and propeller,
Due to the work characteristics of its own, more or less vibration can be all generated, and these are vibrated, and are obtained to by vibrating sensor
The acceleration value of the terminal device have extreme influence, therefore, in order to obtain the true acceleration value of the terminal device, the end
End equipment is integrated with the vibration interference processing unit.
Machine people or unmanned plane this kind device, it is during the motion, very big by such environmental effects, it is some light
Micro- vibration can may all lead to fuselage disequilibrium, so the detection to vibration acceleration is extremely important, in the present embodiment,
Terminal device can effectively eliminate internal interference source and vibrate acceleration to terminal device by being integrated with vibration interference processing unit
The interference of degree gets the accurate vibration acceleration value of terminal device.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of vibration interference processing unit characterized by comprising vibrating sensor, Interference Detection sensor and single-chip microcontroller
Module；
The vibrating sensor connects the one-chip computer module, for obtaining the acceleration value of terminal device, and sends the end
The acceleration value of end equipment is to the one-chip computer module；
The Interference Detection sensor, connects the one-chip computer module, for obtaining the interference of interference source in the terminal device
Data, and the interference data are sent to the one-chip computer module；
The one-chip computer module, for receive the terminal device acceleration value and the interference data, and according to preset rule
Then calculate the actual acceleration value of the terminal device.
2. vibration interference processing unit according to claim 1, which is characterized in that the vibrating sensor is located at the end
Inside end equipment；The Interference Detection sensor is located inside the terminal device, connects with the interference source, alternatively,
The interference source is installed on nearby to be less than or equal at pre-determined distance.
3. vibration interference processing unit according to claim 1, which is characterized in that the number of the Interference Detection sensor
Less than or equal to the number of interference source in the terminal device.
4. vibration interference processing unit according to claim 1, which is characterized in that the Interference Detection sensor is vibration
Acceleration transducer, correspondingly, the interference data are disturbing acceleration value；
The one-chip computer module includes the first subtracter, and the acceleration value and the interference for calculating the terminal device accelerate
The difference of angle value obtains the actual acceleration value of the terminal device.
5. vibration interference processing unit according to claim 1, which is characterized in that the Interference Detection sensor is vibration
Velocity sensor, correspondingly, the interference data are disturbance velocity value；
The one-chip computer module includes the second subtracter, for calculating the acceleration value and the disturbance velocity of the terminal device
It is worth the difference of corresponding disturbing acceleration value, obtains the actual acceleration value of the terminal device.
6. vibration interference processing unit according to claim 1, which is characterized in that the Interference Detection sensor is vibration
Displacement sensor, correspondingly, the interference data are interference displacement value；
The one-chip computer module includes third subtracter, for calculating the acceleration value and the interference displacement of the terminal device
It is worth the difference of corresponding disturbing acceleration value, obtains the actual acceleration value of the terminal device.
7. a kind of vibration interference processing method characterized by comprising
Obtain the interference data of interference source in the acceleration value and the terminal device of terminal device；
Added according to the reality that the acceleration value of the terminal device, the interference data and presetting rule calculate the terminal device
Velocity amplitude.
8. vibration interference processing method according to claim 7, which is characterized in that according to the acceleration of the terminal device
Value, the interference data and presetting rule calculate the actual acceleration value of the terminal device, comprising:
If the interference data be disturbing acceleration value, calculate the terminal device acceleration value and the disturbing acceleration value
Difference, obtain the actual acceleration value of the terminal device；
If the interference data are disturbance velocity value, disturbing acceleration value is converted by the disturbance velocity value, and described in calculating
The difference for the disturbing acceleration value that the acceleration value of terminal device and the disturbance velocity value convert, obtains the terminal and sets
Standby actual acceleration value；
If the interference data are interference displacement value, disturbing acceleration value is converted by the interference displacement value, and described in calculating
The difference for the disturbing acceleration value that the acceleration value of terminal device and the interference displacement value convert, obtains the terminal and sets
Standby actual acceleration value.
9. vibration interference processing method according to claim 7, which is characterized in that obtain terminal device acceleration value and
The interference data of interference source in the terminal device, comprising:
The acceleration value of the terminal device is obtained by the vibrating sensor installed in the terminal device；
The interference data of the interference source are obtained by the Interference Detection sensor installed in the terminal device, wherein described
Interference Detection sensor and the interference source connect, alternatively, be installed on the interference source be nearby less than or equal to it is default away from
From place.
10. a kind of terminal device characterized by comprising
Vibration interference processing unit of any of claims 1-6.
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