CN112097739A

CN112097739A - Inclination measuring robot and inclination measuring method

Info

Publication number: CN112097739A
Application number: CN202011000667.3A
Authority: CN
Inventors: 周洪军; 彭建华; 李仁民; 方雷
Original assignee: Nanjing Deep Intelligent Construction Technology Research Institute Co ltd; Nanjing 180 Safety Technology Co ltd
Current assignee: Nanjing Deep Intelligent Construction Technology Research Institute Co ltd; Nanjing 180 Safety Technology Co ltd
Priority date: 2020-09-22
Filing date: 2020-09-22
Publication date: 2020-12-18
Also published as: WO2022061969A1

Abstract

The invention discloses an inclinometry robot, which comprises an inclinometry pipe, an inclinometry part and a driving device, wherein the inclinometry pipe is arranged on the inclination measurement part; the inclinometer comprises an underground pipe and a steering pipe which are communicated, wherein an outer sleeve is sleeved outside the steering pipe; the inclinometer comprises a protective pipe and an inclinometer assembly, and rollers are arranged outside the protective pipe; a first guide groove is formed in the underground pipe, and a second guide groove is formed in the steering pipe; when the steering pipe rotates 180 degrees, the roller can still enter the second guide groove along the first guide groove; the driving device comprises a lifting part and a steering part, wherein the lifting part comprises a winch, a guide wheel and a first motor; the traction rope on the winch is connected to the protective pipe through the guide wheel; the steering section includes a second motor. The application also discloses an inclination measuring method. By the aid of the method and the device, the measuring point can be accurately positioned, so that the inclinometer can be detected at the determined height position, the inclinometer can accurately complete 180-degree steering, and accurate measurement of inclination is guaranteed.

Description

Inclination measuring robot and inclination measuring method

Technical Field

The invention relates to an inclination measuring robot and an inclination measuring method.

Background

The inclination monitoring refers to monitoring the inclination angle of the ground by using instrument equipment, and is widely applied to monitoring of side slopes, landslides and urban deep foundation pits. In the construction excavation process of the deep foundation pit, the quality accident hidden danger is often accompanied, so that the foundation pit is in a dangerous situation, and a nearby building and an underground pipeline are damaged, so that the deep deformation condition of the foundation pit needs to be known, and the construction scheme is determined and optimized.

At present, a movable inclinometer is generally adopted for manual measurement and reading. There are mainly the following problems: firstly, the measurement efficiency is low, the measurement process is time-consuming and labor-consuming, and real-time monitoring cannot be realized; secondly, the measuring instrument has poor characteristics of interference resistance, durability, long-term stability and the like, and is difficult to adapt to the requirement of long-term monitoring. Measurement error is big, and data continuity is poor, and the acquisition and analysis cycle is long, receives the site environment to disturb greatly, can not in time guide the construction.

When the existing frequently-used automatic inclinometer is used for measurement, a hole is drilled in a soil body at a monitoring position, then an inclinometer pipe is embedded into the drilled hole, so that the inclinometer pipe is coordinated with a body to deform, and the deformation of the inclinometer pipe is observed by adopting a digital vertically movable inclinometer probe, a control cable, a pulley device and a reading instrument. During observation, the bottom of the probe inclinometer tube moves to the top, and the probe pauses at a half-meter interval and performs measurement inclination work. The inclinometer has the problems of inconvenient cable winding, manual paying-off measurement error and the like in the use process. The wireless automatic inclinometer comprises a wireless foundation pit inclinometer, a wireless inclinometer while drilling and a wireless fiber optic gyro inclinometer. The wireless fiber optic gyro inclinometer has the defects of high cost, high technical threshold and the like, and is less applied to practical engineering. The wireless inclinometer while drilling is fixed in use environment and is a novel inclinometer applicable to a vertical well and a vertical well section. The wireless foundation pit inclinometer uses communication modes such as Bluetooth and wifi, and the fixed inclinometer is convenient. But they do not have an integral inclinometer mechanism and cannot achieve fully automated measurement.

With the rapid development of microelectronics, wireless communication, information perception, data processing technology and robot technology, the internet of things technology is increasingly applied to the fields of monitoring natural disasters and the like. The existing fixed inclinometer device is characterized in that an inclinometer probe similar to a movable inclinometer is fixedly arranged in an inclinometer pipe, and data are transmitted through a network to realize automatic monitoring. However, due to the fact that the probes are connected in parallel, outgoing lines are large, the number of installed probes is limited by the size and the manufacturing cost of the inclined tube, and therefore detection depth is insufficient or the accuracy is not high due to the fact that the distance between the probes is too large.

The fiber grating sensor has the characteristics of electromagnetic interference resistance, corrosion resistance, good durability and the like, is small in size, small in mass and convenient to lay and install, and has small influence on the performance, mechanical parameters and the like of a monitored object after being implanted. The deep horizontal displacement monitoring is researched by adopting an optical fiber Bragg grating sensing technology and a distributed optical fiber sensor, but an optical fiber testing instrument has the defects of high cost, high technical threshold and the like and is less applied to practical engineering.

Aiming at the current situation of an inclinometer, an inclinometer robot is designed with the aim of real accuracy. The wireless communication technology, the microprocessor technology and the robot technology are used for realizing the multi-point flexible data acquisition, the wireless data transmission and the detection process control.

Disclosure of Invention

In order to solve the above problems, the present application first proposes an inclinometer robot, which includes an inclinometer pipe, an inclinometer part, and a driving device; the inclinometer comprises an underground pipe extending along the vertical direction and a steering pipe arranged on the upper side of the underground pipe, wherein an outer sleeve is sleeved outside the steering pipe, the steering pipe is freely and rotatably arranged in the outer sleeve, and the underground pipe is communicated with the steering pipe up and down; the inclinometer comprises an inclinometer body, wherein the inclinometer body comprises a protective pipe and an inclinometer assembly arranged in the protective pipe;

a first guide groove for clamping the roller is arranged on the inner wall of the underground pipe, and the first guide groove extends along the vertical direction; a second guide groove for clamping the roller is arranged on the inner wall of the steering pipe, and the second guide groove extends in the vertical direction; the number of first guide grooves in the underground pipe is set as follows: the position of the inclinometer is kept still, and when the steering pipe rotates 180 degrees around the first central axis, the roller can still be clamped in the first guide groove;

the first guide groove can be communicated with the second guide groove, so that the roller can enter the second guide groove along the first guide groove, and when the steering pipe rotates 180 degrees, the roller still can enter the second guide groove along the first guide groove;

the driving device comprises a lifting part and a steering part, wherein the lifting part comprises a winch arranged on the supporting platform, a guide wheel and a first motor used for driving the winch to rotate; the winch is wound with a traction rope, the traction rope is connected to the protective pipe through a guide wheel, and under the driving of the first motor, the winch can drive the inclinometer to reciprocate in the inclinometer pipe along the up-down direction through the traction rope and drive the guide wheel to rotate; the steering part comprises a second motor which is arranged on the support platform and is used for driving the steering pipe to rotate; the first motor and the second motor are both stepping motors or servo motors.

In this application, set up the steering tube, make the inclinometer when entering into the steering tube, rotate the steering tube, can make the inclinometer rotate 180 to can make the inclinometer can carry out twice measurement on same incline direction, utilize twice measuring average value as the slope value of a certain height. The first motor and the second motor are respectively used for driving the inclinometer to move up and down and the steering tube to rotate, and the first motor and the second motor are both stepping motors or servo motors, so that the inclinometer can be accurately positioned, the height position determined when the inclinometer moves up and down can be detected, the inclinometer can accurately complete the steering of 180 degrees, and the inclination can be accurately measured.

Further, in order to ensure that the steering tube can be freely rotatably arranged on an outer sleeve, the outer sleeve is fixed on the ground; the inner wall of the upper end of the outer sleeve is radially and outwardly sunken to form an upper expanding part, so that the inner wall of the upper end of the outer sleeve forms an upward-facing upper step part; the inner wall of the lower end of the outer sleeve is radially and outwardly sunken to form a lower expanding part, so that a downward lower step part is formed on the inner wall of the lower end of the outer sleeve; the upper fixing piece is sleeved at the upper end of the steering tube, and an upper corner contact bearing is arranged between the upper fixing piece and the upper step part; the lower fixing piece is sleeved at the lower end of the steering tube, and a lower angle contact bearing is arranged between the lower fixing piece and the lower step part, so that the steering tube is freely rotatably arranged on the outer sleeve;

the underground pipe, the steering pipe and the outer sleeve are coaxially arranged, and the steering pipe is arranged right above the underground pipe.

Furthermore, in order to avoid the friction between the steering tube and the underground pipe during the rotation of the steering tube and influence the smooth rotation of the steering tube, a gap is arranged between the steering tube and the underground pipe. The gap between the steering pipe and the underground pipe is preferably 0.8-1.2 mm.

Specifically, in order to fix the outer sleeve, a centering flange is buried in the ground, a positioning part is arranged on the upper side surface of the centering flange, and the outer sleeve is fixedly clamped on the positioning part.

Furthermore, the inclinometer robot also comprises a measurement control system, wherein the measurement control system comprises a central processing unit, a first motor control unit, a second motor control unit and a storage unit which are connected with the central processing unit, and the central processing unit is also connected with a guide wheel speed detection unit and a position detection unit; wherein:

a first motor control unit which receives the control of the central processing unit and controls the operation of the first motor;

a second motor control unit which receives the control of the central processing unit and controls the operation of the second motor;

the device comprises a storage unit, a first control unit and a second control unit, wherein the storage unit stores a slope measuring mode and set control data, the set control data is at least one of a first set of control data and a second set of control data, and the first set of control data comprises a first set rotating speed of a guide wheel, a first set rotating time of the guide wheel, a first set rotating frequency of the guide wheel and a first set stopping time between two rotations of the guide wheel;

the second group of control data comprises a second set rotating speed of the guide wheel, a second set rotating time of the guide wheel, a second set rotating frequency of the guide wheel, a second set stopping time between two rotations of the guide wheel and a first measured height;

the inclination measuring mode is any one of two detection modes of detection from top to bottom or detection from bottom to top;

the guide wheel speed detection unit is used for detecting the rotating speed of the guide wheel and sending the rotating speed to the central processing unit;

the position detection unit is used for detecting whether the inclinometer is positioned in the steering pipe or not and transmitting a detection result to the central processing unit; the position detection unit comprises a Hall switch arranged in the rotary pipe and a magnet arranged on the inclinometer, and the Hall switch is connected to the central processing unit;

a central processing unit for executing any one of a first program and a second program;

the first program includes the steps of:

(1) receiving detection data of a position detection unit and an external input command, wherein the external input command comprises an inclinometry mode, and the inclinometry mode is a mode of detecting from top to bottom;

(2) detecting whether the inclinometer is positioned in the steering pipe or not through detection data of the position detection unit, sending a command to the first motor control unit when the inclinometer is not positioned in the steering pipe, starting the first motor, lifting the inclinometer into the steering pipe, and then executing the step (3); or when the inclinometer is positioned in the steering pipe, executing the step (3);

(3) sending a command to a first motor control unit, starting a first motor to enable the first motor to rotate forwards, and controlling the first motor according to the rotating speed of the guide wheel detected by the guide wheel speed detection unit to enable the guide wheel to rotate according to a first set rotating speed, a first set rotating time and a first set stopping time between two rotations of the guide wheel until the first set rotating times are completed; the traction rope drives the inclinometer to move downwards, and after the guide wheel stops rotating every time, the inclinometer records inclination angle data to complete first inclination angle data detection;

(4) sending a command to a first motor control unit to enable a first motor to rotate reversely, and lifting an inclinometer upwards into a steering pipe;

when the position detection unit detects that the inclinometer is positioned in the steering pipe, the position detection unit sends a detection result to the central processing unit, and the central processing unit sends a command to the second motor control unit to enable the second motor to rotate forwards, so that the steering pipe is driven to rotate forwards by 180 degrees, and the inclinometer is driven to rotate forwards by 180 degrees;

(5) sending a command to the first motor control unit again, starting the first motor to enable the first motor to rotate forwards, and controlling the first motor according to the rotating speed of the guide wheel detected by the guide wheel speed detection unit to enable the guide wheel to rotate according to the first set rotating speed, the first set rotating time and the first set stopping time between two rotations of the guide wheel until the first set rotating times are completed; the traction rope drives the inclinometer to move downwards, and after the guide wheel stops rotating every time, the inclinometer records inclination angle data to complete second inclination angle data detection;

(6) sending a command to a first motor control unit to enable a first motor to rotate reversely, and lifting an inclinometer upwards into a steering pipe; sending a command to a second motor control unit to enable a second motor to rotate reversely, driving the steering tube to rotate reversely by 180 degrees and driving the inclinometer to rotate reversely by 180 degrees;

(7) stopping working and waiting for the next external input command;

the second program includes the steps of:

(8) receiving detection data of a position detection unit and an external input command, wherein the external input command comprises an inclinometry mode, and the inclinometry mode is from bottom to top;

(9) detecting whether the inclinometer is positioned in the steering pipe or not through detection data of the position detection unit, sending a command to the first motor control unit when the inclinometer is not positioned in the steering pipe, starting the first motor, lifting the inclinometer into the steering pipe, and then executing the step (10); or when the inclinometer is positioned in the steering pipe, executing the step (10);

(10) sending a command to a first motor control unit, starting a first motor, enabling the first motor to rotate forwards, and sinking the inclinometer to the first measurement height;

(11) sending a command to a first motor control unit to enable a first motor to rotate reversely, and enabling a guide wheel to rotate according to a second set rotating speed, a second set rotating time and a second set stopping time between two rotations of the guide wheel until the second set rotating times are finished; the traction rope drives the inclinometer to move upwards, and after the guide wheel stops rotating every time, the inclinometer records inclination angle data to complete first inclination angle data detection;

(12) sending a command to a first motor control unit to enable a first motor to keep reversing, and lifting an inclinometer upwards into a steering pipe;

(13) sending a command to the first motor control unit again, starting the first motor to enable the first motor to rotate forwards, and sinking the inclinometer to the first measurement position;

(14) sending a command to a first motor control unit to enable a first motor to rotate reversely, and controlling the first motor according to the rotating speed of the guide wheel detected by the guide wheel speed detection unit to enable the guide wheel to rotate according to a second set rotating speed, a second set rotating time and a second set stopping time between two rotations of the guide wheel until the second set rotating times are finished; the traction rope drives the inclinometer to move upwards, and after the guide wheel stops rotating every time, the inclinometer records inclination angle data to complete second inclination angle data detection;

(15) sending a command to a first motor control unit to enable a first motor to keep reversing, and lifting an inclinometer upwards into a steering pipe; sending a command to a second motor control unit to enable a second motor to rotate reversely, driving the steering tube to rotate reversely by 180 degrees and driving the inclinometer to rotate reversely by 180 degrees;

(16) and stopping working and waiting for the next external input command.

Two measuring method programs are arranged in the measuring system of the inclinometer robot, and one of the two measuring method programs can be independently selected according to different requirements. In the two measurement methods, two times of measurement are carried out, the detection result takes the average value of the two times of detection as the final detection value, and in the two times of measurement, the inclinometer is rotated by 180 degrees, so that the detection data are more accurate, zero drift and instrument assembly errors exist in single detection, and the errors can be well eliminated by adopting the two times of detection.

Furthermore, in order to keep the normal operation of the inclination measuring assembly, the inclination measuring assembly comprises an inclination angle detection part and a battery module, a wireless charging module is arranged on the ground, the wireless charging module is used for wirelessly charging the battery module, and the battery module is connected with the inclination angle detection part and used for supplying power to the inclination angle sensing part;

the inclination angle detection part comprises an inclination angle sensor, a data storage module, an LORA wireless data transmitter, an acceleration sensor and a microprocessor, wherein the inclination angle sensor, the data storage module, the LORA wireless data transmitter and the acceleration sensor are respectively connected with the microprocessor; the LORA wireless data transmitter is connected with an external remote server and used for transmitting data to the remote server; wherein:

the inclination angle sensor is used for detecting inclination data and storing the data into the data storage module;

an acceleration sensor for detecting an acceleration of the inclinometer;

the microprocessor is used for coordinating the work of the inclination angle sensor, the data storage module, the LORA wireless data transmitter and the acceleration sensor;

in the step (3) and the step (5), when the acceleration sensor detects that the downward acceleration is zero and lasts for a first set time, the tilt sensor collects detection data and stores the collected data in the data storage module, wherein the first set time is less than a first set stop time between two rotations of the guide wheel;

in the step (11) and the step (14), after the acceleration sensor detects that the upward acceleration is zero and lasts for a second set time, the tilt sensor collects detection data and stores the collected data in the data storage module, wherein the second set time is less than a second set stop time between two rotations of the guide wheel.

In this application, data storage module has been set up, in the testing process, the detection data that obtain is by temporary storage in storage module, when the inclinometer rises to the top of inclinometer pipe, rethread LORA wireless data transmitter will detect during data transmission reaches outside remote server, avoid the inclinometer to be located underground, owing to receive signal shielding and can't be with the outside drawback of sending of data, utilize LORA wireless data transmitter to transmit the detection data, can reduce arranging of data line, when this application is used for the gradient of foundation ditch to detect, the reduction of data line can reduce the influence to the construction.

The arrangement of the acceleration sensor can enable the detection of data to be more accurate and controllable, at present, the detection of the inclination data basically depends on the inclination sensor to detect a large amount of data, the stable part of the data is taken as final detection data, the detection method can detect the inclination, but needs to process a large amount of detection data, not only increases the operation amount of a processor, but also cannot accurately control the detection process, in the application, the acceleration sensor is utilized to determine the detection time point, the detection times are reduced, the processing of the detection data can be reduced, the detection effect is improved, the detection accuracy is also improved, on the basis, the appropriate detection speed can be set according to the specific processing capacity of the selected equipment, the use efficiency of the equipment is improved, and meanwhile, according to the specific detection accuracy requirement, to select the appropriate inspection equipment to control inspection costs.

Further, in order to guarantee the normal work of the inclinometer and enable the inclinometer to work at any time, the inclinometer can work at any time when needed and work at any time, and when the inclinometer enters the steering pipe, the wireless charging module wirelessly charges the battery module.

Further, in order to deal with the condition of sudden power failure, the measurement control system also comprises a power detector connected to the central processing unit, wherein the power detector is used for detecting the input power of the first motor;

in the detection process, when the first motor is powered off, after the first motor is powered back, the first motor is enabled to rotate forwards, the inclinometer is lowered along the inclinometer pipe, the input power of the first motor is detected, when the power detector detects that the input power of the first motor is lower than the set power, preferably when the power detector detects that the input power of the first motor is lower than 20% of the set power, the inclinometer is judged to reach the bottom of the underground pipe, then the first motor is enabled to rotate backwards, the inclinometer is lifted into the steering pipe, and then corresponding steps are executed according to a lateral inclination mode:

when the inclination measuring mode is from top to bottom, then executing the step (2) to the step (7);

when the inclination measuring mode is from bottom to top, the steps (9) to (16) are executed.

By means of the design, the system can actively cope with the power failure accident, and when the power failure accident happens, the system can automatically detect again without manual intervention, so that the workload of monitoring personnel can be reduced, and the working effect of equipment is improved.

Further, in order to enable the inclinometer to accurately reach the first measurement height, a third set rotating speed of the guide wheel and a third set rotating time of the guide wheel are stored in the storage unit, in the step (10) and the step (13), the guide wheel is controlled to rotate at the third set rotating speed, and when the third set rotating time is reached, the inclinometer reaches the first measurement height.

Further, the measurement control system also comprises a power detector connected to the central processing unit, the power detector is used for detecting the input power of the first motor;

and (3) when the initial measurement position is located at the bottom of the underground pipe, in the step (10) and the step (13), detecting the input power of the first motor in the sinking process of the inclinometer, and when the power detector detects that the input power of the first motor is lower than the set power, judging that the inclinometer reaches the bottom of the underground pipe, namely the inclinometer reaches the initial measurement height.

When the height is measured at the bottom of the inclinometer pipe for the first time, whether the inclinometer reaches the bottom of the inclinometer pipe, namely the bottom of the underground pipe, can be accurately judged by adopting the method.

Secondly, the application also provides an inclination measuring method which is carried out by adopting the inclination measuring robot and is any one of the first measuring method and the second measuring method;

the first measurement method includes the steps of:

(1) the central processing unit receives an externally input starting command, wherein the externally input command comprises an inclinometry mode, and the inclinometry mode is to detect from top to bottom;

(2) detecting whether the inclinometer is positioned in the steering pipe or not through a position detection unit; when the inclinometer is not positioned in the steering pipe, sending a command to the first motor control unit, starting the first motor, lifting the inclinometer into the steering pipe, and then executing the step (3); or when the inclinometer is positioned in the steering pipe, executing the step (3);

(3) starting a first motor to enable the first motor to rotate forwards, controlling the first motor to enable a guide wheel to rotate according to a first set rotating speed, a first set rotating time and a first set stopping time between two rotations of the guide wheel until the first set rotating times are finished; the traction rope drives the inclinometer to move downwards, and after the guide wheel stops rotating every time, the inclinometer records inclination angle data to complete first inclination angle data detection;

(4) the first motor is reversely rotated, and the inclinometer is lifted upwards into the steering pipe; when the inclinometer is positioned in the steering pipe, the second motor rotates forwards to drive the steering pipe to rotate forwards by 180 degrees and drive the inclinometer to rotate forwards by 180 degrees;

(5) starting the first motor again to enable the first motor to rotate forwards, controlling the first motor to enable the guide wheel to rotate according to the first set rotating speed, the first set rotating time and the first set stopping time between two rotations of the guide wheel until the first set rotating times are completed; the traction rope drives the inclinometer to move downwards, and the inclinometer records inclination angle data after the guide wheel stops rotating every time;

(6) the first motor is reversely rotated, and the inclinometer is lifted upwards into the steering pipe; the second motor is reversely rotated to drive the steering tube to reversely rotate for 180 degrees and drive the inclinometer to reversely rotate for 180 degrees;

(7) stopping working and waiting for the next external input command;

(8) the central processing unit receives an externally input starting command, wherein the externally input command comprises an inclination measuring mode, and the inclination measuring mode is from bottom to top;

(9) detecting whether the inclinometer is positioned in the steering pipe or not through the position detection unit, sending a command to the first motor control unit when the inclinometer is not positioned in the steering pipe, starting the first motor, lifting the inclinometer into the steering pipe, and then executing the step (10); or when the inclinometer is positioned in the steering pipe, executing the step (10);

(10) starting a first motor to enable the first motor to rotate forwards, and sinking the inclinometer to the first measurement height;

(11) the first motor is controlled to rotate reversely, so that the guide wheel rotates according to a second set rotating speed, a second set rotating time and a second set stopping time between two rotations of the guide wheel until a second set rotating frequency is finished; the traction rope drives the inclinometer to move upwards, and after the guide wheel stops rotating every time, the inclinometer records inclination angle data to complete first inclination angle data detection;

(12) keeping the first motor in reverse rotation, and lifting the inclinometer upwards into the steering pipe; when the inclinometer is positioned in the steering pipe, the second motor rotates forwards to drive the steering pipe to rotate forwards by 180 degrees and drive the inclinometer to rotate forwards by 180 degrees;

(13) sending a command to the first motor control unit again to enable the first motor to rotate forwards and sink the inclinometer to the first measurement position;

(14) starting the first motor again to enable the first motor to rotate reversely, controlling the first motor to enable the guide wheel to rotate according to a second set rotating speed, a second set rotating time and a second set stopping time between two rotations of the guide wheel until the second set rotating times are finished; the traction rope drives the inclinometer to move upwards, and after the guide wheel stops rotating every time, the inclinometer records inclination angle data to complete second inclination angle data detection;

(15) keeping the first motor in reverse rotation, and lifting the inclinometer upwards into the steering pipe; the second motor is reversely rotated to drive the steering tube to reversely rotate for 180 degrees and drive the inclinometer to reversely rotate for 180 degrees;

(16) and stopping working and waiting for the next external input command.

In the inclination measuring method, two measuring methods are provided for selection, and in a specific detection process, the selection can be carried out according to specific requirements. In the two measurement methods, two times of measurement are carried out, the detection result takes the average value of the two times of detection as the final detection value, and in the two times of measurement, the inclinometer is rotated by 180 degrees, so that the detection data are more accurate, zero drift and instrument assembly errors exist in single detection, and the errors can be well eliminated by adopting the two times of detection.

Further, in order to keep the normal work of the inclination measuring assembly, the inclinometer comprises an inclination angle detection part and a battery module, wherein a wireless charging module is arranged on the ground and used for wirelessly charging the battery module, and the battery module is connected with the inclination angle detection part;

an acceleration sensor for detecting an acceleration of the inclinometer;

in the step (3) and the step (5), when the acceleration sensor detects that the downward acceleration is zero and lasts for a first set time, the tilt sensor carries out detection data acquisition and stores the acquired data in the data storage module, wherein the first set time is less than the set stop time between two rotations of the guide wheel;

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is a left side view of fig. 1.

Fig. 3 is an enlarged view taken along line a-a in fig. 1.

Fig. 4 is an enlarged view of a portion B in fig. 1.

Fig. 5 is an enlarged view of a portion C in fig. 1.

Fig. 6 is a measurement control system diagram.

FIG. 7 is a system diagram of a inclinometer assembly.

Detailed Description

First, the inclinometer will be explained below.

Referring to fig. 1 to 5, the inclinometer robot comprises an inclinometer pipe, an inclinometer part and a driving device.

The inclinometer comprises an underground pipe 11 extending in the vertical direction and a steering pipe 16 arranged on the upper side of the underground pipe, wherein an outer sleeve 63 is sleeved outside the steering pipe, and the steering pipe is rotatably arranged in the outer sleeve. The underground pipe and the steering pipe are communicated up and down.

This inclinometer includes inclinometer 30, and this inclinometer 30 includes protective tube 31, installs the inclinometry subassembly in this protective tube, installs two sets of gyro wheels in the outside of protective tube 31, and this protective tube 31 has the first central axis 311 who extends along vertical direction.

The length of the steerer tube, in the vertical direction, is at least such that the two sets of wheels of the inclinometer are all located within the steerer tube.

In this embodiment, each set of rollers includes two rollers 32 disposed along the vertical direction, wherein each roller of one set of rollers is vertically opposite to one roller of the other set of rollers. Two rollers in each group of rollers are symmetrically arranged on the outer side of the protective pipe.

Two first guide grooves 12 for clamping the rollers are formed in the inner wall of the underground pipe 11, two second guide grooves 18 for clamping the rollers are formed in the inner wall of the steering pipe 16, and the first guide grooves 12 and the second guide grooves 18 extend in the vertical direction. Wherein two first guide grooves are symmetrically arranged on the inner wall of the underground pipe, two second guide grooves are symmetrically arranged on the inner wall of the steering pipe, and the two first guide grooves can be respectively communicated with one second guide groove, so that the roller can enter the second guide grooves along the first guide grooves. When the steering pipe rotates 180 degrees, the two first guide grooves can still be respectively communicated with one second guide groove, so that the roller can still enter the second guide groove along the first guide groove.

That is, the number of the first guide grooves in the underground pipe is set to: the position of the inclinometer is kept still, and when the steering pipe rotates 180 degrees around the first central axis, the roller can still be clamped in the first guide groove; this first guide way can communicate with the second guide way mutually, makes the gyro wheel can follow first guide way and enters into the second guide way in, and when the steering tube rotated 180, the gyro wheel still can follow first guide way and enter into the second guide way in.

In this embodiment, the number of the first guide grooves and the second guide grooves is the same as the number of the rollers in each group of rollers, and it can be understood that in other embodiments, the number of the first guide grooves and the second guide grooves may be more than the number of the rollers in each group, so as to measure the inclinations in different directions by using the same inclinometer,

it will be appreciated that in other embodiments, each set of rollers may further include an even number of rollers, such as four or six rollers, which are circumferentially and uniformly disposed on the shielding tube, but it is not desirable to dispose too many rollers or an odd number of rollers, and the number of rollers is too many, which has no other benefit except for increasing the cost. Odd number gyro wheel needs to set up more first guide way of quantity, just can make the steering tube when rotating 180, and the gyro wheel still can enter into the second guide way along first guide way.

The driving device comprises a lifting part and a steering part, wherein the lifting part comprises a winch 53 arranged on a support platform 51, a guide wheel 54 and a first motor 52 for driving the winch to rotate; the capstan 53 is wound with a pulling rope 55, the pulling rope 55 is connected to the shielding tube 3 through a guide wheel 54, and the capstan can drive the inclinometer 30 to reciprocate up and down in the inclinometer through the pulling rope 55 and drive the guide wheel to rotate 54 by the driving of the first motor 52. The steering section includes a second motor 42 mounted on the support table for driving the steering tube in rotation. The first motor and the second motor are both stepping motors, and it is understood that in other embodiments, the first motor and the second motor may also be servo motors, or one of the first motor and the second motor may be a stepping motor and the other may be a servo motor.

In this embodiment, the output shaft of the second motor 42 extends downward in the vertical direction, the first pulley 43 is mounted on the output shaft of the second motor, the second pulley 19 is fixedly mounted on the outer wall of the steering tube 16, and the timing belt 44 is wound around the first pulley 43 and the second pulley 19.

A centering flange 61 is embedded in the ground, the centering flange 61 includes a flange 611 having a central hole, the flange 611 extends in the horizontal direction, an annular limiting ring 612 is disposed above the flange 611, the limiting ring is formed by an upper surface 614 of the flange protruding upward, the outer sleeve is fixedly supported on the upper surface 614 of the flange and abuts against an inner circumferential surface 613 of the limiting ring, and the inner circumferential surface and the central hole of the limiting ring are disposed coaxially with the outer sleeve. Anchor bolts 62 secure the centering flange to the ground. In order to avoid the outer sleeve from tilting, the outer sleeve 63 is fixedly connected to the supporting platform 51 through the connecting plate 511 in this embodiment.

The limiting ring is formed into a positioning part, namely, the positioning part is arranged on the upper side surface of the centering flange, and the outer sleeve is fixedly clamped on the positioning part. That is, the outer sleeve 63 is indirectly secured to the ground via the centering flange, it being understood that in other implementations, the outer sleeve 63 may be directly secured to the ground using a connector or concrete.

Referring to fig. 4 and 5, the underground pipe, the steering pipe and the outer sleeve are coaxially arranged, and the steering pipe is arranged right above the underground pipe. The first central axis 311 becomes a common central axis of the underground pipe, the steering pipe, and the outer tube.

The inner wall of the upper end of the outer sleeve 63 is radially and outwardly concave to form an upper expanding part 631, so that the inner wall of the upper end of the outer sleeve forms an upward-facing upper step part 632; the inner wall of the lower end of the outer sleeve 63 is recessed radially outwardly to form a lower enlarged diameter portion 636, so that the inner wall of the lower end of the outer sleeve forms a downward facing lower step portion 637.

The upper corner contact bearing 67 is sleeved on the upper end of the steering tube 16 and is pressed against the upper step part, the upper hoop 66 is tightly fixed on the upper end of the steering tube, and the upper hoop 66 tightly presses the upper corner contact bearing 67 against the upper step part. The upper anchor ear 66 is formed as an upper fixture. The lower corner contact bearing 64 is sleeved on the lower end of the steering tube 16 and abuts against the lower step part, the lower anchor ear 65 is tightly fixed on the lower end of the steering tube, and the lower anchor ear 65 tightly abuts against the lower step part against the lower contact bearing 64. The lower anchor ear 65 is formed as a lower fixture.

The upper corner contact bearing 67 and the lower corner contact bearing 64 are rotatably attached to the outer tube.

Namely, an upper corner contact bearing is arranged between the upper fixing piece and the upper step part; a lower corner contact bearing is installed between the lower fixing member and the lower step portion, so that the steering tube is rotatably installed on the outer tube.

In order to avoid friction between the pipe and the underground pipe, which affects the flexibility of the pipe, in the present embodiment, a gap, specifically 1mm, is provided between the lower end surface 17 of the pipe and the upper end surface 13 of the underground pipe. It will be appreciated that in other embodiments the clearance between the steering tube and the subterranean zone may be 0.8mm, 0.9mm, 1.1mm or 1.2mm, although there may be other data between 0.8 and 1.2 mm.

Referring to fig. 6, in the present embodiment, the inclinometer robot further includes a measurement control system 700, where the measurement control system 700 includes a central processing unit 701, and a first motor control unit 702, a second motor control unit 703 and a storage unit 704 connected to the central processing unit 701, and the central processing unit is further connected to a guide wheel speed detection unit 705, a position detection unit 706 and a power detector 709. Wherein:

and a first motor control unit which receives the control of the central processing unit and controls the operation of the first motor.

And a second motor control unit which receives the control of the central processing unit and controls the operation of the second motor.

The storage unit stores a slope measuring mode and set control data, wherein the set control data comprises a first set of control data and a second set of control data, the first set of control data comprises a first set rotating speed of the guide wheel, a first set rotating time of the guide wheel, a first set rotating frequency of the guide wheel and a first set stopping time between two rotations of the guide wheel.

The second set of control data comprises a second set rotation speed of the guide wheel, a second set rotation time of the guide wheel, a second set rotation number of the guide wheel, a second set stop time between two rotations of the guide wheel, and a first measured height.

It will be appreciated that in other embodiments, the setting control data may comprise only the first set of control data or only the second set of control data.

In this embodiment, the inclinometry mode includes that the top is detected downwards or is detected two kinds of detection modes from the bottom up. It will be appreciated that in other embodiments, the inclinometer may further include detection from the top down or only from the bottom up.

And the guide wheel speed detection unit is used for detecting the rotating speed of the guide wheel and sending the rotating speed to the central processing unit. The position detection unit is used for detecting whether the inclinometer is positioned in the steering pipe or not and transmitting a detection result to the central processing unit; the position detection unit includes a hall switch mounted in the rotary tube and a magnet mounted on the inclinometer, the hall switch being connected to the central processing unit.

The first set rotating speed and the second set rotating speed of the guide wheel can enable the inclinometer to move in the vertical direction at the speed of 0.05/second, the first set rotating time and the second set rotating time of the guide wheel are both 10 seconds, the first set rotating time and the second set rotating time of the guide wheel are both 10 times, and the first set stopping time and the second set stopping time between two rotations of the guide wheel are both 15 seconds.

Of course, in other embodiments, the first set rotational speed and the second set rotational speed of the guide wheel may also be different, for example, the first set rotational speed of the guide wheel may be set to enable the inclinometer to move in the vertical direction at a speed of 0.04/sec, while the second set rotational speed of the guide wheel may be set to enable the inclinometer to move in the vertical direction at a speed of 0.09/sec.

The first set rotation time and the second set rotation time of the guide wheel may also be different, for example 8 seconds for the first set rotation time and 15 seconds for the second set rotation time of the guide wheel.

The first set number of rotations and the second set number of rotations of the guide wheel may also be different, for example 8 for the first set number of rotations and 20 for the second set number of rotations of the guide wheel.

The first set stop time and the second set stop time between two rotations of the guide wheel may also be different, for example 12 seconds for the first set stop time and 19 seconds for the second set stop time.

The setting of the above data is exemplary, and in a specific operation, the specific setting may be performed according to different requirements.

A guide wheel speed detection unit 705 for detecting the rotational speed of the guide wheel 54 and transmitting the rotational speed to the central processing unit; in this embodiment, the guide wheel speed detection unit 705 is a rotary encoder (specific type).

A position detection unit 706 for detecting whether the inclinometer 30 is located in the steering tube 16, and transmitting the detection result to the central processing unit; the position detection unit 706 comprises a hall switch 707 mounted on the inner wall of the rotary tube, which is in particular mounted on the inner wall of the shielding tube 31, and a magnet 708 mounted on the inclinometer, which is connected to the central processing unit 701.

The power detector is used for detecting the input power of the first motor. The power detector is a power meter.

A central processing unit 701 for executing any one of a first program and a second program;

the first program includes the steps of:

(1) receiving the detection data of the position detection unit 708 and an external input command, where the external input command includes an inclinometry mode, and the inclinometry mode is a top-down detection mode;

(2) receiving the detection data of the hall switch of the position detection unit 708, detecting whether the inclinometer 30 is located in the steering tube 16 through the detection data of the position detection unit 706, sending a command to the first motor control unit when the inclinometer is not located in the steering tube, starting the first motor, lifting the inclinometer into the steering tube, and then executing the step (3); or when the inclinometer is positioned in the steering pipe, executing the step (3).

(7) stopping working and waiting for the next external input command;

the second program includes the steps of:

(8) receiving the detection data of the position detection unit 708 and an external input command, where the external input command includes an inclinometry mode, and the inclinometry mode is a mode of detection from bottom to top;

(9) receiving detection data of a hall switch of the position detection unit 708, detecting whether the inclinometer 30 is located in the steering tube 16 through the detection data of the position detection unit 706, sending a command to the first motor control unit when the inclinometer is not located in the steering tube, starting the first motor, lifting the inclinometer into the steering tube, and then executing the step (10); or when the inclinometer is located in the steering tube, performing step (10).

(16) and stopping working and waiting for the next external input command.

Referring to fig. 7, in the present embodiment, the inclination measuring assembly 800 includes an inclination detecting portion 810 and a battery module 820, a wireless charging module 830 is disposed on the ground, the wireless charging module 830 is used for wirelessly charging the battery module 820, and the battery module is connected to the inclination detecting portion and is used for supplying power to the inclination sensing portion.

The tilt angle detection unit 810 includes a tilt angle sensor 802, a data storage module 804, a LORA wireless data transmitter 803, an acceleration sensor 805, and a microprocessor 801, to which the tilt angle sensor, the data storage module, the LORA wireless data transmitter, and the acceleration sensor are connected, respectively. The LORA wireless data transmitter is connected to an external remote server 850 and is used to transmit data to the remote server 850. Wherein:

and the inclination angle sensor is used for detecting inclination data and storing the data into the data storage module. The inclination angle sensor specifically adopts an MPU-6050 inclination angle sensor, integrates a three-axis accelerometer and a three-axis gyroscope, and solves a real-time stable three-axis attitude angle by reading original data of three-axis acceleration, three-axis angular velocity and the like of the sensor and applying an attitude dynamics core algorithm and combining a high dynamic Kalman filtering fusion algorithm.

And the acceleration sensor is used for detecting the acceleration of the inclination measurement. The acceleration sensor is integrated in the MPU-6050 chip.

And the microprocessor is used for coordinating the work of the inclination angle sensor, the data storage module, the LORA wireless data transmitter and the acceleration sensor. The microprocessor adopts STM32F103 series chips, and the microprocessor is used as the core of the whole inclination measuring sensor and controls the measurement of inclination angles, the storage of data and wireless communication.

The data storage module 804 is an AT24C04 chip.

The LORA wireless data transmitter 803 is an SX1268 chip, which is a long-distance, low-power consumption wireless transceiver, and is a high-performance internet of things wireless transceiver.

The battery module 820 comprises a rechargeable battery 808 and a T3168 chip 807 connected to the rechargeable battery, wherein the T3168 chip is a charging receiving terminal and is used for receiving electric energy emitted by the wireless charging module. The wireless module of charging is XKT-510 chip, and this wireless module of charging is the transmitting terminal that charges. The XKT-510 chip is used in cooperation with a charging circuit T3168 chip, which is a rechargeable battery, for charging the rechargeable battery.

In the step (3) and the step (5), when the acceleration sensor detects that the downward acceleration is zero and lasts for a first set time, the tilt sensor carries out detection data acquisition and stores the acquired data in the data storage module, wherein the first set time is less than the set stop time between two rotations of the guide wheel. The first set time is 11 seconds.

In the step (11) and the step (14), after the acceleration sensor detects that the upward acceleration is zero and lasts for a second set time, the tilt sensor collects detection data and stores the collected data in the data storage module, wherein the second set time is less than a second set stop time between two rotations of the guide wheel. The first set time is 12 seconds.

When the inclinometer enters the steering pipe, the wireless charging module wirelessly charges the battery module.

In the testing process, when the outage condition appears in first motor, after first motor resumes the power supply, make first motor corotation, descend the inclinometer along the inclinometer pipe, detect the input power of first motor, when power detector detected the input power of first motor and is less than the settlement power, judge that the inclinometer reachs the bottom of underground pipe, then make first motor reversal, promote the inclinometer to in the steering pipe, then carry out corresponding step according to the skew mode:

when the inclination measuring mode is from bottom to top, the steps (98) to (16) are executed.

In this embodiment, it is preferable that the power detector determines that the inclinometer reaches the bottom of the underground pipe when detecting that the input power of the first motor is lower than 20% of the set power, specifically, in this embodiment, the set power of the first motor is 10W, and when the power detector detects that the input power of the first motor is lower than 2W, the inclinometer reaches the bottom of the underground pipe.

And (3) controlling the guide wheel to rotate at a third set rotating speed in steps (10) and (13), and when the third set rotating time is reached, the inclinometer reaches the first height measurement.

Or, the measurement control system further comprises a power detector connected to the central processing unit, the power detector is used for detecting the input power of the first motor;

The inclination measuring method is explained below.

The inclination measuring method is specifically performed by using the above-mentioned inclinometer robot, and in this embodiment, a first measuring method is specifically used, which includes the following steps:

(7) and stopping working and waiting for the next external input command.

In the first measurement method, the inclinometer comprises an inclination angle detection part and a battery module, wherein a wireless charging module is arranged on the ground and used for wirelessly charging the battery module, and the battery module is connected with the inclination angle detection part;

an acceleration sensor for detecting an acceleration of the inclinometer;

and the microprocessor is used for coordinating the work of the inclination angle sensor, the data storage module, the LORA wireless data transmitter and the acceleration sensor.

In the step (3) and the step (5), when the acceleration sensor detects that the downward acceleration is zero and lasts for a first set time, the tilt sensor carries out detection data acquisition and stores the acquired data in the data storage module, wherein the first set time is less than the set stop time between two rotations of the guide wheel.

It is understood that in another embodiment, the inclination measuring method may also adopt a second measuring method, including the steps of:

(9) detecting whether the inclinometer is positioned in the steering pipe or not through the position detection unit, sending a command to the first motor control unit when the inclinometer is not positioned in the steering pipe, starting the first motor, lifting the inclinometer into the steering pipe, and then executing the step (9); or when the inclinometer is positioned in the steering pipe, executing the step (9);

(16) and stopping working and waiting for the next external input command.

In the second measurement method, the inclinometer also comprises an inclination angle detection part and a battery module, wherein a wireless charging module is arranged on the ground and used for wirelessly charging the battery module, and the battery module is connected with the inclination angle detection part;

an acceleration sensor for detecting an acceleration of the inclinometer;

Claims

1. An inclinometry robot is characterized by comprising an inclinometry pipe, an inclinometry part and a driving device;

the inclinometer comprises an underground pipe extending along the vertical direction and a steering pipe arranged on the upper side of the underground pipe, wherein an outer sleeve is sleeved outside the steering pipe, the steering pipe is freely and rotatably arranged in the outer sleeve, and the underground pipe is communicated with the steering pipe up and down;

the inclinometer comprises an inclinometer body, wherein the inclinometer body comprises a protective pipe and an inclinometer assembly arranged in the protective pipe;

a first guide groove for clamping the roller is arranged on the inner wall of the underground pipe, and the first guide groove extends along the vertical direction; a second guide groove for clamping the roller is arranged on the inner wall of the steering pipe, and the second guide groove extends in the vertical direction; the number of first guide grooves in the underground pipe is set as follows: the position of the inclinometer is kept still, and when the steering pipe rotates 180 degrees around the first central axis, the roller can still be clamped in the first guide groove; this first guide way can communicate with the second guide way mutually, makes the gyro wheel can follow first guide way and enters into the second guide way in, and when the steering tube rotated 180, the gyro wheel still can follow first guide way and enter into the second guide way in.

The driving device comprises a lifting part and a steering part, wherein the lifting part comprises a winch arranged on the supporting platform, a guide wheel and a first motor used for driving the winch to rotate; the winch is wound with a traction rope, the traction rope is connected to the protective pipe through a guide wheel, and under the driving of the first motor, the winch can drive the inclinometer to reciprocate in the inclinometer pipe along the up-down direction through the traction rope and drive the guide wheel to rotate; the steering part comprises a second motor which is arranged on the support platform and is used for driving the steering pipe to rotate;

the first motor and the second motor are both stepping motors or servo motors.

2. The inclinometer robot according to claim 1,

the outer sleeve is fixed on the ground; the inner wall of the upper end of the outer sleeve is radially and outwardly sunken to form an upper expanding part, so that the inner wall of the upper end of the outer sleeve forms an upward-facing upper step part; the inner wall of the lower end of the outer sleeve is radially and outwardly sunken to form a lower expanding part, so that a downward lower step part is formed on the inner wall of the lower end of the outer sleeve; the upper fixing piece is sleeved at the upper end of the steering tube, and an upper corner contact bearing is arranged between the upper fixing piece and the upper step part; the lower fixing piece is sleeved at the lower end of the steering tube, and a lower angle contact bearing is arranged between the lower fixing piece and the lower step part, so that the steering tube is freely rotatably arranged on the outer sleeve;

3. The inclinometer robot according to claim 2, characterized in that there is a gap between the steering pipe and the underground pipe.

4. The inclinometer robot as claimed in claim 1, wherein a centering flange is buried in the ground, a positioning part is provided on the upper side surface of the centering flange, and the outer sleeve is fixedly clamped on the positioning part.

5. The inclinometer robot according to claim 1,

the device also comprises a measurement control system, wherein the measurement control system comprises a central processing unit, a first motor control unit, a second motor control unit and a storage unit which are connected with the central processing unit, and the central processing unit is also connected with a guide wheel speed detection unit and a position detection unit; wherein:

the first program includes the steps of:

(7) stopping working and waiting for the next external input command;

the second program includes the steps of:

(16) and stopping working and waiting for the next external input command.

6. The inclinometer robot according to claim 5,

the inclination measuring assembly comprises an inclination angle detection part and a battery module, wherein a wireless charging module is arranged on the ground and used for wirelessly charging the battery module, and the battery module is connected with the inclination angle detection part and used for supplying power to the inclination angle sensing part;

an acceleration sensor for detecting an acceleration of the inclinometer;

7. The inclinometer robot according to claim 6,

8. The inclinometer robot according to claim 5,

the measurement control system also comprises a power detector connected to the central processing unit, the power detector is used for detecting the input power of the first motor;

9. The inclinometer robot according to claim 5,

10. The inclinometer robot according to claim 5,

11. An inclination measuring method performed by the inclinometer robot according to claim 5, comprising any one of a first measuring method and a second measuring method;

the first measurement method includes the steps of:

(7) stopping working and waiting for the next external input command;

the second program includes the steps of:

(16) and stopping working and waiting for the next external input command.

12. Inclination measuring method according to claim 11,

the inclinometer comprises an inclination angle detection part and a battery module, wherein a wireless charging module is arranged on the ground and used for wirelessly charging the battery module, and the battery module is connected with the inclination angle detection part;

an acceleration sensor for detecting an acceleration of the inclinometer;