CN115200535A - Two-axis-driven angle sensor calibration device and method - Google Patents
Two-axis-driven angle sensor calibration device and method Download PDFInfo
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- CN115200535A CN115200535A CN202211098724.5A CN202211098724A CN115200535A CN 115200535 A CN115200535 A CN 115200535A CN 202211098724 A CN202211098724 A CN 202211098724A CN 115200535 A CN115200535 A CN 115200535A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention discloses a device and a method for calibrating an angle sensor driven by two shafts, wherein the device comprises a bottom plate, a left supporting plate and a right supporting plate; the first motor is mounted on the left supporting plate through the first motor mounting base, the first rotating platform is connected between the first motor and the right supporting plate, and the first rotating platform rotates along with the first motor; the first rotating platform is provided with a second motor, and the second rotating platform is arranged on the second motor through a rotating shaft and rotates along with the second motor; a standard angle sensor is fixed on one side of the second rotating platform, and an angle sensor to be measured is fixed on the other side of the second rotating platform in a symmetrical position; and the upper computer simultaneously receives the detection signal of the angle sensor to be detected and the detection signal of the standard angle sensor, and compares the detection signals so as to judge whether the detection result of the angle sensor to be detected meets the requirement. The two-axis driven angle sensor calibration device can realize the calibration of the three-axis angle sensor and is also suitable for one-dimensional or two-dimensional angle sensors.
Description
Technical Field
The invention relates to the technical field of sensor calibration, in particular to a calibration device and method for a two-axis-driven angle sensor.
Background
The angle sensor is widely applied to electric power systems, such as electric power supporting equipment monitoring, tower horizontal angle measurement, transmission line conductor sag measurement, insulator windage yaw angle measurement and the like.
Remote transmission leaves can not open electric power support equipment's traction, for example common electric tower, the structure is mostly the steel construction and constitutes, but because open-air environment complexity, various condition such as strong wind or mud-rock flow can lead to the support equipment structure to warp, and to the steel construction, the node of connection is the place that warp most easily, warp and will be accompanied by the change of contained angle between its structure, if can not in time master its condition, lead to the condition to worsen, can influence normal transmission of electricity, cause the great economic loss.
The horizontal angle of the high-voltage transmission line tower is an important index for reflecting the operation state of the tower. Due to the influences of ice coating, conductor waving and the like, collapse accidents of the high-voltage transmission line tower sometimes occur. The measurement of the horizontal angle of the tower has an important indication function on monitoring the health state of the tower, so that the electric power department requires to monitor the horizontal angle of the tower regularly, and the conventional monitoring of the horizontal angle of the tower of the high-voltage transmission line adopts an electric angle sensor.
The sag of the conducting wire of the power transmission line is a main index for designing and operating the power transmission line, and the problem of observing the sag of the conducting wire can be encountered by high-voltage wires in operation and a construction rack wire. The sag measurement of the conducting wire of the power transmission line plays an important role in controlling the safe operation of the line, particularly, after a new line is erected for a period of time, the conducting wire can sag in different degrees, and for safety, the sag monitoring of the conducting wire of the power transmission line is necessary, so that reliable data can be provided for the safe operation of a high-voltage wire.
The insulator windage yaw angle of the high-voltage conductor is an important index for reflecting the running state of a line, and the angle of the insulator plays an important indicating role in monitoring conductor galloping, so that the angle of the insulator is required to be monitored regularly, and an electrical angle sensor is adopted.
Therefore, the accuracy of monitoring by the angle sensor is crucial, which affects the stable operation of the power system, and an accurate angle sensor calibration device is urgently needed.
The existing angle sensor calibration device only has a calibration device for detecting one-dimensional angle sensor, and an effective calibration device is lacked when the angle sensor faces one-dimensional or two-dimensional or three-dimensional angle sensor. Therefore, the invention provides a two-axis-driven angle sensor calibration device, which can realize calibration of a three-axis angle sensor, is also suitable for one-dimensional or two-dimensional angle sensors and has wide application.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a two-axis driving angle sensor calibration device and a method.
In order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows:
a two-axis driven angle sensor calibration device comprises a bottom plate, a left side support plate and a right side support plate, wherein the left side support plate and the right side support plate are erected above the bottom plate;
the first motor is arranged on the side surface of the left supporting plate through a first motor mounting base, the first rotating platform is connected between the first motor and the right supporting plate through a left connecting frame and a right connecting frame, and the first rotating platform rotates along with the rotation of the first motor;
the first rotating platform is provided with a second motor, the second motor is arranged on the first rotating platform through a second motor mounting base, the second rotating platform is arranged on the second motor through a second rotating shaft, and the second rotating platform rotates along with the rotation of the second motor;
bolt holes are uniformly formed in the second rotating platform and used for fixing the angle sensor; a standard angle sensor is fixed on one side of the second rotating platform, and an angle sensor to be measured is fixed on the other side of the second rotating platform in a symmetrical position;
and the upper computer simultaneously receives the detection signal of the angle sensor to be detected and the detection signal of the standard angle sensor, and compares the detection signals so as to judge whether the detection result of the angle sensor to be detected meets the requirement.
Furthermore, a power line and a motor control line are led out from one side of the first motor mounting base and used for supplying power to the first motor, and the rotation of the first motor is controlled through an external upper computer and a servo motor controller.
Further, a left connecting frame of the first rotating platform is fixed on the first motor, and a right connecting frame is fixed on the right supporting plate through a first rotating shaft.
Furthermore, a power line and a motor control line are led out from one side of the second motor mounting base and used for supplying power to the second motor and controlling the rotation of the second motor through an external upper computer and a servo motor controller;
the side is the one side that is close to first rotary platform left side link, and the left side link intermediate position that corresponds sets up the through-hole, is equipped with the through-hole in the middle of the first motor, sets up the through-hole at the intermediate position of the left side backup pad that corresponds, and the power cord and the motor control line of second motor are drawn forth through above-mentioned three through-hole.
Further, the external power line and the signal line of angle sensor carry out the wiring through the through-hole that the second rotary platform intermediate position set up, through the through-hole of the second rotation axis of below and the through-hole of second motor to and the through-hole that sets up in first rotary platform's the corresponding position, thereby the external power line and the signal line of angle sensor that await measuring wear out from first rotary platform's bottom, be used for the angle sensor power supply that awaits measuring, and read angle sensor detected signal and give the host computer.
Furthermore, a plurality of rubber pads are arranged below the bottom plate.
Furthermore, nameplates are arranged on the outer sides of the left and right supporting plates.
A method for verifying a two-axis-driven angle sensor comprises the following steps:
(1) The second motor does not work, the second rotating platform is kept not to rotate, the upper computer controls the first motor through the servo motor controller so as to control the first rotating platform to rotate, and a first shaft angle which can be a rotating angle value in the z-axis direction is obtained;
(2) The first motor does not work, the first rotating platform is positioned in the horizontal direction and does not rotate, the first shaft angle is 0, and the value of the angle in the z-axis direction is 0; the upper computer controls the second motor so as to control the second rotating platform to rotate, a second shaft angle is obtained, and the second shaft angle is regarded as a rotating angle value in the xy-axis plane direction;
(3) Rotating the first rotary platform to a certain angleaDeflection at a first axial angle ofaAn angle value regarded as the z-axis direction ofa(ii) a The upper computer controls the second motor so as to control the second rotating platform to rotate, and a second shaft angle is obtained and is regarded as a rotating angle value in the xy axis plane direction;
(4) The upper computer controls the first motor and the second motor to rotate simultaneously, and detects a rotation angle value in the z-axis direction and a rotation angle value in the xy-axis plane direction simultaneously.
Further, the first axis is orthogonally disposed from the second axis, and the first axis angle may be ± 90 degrees offset.
Compared with the prior art, the two-axis-driven angle sensor calibration device has the advantages that the calibration of the three-axis angle sensor can be realized, the device is also suitable for one-dimensional or two-dimensional angle sensors, and the application is wide.
Drawings
FIG. 1 is a perspective view of an angle sensor verifier device;
FIG. 2 is a front view of an angle sensor verifier device;
FIG. 3 is a schematic view of a second axis of rotation;
fig. 4 is a top view of the second rotating shaft;
the device comprises a bottom plate 1, a left supporting plate 2, a right supporting plate 3, a rubber pad 4, a first motor 5, a first rotating platform 6, a first rotating shaft 7, a second motor 8, a second rotating platform 9 and a second rotating shaft 10;
a first motor mounting base 5-1 and a second motor mounting base 8-1; a left connecting frame 6-1 and a right connecting frame 6-2.
Detailed Description
The technical scheme of the invention is further explained by combining the drawings and the embodiment. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present application is not limited thereby.
As shown in fig. 1, the two-axis driven angle sensor calibration apparatus of the present invention includes a bottom plate 1, and support plates standing on two sides above the bottom plate and divided into a left support plate 2 and a right support plate 3; the bottom plate is steel material with left and right sides backup pad, and has certain thickness for the device has fine stability, and the skew does not appear when the motor rotates. Still be equipped with a plurality of rubber pads 4 under the bottom plate, the calibration equipment passes through the rubber pad to be placed in desktop or ground, plays the cushioning effect, and the rubber pad passes through the bolt fastening in bottom plate below.
The backup pad passes through the bolt fastening in the bottom plate left and right sides about, and the bottom plate has certain length, places the demand of first motor 5 and first rotary platform 6 in the middle of satisfying left and right sides backup pad, and the outside of left and right sides backup pad can also set up the data plate for carve parameter information.
The first motor 5 is installed on the side surface of the left supporting plate 2 through a first motor installation base 5-1 through bolts and is installed and fixed through bolts at four corners of the base. As shown in fig. 3, a power line and a motor control line are led out from one side of the first motor mounting base to supply power to the first motor and to control the rotation of the first motor through an external upper computer and a servo motor controller.
As shown in fig. 2, the first rotary platform 6 is connected between the first motor 5 and the right support plate 3 through a left connecting frame and a right connecting frame, the left connecting frame 6-1 of the first rotary platform 6 is fixed to the first motor 5, and the right connecting frame 6-2 is fixed to the right support plate 3 through a first rotating shaft 7, so that the first rotary platform 6 can rotate along with the rotation of the first motor to obtain a first shaft angle, which can be deflected by ± 90 degrees and can be regarded as a rotation angle value in the z-axis direction.
And a second motor 8 is arranged on the first rotary platform 6, the second motor 8 is fixedly arranged at the middle position of the first rotary platform through a second motor mounting base 8-1 through a bolt, and a second rotary platform 9 is arranged above the second motor through a second rotary shaft 10 and rotates along with the second motor to obtain a second shaft angle which can be regarded as a rotary angle value in the xy axis plane direction.
Similarly, a power line and a motor control line are led out from one side of the second motor mounting base 8-1, which is the side close to the left connecting frame of the first rotating platform 6, a through hole is arranged at the middle position of the corresponding left connecting frame, a through hole is arranged at the middle of the first motor, and a through hole is also arranged at the middle position of the corresponding left supporting plate 2, as shown in fig. 3. Therefore, a power line and a motor control line of the second motor are led out through the three through holes and used for supplying power to the second motor, and the rotation of the second motor is controlled through an external upper computer and a servo motor controller.
Bolt holes are uniformly formed in the second rotating platform 9 and can be used for fixing the angle sensor; and a standard angle sensor is fixed on one side of the second rotating platform, and the other side of the second rotating platform is symmetrically positioned and used for fixing the angle sensor to be detected, so that the rotating angles of the angle sensor to be detected and the standard angle sensor are the same during calibration.
The angle sensor can be provided with a power supply and can detect signals for the upper computer through wireless transmission, and the angle sensor does not need additional wiring at the moment. The angle sensor can also be externally connected with a power line and a signal line. Standard angle sensors may be of this type.
As shown in fig. 3 and 4, if the angle sensor to be measured needs external power supply line and signal line, then can set up the through-hole through second rotary platform 9 intermediate position and carry out the wiring, through the through-hole of second rotation axis 10 and the through-hole of second motor 8 of below to and also set up the through-hole in first rotary platform 6's corresponding position, thereby the external power supply line of angle sensor to be measured and signal line can be worn out from first rotary platform 6's bottom, be used for the angle sensor power supply that awaits measuring, and read angle sensor detected signal and give the host computer.
And the upper computer simultaneously receives the detection signal of the angle sensor to be detected and the detection signal of the standard angle sensor, and compares the detection signals, so as to judge whether the detection result of the angle sensor to be detected meets the requirement.
The invention also provides a calibration method of the two-axis driven angle sensor, which adopts the device and comprises the following steps:
(1) The second motor does not work, the second rotating platform keeps not rotating, the upper computer controls the first motor through the servo motor controller so as to control the first rotating platform 6 to rotate, a first axis angle is obtained, the deflection can be +/-90 degrees, and the rotation angle value can be regarded as the rotation angle value in the z axis direction.
(2) The first motor does not work, the first rotating platform is positioned in the horizontal direction and does not rotate, the first shaft angle is 0, and the angle value in the z-axis direction can be regarded as 0; the upper computer controls the second motor to control the second rotating platform 9 to rotate, so that a second shaft angle is obtained, and the second shaft angle can be regarded as a rotating angle value in the xy axis plane direction.
(3) Rotating the first rotary platform to a certain angleaDeflected and then fixed at a first axial angle ofaThe angle value in the z-axis direction isaCan deflect at +/-90 degrees; the upper computer controls the second motor to control the second rotating platform 9 to rotate, so that the second shaft angle is obtained, and the rotation angle value in the xy-axis plane direction can be obtained.
(4) The upper computer controls the first motor and the second motor to rotate simultaneously, and detects a rotation angle value in the z-axis direction and a rotation angle value in the xy-axis plane direction simultaneously; the second rotary platform can rotate continuously in 360 degrees in two directions, and the first shaft and the second shaft are arranged in an orthogonal mode, so that the calibration of the angle sensor in the xyz three directions by the two-shaft driving is realized.
Compared with the prior art, the two-axis-driven angle sensor calibration device has the advantages that the calibration of the three-axis angle sensor can be realized, the device is also suitable for one-dimensional or two-dimensional angle sensors, and the application is wide.
The present applicant has described and illustrated embodiments of the present invention in detail with reference to the accompanying drawings, but it should be understood by those skilled in the art that the above embodiments are merely preferred embodiments of the present invention, and the detailed description is only for the purpose of helping the reader to better understand the spirit of the present invention, and not for limiting the scope of the present invention, and on the contrary, any improvement or modification made based on the spirit of the present invention should fall within the scope of the present invention.
Claims (9)
1. The calibration device for the two-axis driven angle sensor is characterized by comprising a bottom plate (1), a left support plate (2) and a right support plate (3) which stand above the bottom plate;
the first motor (5) is mounted on the side face of the left supporting plate (2) through a first motor mounting base (5-1), the first rotating platform (6) is connected between the first motor (5) and the right supporting plate (3) through a left connecting frame and a right connecting frame, and the first rotating platform (6) rotates along with the rotation of the first motor;
a second motor (8) is arranged on the first rotary platform (6), the second motor (8) is installed on the first rotary platform through a second motor installation base (8-1), a second rotary platform (9) is installed on the second motor through a second rotary shaft (10), and the second rotary platform rotates along with the rotation of the second motor;
bolt holes are uniformly formed in the second rotating platform (9) and used for fixing the angle sensor; a standard angle sensor is fixed on one side of the second rotating platform, and an angle sensor to be measured is fixed on the other side of the second rotating platform in a symmetrical position;
and the upper computer simultaneously receives the detection signal of the angle sensor to be detected and the detection signal of the standard angle sensor, and compares the detection signals so as to judge whether the detection result of the angle sensor to be detected meets the requirement.
2. The dual-axis driven angle sensor calibrator as recited in claim 1, wherein a power line and a motor control line are led out from one side of the first motor mounting base (5-1) for supplying power to the first motor (5) and controlling rotation of the first motor (5) through an external upper computer and a servo motor controller.
3. The two-axis driven angle sensor verification apparatus according to claim 1, wherein the first rotation platform (6) has a left side link (6-1) fixed to the first motor (5) and a right side link (6-2) fixed to the right side support plate (3) through a first rotation axis (7).
4. The two-axis driven angle sensor calibrator recited in claim 1, wherein a power line and a motor control line are led out from one side of the second motor mounting base (8-1) for supplying power to the second motor (8) and controlling the rotation of the second motor (8) by an external upper computer and a servo motor controller;
the side is close to one side of a left side connecting frame of the first rotating platform (6), a through hole is formed in the middle of the corresponding left side connecting frame, a through hole is formed in the middle of the first motor, a through hole is formed in the middle of the corresponding left side supporting plate (2), and a power line and a motor control line of the second motor are led out through the three through holes.
5. The two-axis driven angle sensor calibration device according to claim 1, wherein power and signal lines externally connected to the angle sensor are wired through a through hole provided at a middle position of the second rotary platform (9), and pass through a through hole of the second rotary shaft (10) and a through hole of the second motor (8) below, and a through hole provided at a corresponding position of the first rotary platform (6), so that the power and signal lines externally connected to the angle sensor to be measured penetrate out from the bottom of the first rotary platform (6) for supplying power to the angle sensor to be measured, and reading detection signals of the angle sensor to an upper computer.
6. The two-axis driven angle sensor verification device of claim 1, wherein a plurality of rubber pads (4) are provided under the base plate (1).
7. The two-axis drive angle sensor calibrator of claim 1, wherein a nameplate is provided outside the left and right support plates.
8. A two-axis driven angle sensor calibration method based on the two-axis driven angle sensor calibration apparatus of any one of claims 1 to 7, comprising the steps of:
(1) The second motor does not work, the second rotating platform is kept not to rotate, the upper computer controls the first motor through the servo motor controller so as to control the first rotating platform to rotate, and a first shaft angle which can be a rotating angle value in the z-axis direction is obtained;
(2) The first motor does not work, the first rotating platform is positioned in the horizontal direction and does not rotate, the first shaft angle is 0, and the value of the angle in the z-axis direction is 0; the upper computer controls the second motor so as to control the second rotating platform to rotate, and a second shaft angle is obtained and is regarded as a rotating angle value in the xy axis plane direction;
(3) Rotating the first rotary platform to a certain angleaDeflection at a first axial angle ofaThe value of the angle considered as the z-axis direction isa(ii) a The upper computer controls the second motor so as to control the second rotating platform to rotate, and a second shaft angle is obtained and is regarded as a rotating angle value in the xy axis plane direction;
(4) And the upper computer controls the first motor and the second motor to rotate simultaneously, and detects a rotation angle value in the z-axis direction and a rotation angle value in the xy-axis plane direction simultaneously.
9. The two-axis drive angle sensor verification method of claim 8, wherein the first axis is orthogonally disposed relative to the second axis, the first axis being angularly deflectable by ± 90 degrees.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211098724.5A CN115200535A (en) | 2022-09-09 | 2022-09-09 | Two-axis-driven angle sensor calibration device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211098724.5A CN115200535A (en) | 2022-09-09 | 2022-09-09 | Two-axis-driven angle sensor calibration device and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116399258A (en) * | 2023-04-24 | 2023-07-07 | 佛山市兴颂机器人科技有限公司 | Detection compensation device of laser scanning sensor |
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