CN115265438A - Mechanical gate opening degree detection device and method based on network - Google Patents
Mechanical gate opening degree detection device and method based on network Download PDFInfo
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- CN115265438A CN115265438A CN202210949100.3A CN202210949100A CN115265438A CN 115265438 A CN115265438 A CN 115265438A CN 202210949100 A CN202210949100 A CN 202210949100A CN 115265438 A CN115265438 A CN 115265438A
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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
- G01B21/02—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 length, width, or thickness
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
- F16K37/0075—For recording or indicating the functioning of a valve in combination with test equipment
- F16K37/0083—For recording or indicating the functioning of a valve in combination with test equipment by measuring valve parameters
Abstract
The invention provides a mechanical gate opening degree detection device and method based on a network, wherein the device comprises: the device comprises a shell, a valve clamp, a battery, a processor, a communication device, a display device, a storage device, a positioning device, an alarm device and a shooting evidence obtaining device; the opening of the gate is detected by the processor, the processor transmits the detected data to the detection platform through the communication device, the display device displays the opening information of the gate, the data are stored in the storage device, and the detection platform can acquire the position of a specific valve through the positioning device; when the processor detects that the gate is in an abnormal state or a clamping stagnation state, the positioning device and the alarm device acquire the position and state information of the gate, and meanwhile, the shooting evidence obtaining device shoots and obtains evidence of the abnormal state of the gate and immediately sends data to the detection platform; the shell is arranged on the valve clamp. The invention solves the technical problems of low detection precision, poor assembly applicability and shorter service life.
Description
Technical Field
The invention relates to the field of industrial control equipment detection, in particular to a mechanical gate opening degree detection device and method based on a network.
Background
In many industries such as industrial manufacturing, chemical engineering, water service, fire protection, energy and the like, a large number of gates with various traditional rotary switches exist, and some gates need to be opened, closed, adjusted in opening degree, controlled in flow rate and other business operations according to specific industrial business conditions. The traditional valve has large storage, particularly the scrapping time of the industrial valve is long, the replacement needs shutdown and production halt, and the great cost is needed for replacing the old valve in a large area with an intelligent valve. Because the state direct relation of gate is whether unobstructed to all kinds of pipelines, key index such as fluid flow in the pipeline, the gate state has become a major blind area of the digital transformation of traditional projects such as wisdom city, wisdom chemical industry, wisdom water affairs, wisdom power plant, not only influences the city operation, leads to production efficiency low, may directly arouse the incident under the more abominable condition. Therefore, related enterprises urgently need a product, and the internet of things equipment capable of acquiring the opening condition of the gate in real time under the condition that the current valve is not replaced, so that the old and non-intelligent valve can be detected in a low-cost mode.
The water service gate is a control facility for closing and opening a water drainage channel, can be used for intercepting water flow, controlling water level, regulating flow, discharging silt, floating objects and the like, and is one of important water conservancy facilities. Because the position key, the hydrological condition complicacy that the gate is located, other trades such as chemical industry, electric power etc. also use the valve in a large number simultaneously and adjust the production process, the valve is all industrial production and daily life basic control assembly, so to the detection and the control of gate very important.
Although the traditional mechanical rotary valve has the functions of adjustment and control, the data of adjustment and control cannot be fed back and recorded, so that the valve cannot be accurately managed and maintained when the valve needs to be used in a large range, and the required valve cannot be quickly and accurately found due to the change of personnel, data loss and the like.
This creates a problem: the opening degree of the gate is accurately measured and detected in real time under the condition of not replacing the current valve.
The prior invention patent document with publication number CN107289328A, "a method and a device for controlling a natural gas pressure regulating pry" includes: detecting a regulating valve position of a main control circuit and a regulating valve position of an auxiliary circuit of the natural gas pressure regulating pry, wherein the main control circuit is a first branch transmission branch of the natural gas pressure regulating pry which is running, and the auxiliary circuit is a branch transmission branch except the main control circuit; if the regulating valve position of the main control loop is larger than the preset valve position range, increasing the regulating valve position of the auxiliary loop according to a first preset threshold value, and decreasing the regulating valve position of the main control loop according to a second preset threshold value; and if the regulating valve position of the main control loop is smaller than the preset valve position range, reducing the regulating valve position of the auxiliary loop according to a third preset threshold value, and increasing the regulating valve position of the main control loop according to a fourth preset threshold value. As can be seen from the description of the prior patent document, the terminal 900 in the prior art further includes at least one sensor 150, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display panel 141 according to the brightness of ambient light, and a proximity sensor that may turn off the display panel 141 and/or the backlight when the terminal 900 is moved to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally three axes), can detect the magnitude and direction of gravity when stationary, and can be used for applications of identifying the gesture of a mobile phone (such as horizontal and vertical screen switching, related games, magnetometer gesture calibration), vibration identification related functions (such as pedometer and tapping), and the like; as for other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are also configurable to the terminal 900, although the existing solution discloses a collection device such as a gyroscope and a gravitational acceleration sensor, the terminal only detects and determines the state of the regulating valve through a preset valve position range, a preset regulating amplitude, and a preset threshold value, and the detection data processing logic policy is single, resulting in a low precision of valve state detection.
The prior invention patent document with publication number of CN106641380U designs an actuating mechanism of an electric valve, which comprises a valve core, a valve rod and a valve core shell covering the valve core, wherein the upper end of the valve rod extends out of the top of the valve core shell and is connected with a worm wheel, one side of the worm wheel is also provided with a support frame, the support frame is connected with a worm and a driving motor which are meshed with the worm wheel, a magnet is fixed at an eccentric position on the worm wheel, the top of the valve core shell is fixedly connected with a platy mounting plate, and the mounting plate is connected with a Hall sensor which can detect whether the magnet passes through or not. When the actuating mechanism of the electric valve works, the worm gear and the valve rod are driven by the driving motor through the worm to rotate, and then the valve core in the valve core shell is driven to act so as to change the opening degree of the valve. In the working process, the magnet can rotate along with the worm wheel, and the position of the magnet is detected through the Hall sensor so as to judge whether the valve works normally or judge the accurate position of the opening degree of the valve. The actuating mechanism of the electric valve has strong intelligence.
However, in the actuating mechanism of the electric valve, the hall sensor is connected to the mounting plate, and the mounting plate is fixedly connected to the top of the valve core shell, so that the mounting plate is easily interfered by the concave-convex degree of the valve rod and the top surface of the valve core shell when connected, and the mounting plate is not easy to center, so that the positions of the hall sensor and the magnet on the mounting plate are just difficult to align, and the assembly is inconvenient.
The patent document with publication number CN207848580U discloses a valve opening degree detection mechanism, which comprises a circuit board, a sensor for detecting the position of a magnet, and a cylindrical connecting cylinder, wherein the sensor is electrically connected with the circuit board, a bayonet is arranged at the side part of the connecting cylinder, the sensor is clamped in the bayonet, the circuit board is connected at one end of the connecting cylinder and partially shields the port of the connecting cylinder, and the valve opening degree detection mechanism has the advantage of convenient assembly and solves the problem of inconvenient assembly of the existing electric valve actuating mechanism.
However, the detection structure for the opening degree of the valve needs glue injection for fixation during installation, most valve finished products in actual use do not have an opening degree detection device, and the structure is not suitable for the transformation and upgrading of finished product valves; in addition, the structure adopts the reed switch as an induction component, belongs to a mechanical switch, and has a shorter service life than an electronic sensing switch.
The patent document with publication number CN209164742U discloses a valve opening detection device, which includes a valve clamp, a valve rod clamp, a sensing controller and a magnet, wherein the valve clamp is used for being mounted on a valve, the sensing controller is arranged on the valve clamp, the valve rod clamp is used for being mounted on a valve rod, a plurality of magnets are arranged on the valve rod clamp, and the valve opening detection device can achieve the purposes of automatic valve opening detection, real-time opening display and remote online monitoring.
However, when the valve opening detection device is operated to measure the valve opening, the output signal change when the small magnet approaches and leaves the magnetic resistance sensor is detected through the position of the sensing controller approaching the valve rod, so as to calculate the number of rotation turns of the valve rod, and thus the size of the valve opening is obtained.
These methods have obvious disadvantages, such as inconvenient assembly, short service life, inaccurate measurement precision, etc., which may result in high detection cost. Therefore, when a large number of valves need real-time detection and acquire data, under the condition that the maintenance cost is not too high, the production efficiency of enterprises is improved, water resources are saved, and the problem that needs to be solved at present is solved urgently.
In conclusion, the prior art has the technical problems of low detection precision, poor assembly applicability and short service life.
Disclosure of Invention
The invention aims to solve the technical problems of low detection precision, poor assembly applicability and short service life in the prior art.
The invention adopts the following technical scheme to solve the technical problems: a mechanical gate opening degree detection device based on a network comprises:
a processor for acquiring gate acceleration values, gate real-time position attitude angles, and gate absolute vertical direction data, and integrating time to detect gate opening to acquire gate detection data, the processor comprising:
the three-axis accelerometer is used for acquiring and acquiring the gate acceleration value when the gate moves;
the three-axis gyroscope device is used for acquiring the attitude angle of the real-time position of the gate, and further comprises an acceleration sensor, a magnetometer, a gyroscope and a gravity sensor:
the acceleration sensor is used for acquiring acceleration data at a first moment;
the gyroscope is used for acquiring and acquiring angular velocity data at a first moment and angular velocity data at a second moment;
the magnetometer is used for acquiring and acquiring magnetic field data at a first moment;
the gravity inductor is used for inducing and acquiring absolute vertical direction data of the opened gate;
the data processing unit is used for processing the first time magnetic field data and the first time acceleration data to obtain a first group of quaternions; processing the acceleration data at the first moment to obtain an acceleration value at the first moment; judging whether the acceleration value at the first moment is within a preset acceleration value range or not; if so, processing the first group of quaternions and the first moment angular velocity data to obtain a gyroscope compensation coefficient and a gyroscope zero offset value; compensating the second moment angular velocity data by using the gyroscope compensation coefficient and the gyroscope zero offset value so as to obtain a second moment angular velocity compensated by the gyroscope, and processing the gate absolute vertical direction data so as to obtain gate detection data so as to determine the displacement stroke of the gate;
the communication device is connected with the detection platform and comprises an NB-IOT communication module and a Lora communication module and is used for transmitting the gate detection data to the detection platform;
the display device is connected with the processor and the battery and used for displaying the gate opening information according to the gate detection data and sending the gate detection data to the storage device;
the storage device is connected with the processor and used for receiving and storing the gate detection data;
the positioning device is used for acquiring and sending a specific valve position to the detection platform;
the alarm device is used for acquiring the specific valve position and abnormal gate state information by using the positioning device and the alarm device when the processor detects that the gate is in an abnormal or clamping stagnation state;
the shooting evidence obtaining device is used for shooting and obtaining evidence according to the specific valve position and the abnormal gate state information so as to obtain and send a gate abnormal state image to the detection platform;
and the detection platform is connected with the communication device, the positioning device and the photographing and evidence obtaining device, and is used for receiving, processing and storing the original data acquired by the gate opening information for user operation.
According to the invention, the processor in the device is used for measuring the opening degree of the gate, and transmitting data to the detection platform, so that the state of the gate can be acquired and recorded in real time, and each gate can be conveniently monitored, and the purposes of automatic detection of the opening degree of the gate, real-time display of the opening degree and remote online monitoring are realized. The invention can acquire the gate opening condition in real time under the condition of not replacing the current valve, thereby realizing the detection of the old and non-intelligent valve in a low-cost manner. The positioning device provided by the invention can acquire the position information of the valve in real time and send the position information to the detection platform, so that the valve can be accurately positioned. The invention ensures the characteristics of simple structure, convenient installation, wide measurement range, high precision, low power consumption, long service life and strong environmental adaptability, and realizes the characteristics of small size and high precision in a low-cost mode.
The invention compensates the angular velocity data of the gyroscope by utilizing the three-axis gyroscope device aiming at the accumulated error of the gyroscope during the measurement of the attitude angle, reduces the error of the gyroscope and prolongs the service life of the device. The communication device comprises an NB-IOT communication technology and an Lora communication technology, and simultaneously supports the NB-IOT communication technology and the Lora communication technology or only uses one of the NB-IOT communication technology and the Lora communication technology as required, so that the power consumption of the whole detection device can be saved.
In a more specific technical scheme, a processor initializes the three-axis accelerometer, the three-axis gyroscope device and the gravity sensor at a preset installation position, and sets a movement direction of the gate relative to the three-axis accelerometer, the three-axis gyroscope device and the gravity sensor; and when the gate is horizontally moved laterally and opened, zeroing the three-axis gyroscope device to replace the real-time position attitude angle of the gate in the vertical direction by using the gate opening direction parameter.
In a more specific aspect, a three-axis accelerometer includes:
the gate start-stop state speed distance unit is used for processing the acceleration measured value by the following logics to obtain the gate speed and the opening distance:
in the formula, V n Is t n Instantaneous speed of time of day, a n Is t n Instantaneous acceleration of the moment of time, S n Is t n Initial state of time to t n Total displacement in time of (a), Δ S n Is a time t n-1 To t n Displacement increment within a moment;
and the vector value acquisition unit is used for processing the gate speed and the opening distance by using the following logic integration, and treating the motion of the gate in an accelerometer sampling interval as uniform acceleration linear motion so as to obtain a speed position vector value:
wherein, in the initial state, the gate speed and the opening distance v are set 0 ＝0，S 0 =0, the accelerometer sampling interval is derived by the following logic:
Δt＝t 1 -t 0 ＝t 2 -t 1 ＝…＝t n -t n-1 (n＝1,2,3…)
then:
v n ＝v n-1 +a n Δt(n＝1,2,3…)
and taking the speed and displacement values measured in the current sampling time interval delta t of each accelerometer as the speed and displacement vector values, wherein the vector value acquisition unit is connected with the gate start-stop state speed distance unit.
In a more specific aspect, the gyroscope includes:
setting the included angles of the gyroscope on horizontal x and y planes as alpha and beta respectively, measuring the included angle in the vertical direction as gamma, and obtaining the gate opening value by utilizing the following opening data processing logic processing under the scene of a vertical gate door type:
in a more specific technical scheme, when the opening data processing logic processes opening data of a gate which is opened by horizontal lateral movement, an acceleration sensor, a magnetometer and a gyroscope are processed by zeroing, and an included angle alpha or beta of a horizontal x plane and a horizontal y plane is used for replacing an included angle gamma measured in the vertical direction in the opening data processing logic.
When the gate moves horizontally and laterally to open the gate, the gate opening direction parameters are used instead of the included angle measured in the vertical direction only after the three-axis gyroscope device is zeroed.
According to the invention, a mechanical gate opening degree detection device based on a network is added on the traditional valve, and the device can detect the gate opening degree and simultaneously transmit gate opening degree data back to the detection platform in real time, so that the detection platform can acquire the working state of each valve in real time, and the intelligentization of the Internet of things for detecting the gate opening degree in a large-scale area is realized.
In a more specific aspect, a data processing unit includes:
the first calculation unit is used for calculating a first group of quaternions according to the acceleration data acquired by the acceleration sensor at the first moment and the magnetic field data acquired by the magnetometer at the first moment, and calculating the acceleration value at the first moment according to the acceleration data, wherein the acceleration data acquired by the acceleration sensor are the acceleration values of an X axis, a Y axis and a Z axis, and a X 、a Y 、a Z Indicates that the pitch angle is
And a roll angle of
A magnetic field data acquisition unit for acquiring magnetic field values of X-axis, Y-axis and Z-axis of the gate by M X 、M Y 、M Z And (3) processing the magnetic field values of the X axis, the Y axis and the Z axis to obtain a course angle:
wherein arcsin is arcsine and arctan2 is arctangent;
the first group of quaternion processing units are used for calculating the gate real-time position attitude angle according to the first moment acceleration data and the first moment magnetic field data, so that the gate real-time position attitude angle is processed by the following logic, and the first group of quaternion is obtained:
q1＝cos(pitch/2)·cos(roll/2)·cos(yaw/2)+sin(pitch/2)·sin(roll/2)·sin(yaw/2)
q3＝sin(pitch/2)·cos(roll/2)·cos(yaw/2)+cos(pitch/2)·sin(roll/2)·sin(yaw/2)
in the formula, a quaternion is represented as pitch angle, roll angle and yaw angle, the first set of quaternion processing units is connected with the first computing unit and the magnetic field data acquisition unit, and the first set of quaternion processing units is connected with the first computing unit and the magnetic field data acquisition unit;
an acceleration processing unit for processing the first time acceleration data by using the following logic to obtain a first time acceleration value:
the judging unit is used for judging whether the acceleration value at the first moment is within the preset acceleration value range or not, and is connected with the acceleration processing unit;
the second calculation unit is used for processing the first group of quaternions and the first moment angular velocity data to obtain a gyroscope compensation coefficient and a gyroscope zero offset value when the first moment acceleration value is within a preset acceleration value range, and the second calculation unit is connected with the judgment unit;
the compensation unit is used for compensating the angular velocity data at the second moment by using the gyroscope compensation coefficient and the gyroscope zero offset value so as to obtain compensated angular velocity data at the second moment, and the compensation unit is connected with the second calculation unit;
and the fusion processing unit is used for obtaining a new quaternion from the first group of quaternions and the second group of quaternions according to a preset proportion by using a fusion algorithm when the acceleration value at the first moment is not within a preset acceleration value range, and taking the new quaternion as the quaternion at the first moment.
According to the method, the acceleration value at the first moment is judged according to the acceleration interval aiming at the accumulated error of the gyroscope during the measurement of the attitude angle, the first group of quaternions and the first moment angular velocity data are obtained and processed according to the previous judgment result, so that the compensation coefficient of the gyroscope and the zero offset value of the gyroscope are obtained, the subsequent angular velocity data are compensated, the angular velocity error of the gyroscope is reduced, and the detection precision of the device on the gate opening degree is improved.
In a more specific technical solution, the detection platform includes: the system comprises a gate information module, a detection standard module, a user information module and an authorization management module;
the user information module is used for configuring user information;
the authorization management module is used for configuring user management authority;
the gate information module is used for configuring and classifying the product information of the valve;
and the detection standard module is used for configuring the difference specification detection condition of the invention.
The detection platform can realize centralized unified standard receiving, processing, storing and displaying of different data acquisition conditions according to the gate detection data acquired from the processor.
In a more specific technical solution, a mechanical gate opening degree detection device based on a network further includes:
the valve clamp is used for installing the network-based mechanical gate opening detection device on the valve, and is fixed on the valve when the gate is completely closed during initial installation operation;
the casing, it forms a encapsulation space to integrated and encapsulation battery, treater, communication device, display device, storage device, positioner, alarm device and the device of collecting evidence of shooing, the casing set up in valve anchor clamps, first wiring mouth is established on the casing surface, and it connects communication device's signal receiver.
Compared with the existing detection mode, the device is simpler and more convenient, the measurement precision is more accurate, and the service life is longer. The gate opening detection device is arranged on the valve through a valve clamp, and the shell is arranged on the valve clamp. The invention realizes the intelligentization of the Internet of things for gate detection in a low-cost mode, reduces the waste of human resources, improves the detection precision and reduces errors caused by manual detection.
In a more specific technical solution, a mechanical gate opening degree detection device based on a network further includes: a battery, comprising: lithium cell protection pad and disposable lithium cell, the battery passes through the device drive and connects display device reaches the treater is used for doing mechanical gate aperture detection device power supply based on the network.
The battery adopts a disposable lithium sub-battery with extremely small self-discharge, and is also provided with a lithium battery protection pad to preserve the heat of the battery, so that the discharge capacity of the battery is also kept under extremely severe conditions of the lithium battery, and the service duration of the lithium battery cannot be shortened. Because the whole circuit system adopts an extremely low power consumption design, the time of more than one year of the battery can be ensured, and the service life of the whole system is prolonged.
In a more specific technical solution, a method for detecting an opening degree of a mechanical gate based on a network includes:
s1, acquiring a gate acceleration value, a gate real-time position attitude angle and gate absolute vertical direction data by using a processor, integrating time, and detecting the opening of a gate to acquire gate detection data, wherein the S1 comprises the following steps:
s11, acquiring and acquiring the gate acceleration value by utilizing a three-axis accelerometer when the gate moves;
s12, acquiring the real-time position attitude angle of the gate by using a three-axis gyroscope device, wherein the step S12 comprises the following steps:
s121, acquiring acceleration data at a first moment by using an acceleration sensor;
s122, acquiring first moment angular velocity data and second moment angular velocity data by using a gyroscope;
s123, acquiring magnetic field data at a first moment by using a magnetometer;
s124, acquiring absolute vertical direction data of the opened gate by using a gravity sensor;
s13, processing the first-time magnetic field data and the first-time acceleration data by using a data processing unit to obtain a first group of quaternions; processing the acceleration data at the first moment to obtain an acceleration value at the first moment; judging whether the acceleration value of the first moment is within a preset acceleration value range or not; if so, processing the first group of quaternions and the first moment angular velocity data to obtain a gyroscope compensation coefficient and a gyroscope zero offset value; compensating the second moment angular velocity data by using the gyroscope compensation coefficient and the gyroscope zero offset value to obtain a second moment angular velocity compensated by the gyroscope, processing the gate absolute vertical direction data to obtain gate detection data and determining the displacement stroke of the gate;
s2, transmitting the gate detection data to the detection platform by using a communication device;
s3, displaying the gate opening information by using the gate detection data display device, and sending the gate detection data to a storage device;
s4, receiving and storing the gate detection data by the storage device;
s5, acquiring and sending the specific valve position to the detection platform by using a positioning device;
s6, when the processor detects that the gate is in an abnormal or clamping stagnation state, the positioning device and the alarm device are used for acquiring the specific valve position and abnormal gate state information;
s7, shooting and evidence obtaining are carried out by utilizing a shooting and evidence obtaining device according to the specific valve position and the abnormal gate state information so as to obtain and send a gate abnormal state image to the detection platform;
and S8, receiving, processing and storing the original data acquired by the gate opening information by using the detection platform so as to be operated by a user.
Compared with the prior art, the invention has the following advantages: according to the device, the opening degree of the gate is measured by the processor in the device, and the data are transmitted to the detection platform, so that the state of the gate can be acquired and recorded in real time, each gate can be monitored conveniently, and the aims of automatic detection of the opening degree of the gate, real-time display of the opening degree and remote online monitoring are fulfilled. The invention can acquire the gate opening condition in real time under the condition of not replacing the current valve, thereby realizing the detection of the old and non-intelligent valve in a low-cost manner. The positioning device provided by the invention can acquire the position information of the valve in real time and send the position information to the detection platform, so that the valve can be accurately positioned. The invention ensures the characteristics of simple structure, convenient installation, wide measurement range, high precision, low power consumption, long service life and strong environmental adaptability, and realizes the characteristics of small size and accuracy in a low-cost mode.
The invention compensates the angular velocity data of the gyroscope by utilizing the three-axis gyroscope device aiming at the accumulated error of the gyroscope during the measurement of the attitude angle, reduces the error of the gyroscope and prolongs the service life of the device. The communication device comprises an NB-IOT communication technology and an Lora communication technology, and simultaneously supports the NB-IOT communication technology and the Lora communication technology or only uses one of the NB-IOT communication technology and the Lora communication technology as required, so that the power consumption of the whole detection device can be saved.
When the gate moves horizontally and laterally to open the gate, the gate opening direction parameters are used for measuring the included angle instead of the vertical direction after the three-axis gyroscope device is zeroed.
According to the invention, a mechanical gate opening degree detection device based on a network is added on the traditional valve, and the device can detect the gate opening degree and simultaneously transmit gate opening degree data back to the detection platform in real time, so that the detection platform can acquire the working state of each valve in real time, and the intelligentization of the Internet of things for detecting the gate opening degree in a large-scale area is realized.
According to the method, the acceleration value at the first moment is judged according to the acceleration interval aiming at the accumulated error of the gyroscope during the measurement of the attitude angle, the first group of quaternions and the first moment angular velocity data are obtained and processed according to the previous judgment result, so that the compensation coefficient of the gyroscope and the zero offset value of the gyroscope are obtained, the subsequent angular velocity data are compensated, the angular velocity error of the gyroscope is reduced, and the detection precision of the device on the gate opening degree is improved.
The detection platform can realize centralized and unified standard receiving, processing, storing and displaying of different data acquisition conditions according to the gate detection data acquired from the processor. The invention solves the technical problems of low detection precision, poor assembly applicability and shorter service life in the prior art.
Drawings
Fig. 1 is a schematic view of data flow processing of a network-based mechanical gate opening detection method according to embodiment 1 of the present invention;
fig. 2 is a schematic view of an internal structure connection of a mechanical gate opening degree detection device based on a network according to embodiment 1 of the present invention;
FIG. 3 is a schematic diagram of a processor according to embodiment 1 of the present invention;
fig. 4 is a schematic structural view of a three-axis gyroscope according to embodiment 1 of the present invention;
fig. 5 is a schematic view of a detailed flow chart of data of compensating the angular velocity of the gyroscope according to embodiment 1 of the present invention;
fig. 6 is a schematic structural diagram of a compensated gyroscope angular velocity data unit according to embodiment 1 of the present invention;
FIG. 7 is a schematic diagram of a basic module of a monitoring platform according to embodiment 1 of the present invention;
FIG. 8 is a schematic view of the detection platform of embodiment 1 of the present invention;
fig. 9 is a schematic diagram of the arrangement of components of a network-based mechanical gate opening degree detection device in embodiment 2 of the present invention;
fig. 10 is a schematic side view of a mechanical gate opening degree detection device based on a network according to embodiment 2 of the present invention, which is installed on a valve.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Example 1
In order to achieve the purpose, the invention provides a mechanical gate opening degree detection device based on a network.
As shown in fig. 1 and 2, a mechanical gate opening detection device based on a network includes a housing 1, a valve holder 2, a battery 3, a processor 4, a communication device 5, a display device 6, a storage device 7, a positioning device 8, an alarm device 9, and a photo evidence obtaining device 10. The device detects the opening degree of the gate 1 'through the processor 4, the processor 4 transmits detected data to the detection platform 101 through the communication device, the display device 6 in the device displays the opening degree information of the gate 1', the data are stored in the storage device 7, and the detection platform 101 can acquire the position of a specific valve through the positioning device 8. When the processor 4 detects that the gate 1 'is in an abnormal state or a stuck state, the positioning device 8 and the alarm device 9 acquire the position and state information of the gate 1', and the photographing and evidence obtaining device 10 photographs and obtains evidence of the abnormal state of the gate and immediately sends the data to the detection platform 101. The valve clamp 2 is used for installing the device on a valve, the shell 1 comprises a battery 3, a processor 4, a communication device 5, a display device 6, a storage device 7, a positioning device 8, an alarm device 9 and a photographing evidence obtaining device 10, and the shell 1 is arranged on the valve clamp 2.
The shell 1 is used for packaging and protecting electronic components in a mechanical gate opening degree detection device based on a network, a first wiring port 11 is formed in the surface of the shell, and the signal receiver is connected with the processor 4 through the first wiring port 11;
the battery 3 is connected with the drive of the detection device and is used for providing energy supply for the whole detection device;
the battery 3 comprises a lithium battery protection pad which is used for ensuring the normal discharge of the battery and prolonging the service life of the battery under the extremely severe condition;
the processor 4 is connected with the communication device 5, the display device 6 and the storage device 7 and is used for acquiring data of an acceleration value, an attitude angle and an absolute vertical direction, calculating the actual opening size of the gate 1' according to the acquired data, and displaying and storing the data through the display device and the storage device 7;
as shown in fig. 3, the processor 4 includes: a triaxial accelerometer 41, a triaxial gyroscope 42, a gravity sensor 43 and a data processing unit 44, in this embodiment, the triaxial gyroscope 42 is connected to the triaxial accelerometer 41; the three-axis gyroscope 42 is connected with the gravity sensor 43; the data processing unit 44 is connected with the gravity sensor 43;
in this embodiment, the three-axis accelerometer 41 is configured to detect an acceleration value of the gate 1' when moving along with the gate movement, the three-axis gyroscope 42 is configured to detect a position and posture angle of the gate 1' at every moment, the gravity sensor 43 is configured to determine an absolute vertical direction in which the gate 1' is opened, and the data processing unit 44 is configured to calculate the obtained data to obtain a processing result;
as shown in fig. 4, in order to ensure the accuracy of the tri-axial gyroscope 42 and reduce the measurement error of the tri-axial gyroscope 42, the tri-axial gyroscope 42 further includes: acceleration sensor 421, magnetometer 422, and gyroscope 423;
as shown in fig. 5, in this embodiment, the specific steps of compensating the gyroscope angular velocity data include:
s1, calculating a first group of quaternions by using acceleration data at a first moment acquired by an acceleration sensor 421 and magnetic field data at the first moment acquired by a magnetometer 422, and calculating an acceleration value at the first moment according to the acceleration data at the first moment;
s2, judging whether the acceleration value at the first moment is within a preset acceleration value range or not;
s3, if yes, calculating a compensation coefficient and a zero offset value of the gyroscope 423 according to the first group of quaternions and angular velocity data of the gyroscope 423 at the first moment;
and S4, compensating the angular velocity data of the gyroscope 423 at the second moment acquired by the gyroscope 423 by using the compensation coefficient and the zero offset value, and obtaining the angular velocity data of the gyroscope 423 at the second moment after compensation.
After the gate 1' opening degree detection device is fixed on the gate 1', initializing data of each sensor of the triaxial accelerometer 41, the triaxial gyroscope 42 and the gravity sensor 43, and setting the movement direction of the gate 1' relative to each sensor;
when the gate moves horizontally and laterally to open the gate, the opening direction parameter of the gate 1' is used for measuring an included angle instead of the vertical direction after the three-axis gyroscope 42 is set to zero;
the invention provides a mechanical gate opening degree detection device based on a network, which can measure the opening degree state of any gate 1', the opening degree measurement range is theoretically unlimited, in the embodiment, based on the inertial navigation principle, a high-precision three-axis accelerometer 41, a three-axis gyroscope 42, a gravity sensor 43 and a data processing unit 44 are integrated in a processor 4, the processor 4 is arranged in a shell 1, the displacement stroke of the gate 1' is determined by measuring the acceleration and the posture change in the valve motion, the measuring range is not limited by the gate shape and the stroke of any gate 1', and the measurement precision meets the requirement;
the communication device 5 is connected with the processor 4 and is used for remotely detecting communication connection, transmitting a detection result and transmitting the detection result to the detection platform;
the display device 6 is connected with the processor 4 and the battery 3 and is used for outputting and displaying the data result and the residual capacity processed by the processor 4;
the storage device 7 is connected with the processor 4 and is used for storing the data of the change of the gate 1';
the positioning device 8 is connected with the shell 1 and the communication device 5 and is used for acquiring the position information of the valve in real time and sending the position information to the detection platform 101 so as to realize accurate positioning of the valve;
the alarm device 9 is connected with the processor 4 and the communication device 5, and is used for acquiring current physical position information and error information when the detected state of the gate 1' does not meet the detection standard, and transmitting the data to the detection platform 101;
the photographing evidence obtaining device 10 is connected to the processor 4 and the communication device 5, and is configured to obtain an image of the state of the gate 1', and when the detected state of the gate 1' does not meet the detection standard, the photographing evidence obtaining device needs to photograph and obtain evidence of the state of the gate 1', and send the data to the detection platform 101 together.
The detection platform 101 is connected with the device through a communication module, a detection data management system is established by using a software technology, so that the original data acquired by the opening information of the gate 1' is received, processed and stored, and the functions of inquiring, displaying, operating and processing service data of the detection data are provided;
the detection platform 101 performs basic information configuration in the detection data management system, which includes: a gate information module 1011, a detection standard module 1012, a user information module 1013 and an authorization management module 1014;
the detection process of the opening degree of the gate 1' is executed, after the detection platform 101 identifies the information of the gate to be detected, the detection platform automatically identifies the detection flow and the detection standard according to the detection standard, executes the detection operation, finally obtains the detection result, and forms a detection report based on detailed detection process data.
The battery 3 adopts a disposable lithium sub-battery with extremely small self-discharge, and the whole circuit system adopts an extremely low power consumption design, so that the battery can be ensured to last for at least more than one year;
the processor 4 works according to the following principle: based on an advanced inertial navigation theory, measuring the motion acceleration and attitude deflection of the gate by using a high-precision triaxial accelerometer 41, a triaxial gyroscope 42 and a gravity sensor 43, processing the measured data by a data processing unit, and integrating the time to obtain the motion distance of the gate 1';
the gate 1' starts from a standstill to a stop, and on the basis of the acceleration measurements, the speed and the distance can be found:
in the formula, V n Is t n Instantaneous speed of the moment of time, a n Is t n Instantaneous acceleration of the moment, S n Is t n Initial state of time to t n Total displacement in time of (a), Δ S n Is a time t n-1 To t n The displacement is incremented within a time.
Because the three-axis accelerometer 41 outputs discrete data and the sampling frequency is very high, according to the principle of higher mathematical calculus, the movement of the gate 1' in the sampling interval of the three accelerometers 41 can be regarded as uniform acceleration linear movement, and then:
in the initial state, v 0 ＝0，S 0 =0, triaxial accelerometer 41 sample time interval:
Δt＝t 1 -t 0 ＝t 2 -t 1 ＝…＝t n -t n-1 (n＝1,2,3…)
then:
v n ＝v n-1 +a n Δt(n＝1,2,3…)
at this time, the velocity and displacement measured in each Δ t (Δ t =2ms in the embodiment) are vector values, so that the velocity and displacement values in a certain direction are obtained and also matched with the measurement values of the three-axis gyroscope 42.
If the three-axis gyroscope 42 measures the included angles α and β on the horizontal x and y planes, respectively, and the included angle measured in the vertical direction is γ, then taking the vertical gate shape as an example, the gate opening value is:
the formula is common to gates 1' which are opened in the vertical direction, such as vertical lifting doors, arc doors and herringbone flap doors. Similarly, for the gate which is opened by horizontal lateral movement, after the sensor is set to zero, the formula is replaced by alpha or beta (the opening direction of the gate).
Because triaxial gyroscope 42 can have accumulative error when carrying out the measurement of attitude angle to lead to triaxial gyroscope 42 last measurement's error to accumulative total to the result of next time, and then make the error in triaxial gyroscope 42 measurement result bigger and bigger along with the time, for reducing error extension device life.
As shown in fig. 6, in the present embodiment, a first computing unit 421' is adopted to compute a first set of quaternions according to the acceleration data of the acceleration sensor 421 at the first moment and the magnetic field data of the magnetometer at the first moment, and compute an acceleration value at the first moment according to the acceleration data;
the acceleration data collected by the acceleration sensor 421 are acceleration values of X-axis, Y-axis and Z-axis, and are represented by a X 、a Y 、a Z Shows that the pitch angle is
And a roll angle of
Wherein arcsin is an arcsine and arctan2 is an arctangent; the first set of quaternions includes: calculating an attitude angle according to the acceleration data at the first moment acquired by the acceleration sensor 421 and the magnetic field data acquired by the magnetometer 422; and calculating a first group of quaternions according to the attitude angle, wherein the calculation formula is as follows:
q1＝cos(pitch/2)·cos(roll/2)·cos(yaw/2)+sin(pitch/2)·sin(roll/2)·sin(yaw/2)
q3＝sin(pitch/2)·cos(roll/2)·cos(yaw/2)+cos(pitch/2)·sin(roll/2)·sin(yaw/2)
wherein, the quaternion is represented as pitch angle, roll angle and yaw angle;
calculating the acceleration value at the first moment according to the acceleration data at the first moment as follows:
the judging unit 422' judges whether the acceleration value at the first moment is within a preset acceleration value range, and the judging unit 422' is connected with the first calculating unit 421 ';
the second calculating unit 423' calculates a compensation coefficient and a zero offset value of the triaxial gyroscope 42 according to the first group of quaternions and the angular velocity data of the triaxial gyroscope 42 at the first moment if the acceleration value is within the preset acceleration value range, and the second calculating unit 423' is connected with the judging unit 422 ';
the compensation unit 424' compensates the angular velocity data at the second moment acquired by the gyroscope by using the compensation coefficient and the zero offset value to obtain the compensated angular velocity data at the second moment, and the compensation unit 424' is connected with the second calculation unit 423 ';
and if the acceleration value at the first moment is not within the preset acceleration value range, obtaining a new group of quaternions from the first group of quaternions and the second group of quaternions according to a preset proportion by adopting a fusion algorithm, wherein the new group of quaternions are the quaternions at the first moment.
The communication device 5 comprises an NB-IOT communication technology and a Lora communication technology, and simultaneously supports the NB-IOT communication technology and the Lora communication technology or only uses one of the NB-IOT communication technology and the Lora communication technology according to needs, so that the power consumption of the whole detection device can be saved;
the display device 6 adopts an electronic ink screen to display data and is connected with the processor through an SPI bus;
the storage device 7 stores data of valve change in the TF card, and meanwhile, when the gate opening parameter changes, the MCU also stores a modified log in the TF card, and the TF card can be connected to a computer to derive the content of historical data after being taken out of the device;
the positioning device 8 realizes accurate positioning by combining Beidou satellite positioning and Bluetooth 5.0;
the photographing evidence obtaining device 10 adopts a camera to obtain evidence, and obtains an image of the state of the gate 1';
the detection data management system of the detection platform 101 can realize centralized unified standard receiving, processing, storing and displaying of different data acquisition conditions;
as shown in fig. 7, in the present embodiment, the detection platform 101 includes:
the user information module 1011 is used for configuring user information, authorizing the permission of the user to check and operate data, and allowing the authorized user to inquire the detection report and have the permission of data checking;
a gate information module 1012, configured to configure valve product information, and classify products according to type, model, and caliber;
the detection standard module 1013 is configured to configure detection conditions of valves of different specifications: detecting data requirements corresponding to the items, the detection standards and the standards;
and an authorization management module 1014 for managing the user authority data and the operation authorization data.
As shown in fig. 8, the steps in which the testing platform 101 is used include:
s101, logging in a detection data management system client, and starting a client detection process according to prompt information;
s102, synchronously starting a detection process of the gate opening detection device;
s103, according to different valve types, the system automatically processes the data collected by the detection device and provides a test result of each detection item;
s104, after the detection results of all the processes are confirmed, the acquired data and the final judgment result of the whole detection process are kept in the system in a test report form;
and S105, if the abnormal condition is detected, timely sending the abnormal information to the detection platform 101 by using the alarm device 9 and the photographing evidence obtaining device 10.
Example 2
As shown in fig. 9 and 10, the apparatus for detecting a gate opening according to the present invention includes: the device comprises a shell 1, a valve clamp 2, a power supply 3, a processor 4, a communication device 5, a display device 6, a storage device 7, a positioning device 8, an alarm device 9 and a shooting evidence obtaining device 10.
When the valve is installed for the first time, the valve clamp 2 of the gate opening degree detection device needs to be fixed on the valve under the condition that the gate 2' is completely closed.
In summary, the gate opening degree is measured by the processor in the device, and the data is transmitted to the detection platform, so that the gate state can be acquired and recorded in real time, each gate can be monitored conveniently, and the purposes of gate opening degree automatic detection, opening degree real-time display and remote online monitoring are achieved. The invention can acquire the gate opening condition in real time under the condition of not replacing the current valve, thereby realizing the detection of the old and non-intelligent valve in a low-cost manner. The positioning device provided by the invention can acquire the position information of the valve in real time and send the position information to the detection platform, so that the valve can be accurately positioned. The invention ensures the characteristics of simple structure, convenient installation, wide measurement range, high precision, low power consumption, long service life and strong environmental adaptability, and realizes the characteristics of small size and high precision in a low-cost mode.
The invention compensates the angular velocity data of the gyroscope by utilizing the three-axis gyroscope device aiming at the accumulated error of the gyroscope during the measurement of the attitude angle, reduces the error of the gyroscope and prolongs the service life of the device. The communication device comprises an NB-IOT communication technology and a Lora communication technology, and simultaneously supports the NB-IOT communication technology and the Lora communication technology or only uses one of the NB-IOT communication technology and the Lora communication technology according to needs, so that the power consumption of the whole detection device can be saved.
When the gate moves horizontally and laterally to open the gate, the gate opening direction parameters are used for measuring the included angle instead of the vertical direction after the three-axis gyroscope device is zeroed.
According to the invention, a mechanical gate opening degree detection device based on a network is added on a traditional valve, and the device can detect the gate opening degree and transmit gate opening degree data back to a detection platform in real time, so that the detection platform can acquire the working state of each valve in real time, and the intelligentization of the Internet of things for detecting the gate opening degree in a large-scale area is realized.
According to the method, the acceleration value at the first moment is judged according to the acceleration interval aiming at the accumulated error of the gyroscope during the measurement of the attitude angle, the first group of quaternions and the first moment angular velocity data are obtained and processed according to the previous judgment result, so that the compensation coefficient of the gyroscope and the zero offset value of the gyroscope are obtained, the subsequent angular velocity data are compensated, the angular velocity error of the gyroscope is reduced, and the detection precision of the device on the gate opening degree is improved.
The detection platform can realize centralized and unified standard receiving, processing, storing and displaying of different data acquisition conditions according to the gate detection data acquired from the processor. The invention solves the technical problems of low detection precision, poor assembly applicability and shorter service life in the prior art.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A mechanical gate opening degree detection device based on a network is characterized by comprising:
a processor for acquiring gate acceleration values, gate real-time position attitude angles, and gate absolute vertical direction data, and integrating time to detect gate opening to acquire gate detection data, the processor comprising:
the three-axis accelerometer is used for acquiring and acquiring the gate acceleration value when the gate moves;
the triaxial gyroscope device is used for acquiring the real-time position attitude angle of the gate, and the triaxial gyroscope device further comprises an acceleration sensor, a magnetometer, a gyroscope and a gravity inductor:
the acceleration sensor is used for acquiring acceleration data at a first moment;
the gyroscope is used for acquiring and acquiring angular velocity data at a first moment and angular velocity data at a second moment;
the magnetometer is used for acquiring and acquiring magnetic field data at a first moment;
the gravity inductor is used for inducing and acquiring absolute vertical direction data of the opening of the gate;
the data processing unit is used for processing the first time magnetic field data and the first time acceleration data to obtain a first group of quaternions; processing the acceleration data at the first moment to obtain an acceleration value at the first moment; judging whether the acceleration value at the first moment is within a preset acceleration value range or not; if so, processing the first group of quaternions and the first moment angular velocity data to obtain a gyroscope compensation coefficient and a gyroscope zero offset value; compensating the second moment angular velocity data by using the gyroscope compensation coefficient and the gyroscope zero offset value to obtain a second moment angular velocity compensated by the gyroscope, processing the gate absolute vertical direction data to obtain gate detection data and determining the displacement stroke of the gate;
the communication device is connected with the detection platform and comprises an NB-IOT communication module and a Lora communication module and is used for transmitting the gate detection data to the detection platform;
the display device is connected with the processor and the battery and used for displaying the gate opening information according to the gate detection data and sending the gate detection data to the storage device;
the storage device is connected with the processor and used for receiving and storing the gate detection data;
the positioning device is used for acquiring and sending a specific valve position to the detection platform;
the alarm device is used for acquiring the specific valve position and abnormal gate state information by using the positioning device and the alarm device when the processor detects that the gate is in an abnormal or clamping stagnation state;
the shooting evidence obtaining device is used for shooting and obtaining evidence according to the specific valve position and the abnormal gate state information so as to obtain and send a gate abnormal state image to the detection platform;
and the detection platform is connected with the communication device, the positioning device and the photographing and evidence obtaining device, and the monitoring platform is used for receiving, processing and storing the original data acquired by the gate opening information so as to be operated by a user.
2. The network-based mechanical gate opening detection device of claim 1, wherein the processor initializes the tri-axial accelerometer, the tri-axial gyroscope device, and the gravity sensor at a preset installation position, and sets a movement direction of the gate with respect to the tri-axial accelerometer, the tri-axial gyroscope device, and the gravity sensor; and when the gate is horizontally moved laterally and opened, zeroing the three-axis gyroscope device to replace the real-time position attitude angle of the gate in the vertical direction by using the gate opening direction parameter.
3. The network-based mechanical gate opening detection device of claim 1, wherein the three-axis accelerometer comprises:
the gate start-stop state speed distance unit is used for processing the acceleration measured value by the following logics to obtain the gate speed and the opening distance:
in the formula, V n Is t n Instantaneous speed of the moment of time, a n Is t n Instantaneous acceleration of the moment, S n Is t n Initial state of time to t n Total displacement in time of (a), Δ S n Is a time t n-1 To t n Displacement increment within a moment;
and the vector value acquisition unit is used for processing the gate speed and the opening distance by utilizing the following logic integration, and regarding the movement of the gate in the sampling interval of the accelerometer as uniform acceleration linear movement so as to obtain a speed position vector value:
wherein, in the initial state, the gate speed and the opening distance v are set 0 ＝0，S 0 =0, get accelerometer sample interval as logic process:
Δt＝t 1 -t 0 ＝t 2 -t 1 ＝…＝t n -t n-1 (n＝1,2,3…)
then:
v n ＝v n-1 +a n Δt(n＝1,2,3…)
and taking the speed and displacement values measured in the current sampling time interval delta t of each accelerometer as the speed position vector values, wherein the vector value acquisition unit is connected with the gate start-stop state speed distance unit.
4. The network-based mechanical gate opening degree detection device according to claim 1, wherein the gyroscope includes:
setting the included angles of the gyroscope on horizontal x and y planes as alpha and beta respectively, measuring the included angle in the vertical direction as gamma, and obtaining the gate opening value by utilizing the following opening data processing logic processing under the scene of a vertical gate door type:
5. the device of claim 4, wherein the opening data processing logic is configured to zero the acceleration sensor, the magnetometer and the gyroscope when processing opening data of a gate that is opened by horizontal lateral movement, and measure the horizontal x-and y-plane included angle α or β instead of the vertical included angle γ in the opening data processing logic.
6. The network-based mechanical gate opening degree detection device according to claim 1, wherein the data processing unit comprises:
the first calculation unit is used for calculating a first group of quaternions according to the acceleration data acquired by the acceleration sensor at the first moment and the magnetic field data acquired by the magnetometer at the first moment, and calculating the acceleration value at the first moment according to the acceleration data, wherein the acceleration data acquired by the acceleration sensor are the acceleration values of an X axis, a Y axis and a Z axis, and a X 、a Y 、a Z Indicates that the pitch angle is
And a roll angle of
A magnetic field data acquisition unit for acquiring magnetic field values of X-axis, Y-axis and Z-axis of the gate by M X 、M Y 、M Z And (3) processing the magnetic field values of the X axis, the Y axis and the Z axis to obtain a heading angle:
wherein arcsin is arcsine and arctan2 is arctangent;
the first group of quaternion processing units are used for calculating the gate real-time position attitude angle according to the first moment acceleration data and the first moment magnetic field data, so that the gate real-time position attitude angle is processed by the following logic, and the first group of quaternion is obtained:
q1＝cos(pitch/2)·cos(roll/2)·cos(yaw/2)+sin(pitch/2)·sin(roll/2)·sin(yaw/2)
q3＝sin(pitch/2)·cos(roll/2)·cos(yaw/2)+cos(pitch/2)·sin(roll/2)·sin(yaw/2)
in the formula, a quaternion is represented as pitch angle, roll angle and yaw angle, the first set of quaternion processing units is connected with the first computing unit and the magnetic field data acquisition unit, and the first set of quaternion processing units is connected with the first computing unit and the magnetic field data acquisition unit;
an acceleration processing unit that processes the first-time acceleration data using the following logic to obtain a first-time acceleration value:
the judging unit is used for judging whether the acceleration value at the first moment is within the preset acceleration value range or not, and the judging unit is connected with the acceleration processing unit;
the second calculation unit is used for processing the first group of quaternions and the first moment angular velocity data to obtain a gyroscope compensation coefficient and a gyroscope zero offset value when the first moment acceleration value is within a preset acceleration value range, and the second calculation unit is connected with the judgment unit;
the compensation unit is used for compensating the angular velocity data at the second moment by using the gyroscope compensation coefficient and the gyroscope zero offset value so as to obtain compensated angular velocity data at the second moment, and the compensation unit is connected with the second calculation unit;
and the fusion processing unit is used for obtaining a new quaternion from the first group of quaternions and the second group of quaternions according to a preset proportion by using a fusion algorithm when the acceleration value at the first moment is not within a preset acceleration value range, and taking the new quaternion as the quaternion at the first moment.
7. The device for detecting the opening degree of the mechanical gate based on the network as claimed in claim 1, wherein the detection platform comprises: the system comprises a gate information module, a detection standard module, a user information module and an authorization management module;
the user information module is used for configuring user information;
the authorization management module is used for configuring user management authority;
the gate information module is used for configuring and classifying the product information of the valve;
and the detection standard module is used for configuring the difference specification detection condition of the invention.
8. The network-based mechanical gate opening degree detection device according to claim 1, further comprising:
the valve clamp is used for installing the mechanical gate opening detection device based on the network on the valve, and the valve clamp is fixed on the valve under the condition that the gate is completely closed during initial installation operation;
the casing, it forms a encapsulation space to integrated and encapsulation battery, treater, communication device, display device, storage device, positioner, alarm device and the device of collecting evidence of shooing, the casing set up in valve anchor clamps, first wiring mouth is established on the casing surface, and it connects communication device's signal receiver.
9. The network-based mechanical gate opening degree detection device according to claim 1, comprising: a battery, comprising: lithium cell protection pad and disposable lithium cell, the battery passes through the device drive and connects display device reaches the treater is used for doing mechanical gate aperture detection device power supply based on the network.
10. A mechanical gate opening degree detection method based on a network is characterized by comprising the following steps:
s1, acquiring a gate acceleration value, a gate real-time position attitude angle and gate absolute vertical direction data by using a processor, integrating time, and detecting the opening of a gate to acquire gate detection data, wherein the S1 comprises the following steps:
s11, acquiring and acquiring the gate acceleration value by utilizing a three-axis accelerometer when the gate moves;
s12, acquiring the real-time position attitude angle of the gate by using a three-axis gyroscope device, wherein the step S12 comprises the following steps:
s121, acquiring acceleration data at a first moment by using an acceleration sensor;
s122, acquiring first moment angular velocity data and second moment angular velocity data by using a gyroscope;
s123, acquiring magnetic field data at a first moment by using a magnetometer;
s124, acquiring absolute vertical direction data of the opened gate by using a gravity sensor;
s13, processing the first-time magnetic field data and the first-time acceleration data by using a data processing unit to obtain a first group of quaternions; processing the acceleration data at the first moment to obtain an acceleration value at the first moment; judging whether the acceleration value of the first moment is within a preset acceleration value range or not; if so, processing the first group of quaternions and the first moment angular velocity data to obtain a gyroscope compensation coefficient and a gyroscope zero offset value; compensating the second moment angular velocity data by using the gyroscope compensation coefficient and the gyroscope zero offset value to obtain a second moment angular velocity compensated by the gyroscope, processing the gate absolute vertical direction data to obtain gate detection data and determining the displacement stroke of the gate;
s2, transmitting the gate detection data to the detection platform by using a communication device;
s3, displaying gate opening information by using a gate detection data display device, and sending the gate detection data to a storage device;
s4, receiving and storing the gate detection data by the storage device;
s5, acquiring and sending a specific valve position to the detection platform by using a positioning device;
s6, when the processor detects that the gate is in an abnormal or clamping stagnation state, the positioning device and the alarm device are used for acquiring the specific valve position and abnormal gate state information;
s7, shooting and evidence obtaining are carried out by utilizing a shooting and evidence obtaining device according to the specific valve position and the abnormal gate state information so as to obtain and send a gate abnormal state image to the detection platform;
and S8, receiving, processing and storing the original data acquired by the gate opening information by using the detection platform for user operation.
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| CN116105998A (en) * | 2023-03-15 | 2023-05-12 | 阀源智能科技(杭州)有限公司 | MEMS-based valve opening real-time detection method and device |
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| CN116105998A (en) * | 2023-03-15 | 2023-05-12 | 阀源智能科技(杭州)有限公司 | MEMS-based valve opening real-time detection method and device |
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