CN116184517A - Gravity meter based on single-axis servo structure and leveling and measuring method thereof - Google Patents
Gravity meter based on single-axis servo structure and leveling and measuring method thereof Download PDFInfo
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Abstract
The invention relates to the technical field of gravity measurement, and provides a gravity meter based on a single-axis servo structure and a leveling and measuring method thereof, wherein the leveling method comprises the following steps: zeroing a single-shaft servo mechanism shafting; calculating a floor tilt using the accelerometer assembly; performing single-direction physical leveling by using the inclination of the terrace; after the physical leveling in a single direction, limiting the rotation of the accelerometer component by using a brake; digital leveling is accomplished using accelerometer assemblies to make residual tilt measurements. The invention performs combined leveling in a physical platform leveling and digital platform compensation mode, improves measurement accuracy, simplifies the operation flow of the gravity meter, can realize one-key operation, and has the characteristics of high precision, low cost, high efficiency, small volume, friendly human-machine and the like.
Description
Technical Field
The invention relates to the technical field of gravity measurement, in particular to a gravity meter based on a single-axis servo structure and a leveling and measuring method thereof.
Background
The gravity meter is a measuring device for determining gravitational acceleration, is used for measuring gravitational information in the gravitational field of the earth, and is one of the popular technologies for research in the current mapping field.
Currently, gravimeters include two classes: the first type adopts a manual mode to realize gravity information sensitivity through frame leveling, the second type adopts a gyroscope and an accelerometer to realize digital leveling through an inertial navigation technology to carry out gravity measurement, and in the two types of the gravity meters, the operation of the first type is complex, the full-automatic work is not possible, and the second type is large in size and high in cost due to the fact that an angular velocity sensor is added, so that the gravity meter with low cost, easy operation and small size is lacking at present.
In view of this, overcoming the defects in the prior art is a problem to be solved in the art.
Disclosure of Invention
The invention provides a solution to the technical problems of low operation efficiency, high cost and large volume of the traditional gravimeter.
In order to solve the technical problems, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a gravity meter based on a single axis servo structure, comprising:
a single axis servo mechanism; the single-shaft servo structure comprises a shafting frame, a servo motor and a brake, wherein the servo motor and the brake are respectively arranged at two ends of the shafting frame;
an accelerometer assembly; the accelerometer component is arranged in the shafting frame and is respectively connected with the servo motor and the brake system; the method comprises the steps of,
a peripheral circuit board containing a resolving chip; the peripheral circuit board is respectively in communication connection with the servo motor, the brake and the accelerometer component; wherein,,
the servo motor is used for driving the accelerometer component in a rotating way, and the brake is used for braking the accelerometer component.
Preferably, the accelerometer assembly comprises three accelerometers with mutually perpendicular sensitive axes and an IF conversion module.
Preferably, the device also comprises a reading head which is arranged on the shafting frame and is in communication connection with the accelerometer component; wherein the reading head is used for reading the rotation angle of the accelerometer component.
Preferably, the rotation angle of the accelerometer assembly is 0-200 °.
In a second aspect, the present invention provides a method for leveling a gravity meter based on a single-axis servo structure, using the gravity meter according to the first aspect, comprising:
zeroing a single-shaft servo mechanism shafting;
calculating a floor tilt using the accelerometer assembly;
performing single-direction physical leveling by using the inclination of the terrace;
after the physical leveling in a single direction, limiting the rotation of the accelerometer component by using a brake;
digital leveling is accomplished using accelerometer assemblies to make residual tilt measurements.
Preferably, the calculating the floor tilt using the accelerometer assembly includes:
the pitch and roll states of the accelerometer assembly are calculated through accelerometer output in the following calculation modes:
wherein θ is pitch angle, ψ is roll angle, f x 、f y 、f z The output specific force of the accelerometer in the X, Y, Z axial direction is respectively.
Preferably, the unidirectional physical leveling by using the inclination of the terrace comprises:
and the rotating shaft is adjusted to be-phi through a servo motor, so that the physical leveling in a single direction is finished.
Preferably, the digital leveling of the residual tilt measurement using the accelerometer assembly includes:
after physical leveling, the residual inclination condition of the accelerometer component is calculated by the following calculation modes:
wherein θ 'is the residual pitch angle, ψ' is the residual roll angle, f x 、f y 、f z The output specific force of the accelerometer in the X, Y, Z axial direction is respectively;
and carrying out digital platform compensation on the gravity measurement result through the calculated residual pitch and roll angles.
Preferably, the residual pitch and roll angle obtained by calculation performs digital platform compensation on the gravity measurement result, and the calculation mode is as follows:
G＝f z cos(θ′)cos(ψ′)+f y sin(θ′)+f x sin(ψ′)
wherein G is a gravity value.
In a third aspect, the present invention provides a method for measuring a gravity meter based on a uniaxial servo structure, using the gravity meter according to the first aspect, comprising:
after a gravity measurement instruction is obtained, using an accelerometer component to measure the inclination of the terrace;
feeding back the floor inclination information to the single-axis servo mechanism after measurement is completed; the single-axis servo mechanism completes single-direction physical leveling through terrace inclination information;
the physical leveling rear brake limits the accelerometer component to rotate;
the accelerometer component carries out digital attitude calculation and digital leveling of the residual direction;
the accelerometer component sends the gravity information to the resolving chip for data processing and understanding.
Aiming at the defects in the prior art, the invention has the following beneficial effects:
the gravity measuring device only uses the accelerometer component to finish gravity measurement, reduces the cost of the gravity meter, simplifies the servo structure and reduces the volume of the gravity meter.
The invention performs combined leveling in a physical platform leveling and digital platform compensation mode, improves measurement accuracy, simplifies the operation flow of the gravity meter, and can realize one-key operation.
The invention has the characteristics of high precision, low cost, high efficiency, small volume, friendly human-machine and the like.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings that are required to be used in the embodiments of the present invention will be briefly described below. It is evident that the drawings described below are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a front view of a single axis servo based gravity gauge provided in example 1;
FIG. 2 is a cross-sectional view of a single axis servo based gravity gauge provided in example 1;
FIG. 3 is a partial axial view of a gravity meter based on a single axis servo structure provided in example 1;
FIG. 4 is a schematic diagram of a leveling procedure of a gravity meter based on a single-axis servo structure according to embodiment 2;
FIG. 5 is a schematic diagram of a leveling process of a gravity meter based on a single-axis servo structure according to embodiment 2;
fig. 6 is a schematic measurement flow chart of a gravity meter based on a single-axis servo structure provided in embodiment 3.
In the drawings, like reference numerals are used to designate like parts or structures, wherein:
10-single-shaft servo mechanism, 11-shafting frame, 12-servo motor and 13-brake;
a 20-accelerometer assembly;
30-read head.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, the terms "inner", "outer", "longitudinal", "transverse", "upper", "lower", "top", "bottom", etc. refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Example 1:
in order to solve the technical problems of low operation efficiency, high cost and large volume of the conventional gravity meter, as shown in fig. 1-3, embodiment 1 provides a gravity meter based on a single-axis servo structure, which comprises: a single axis servo 10, an accelerometer assembly 20, and a peripheral circuit board containing a resolution chip; the single-shaft servo structure 10 comprises a shafting frame 11, a servo motor 12 and a brake 13, wherein the servo motor 12 and the brake 13 are respectively arranged at two ends of the shafting frame 11; the accelerometer component 20 is arranged in the shafting frame 11, the accelerometer component 20 is respectively connected with the servo motor 12 and the brake 13 shafting, and the peripheral circuit board is respectively connected with the servo motor 12, the brake 13 and the accelerometer component 20 in a communication way; the servo motor 12 is used for driving the accelerometer assembly 20 in a rotating manner, in the practical application process, the rotation angle of the accelerometer assembly 20 is 0-200 degrees, the brake 13 is used for braking the accelerometer assembly 20, and after the accelerometer assembly 20 rotates to a corresponding angle, the anti-shake of the accelerometer assembly 20 is completed through the brake 13.
As one implementation manner, the accelerometer assembly 20 includes three accelerometers with mutually perpendicular sensitive axes and an IF conversion module, where the three accelerometers respectively correspond to 3 different directions in a three-dimensional space, and in practical application, the three accelerometers are represented by an X-axis direction, an X-axis direction and a Z-axis direction, and can be sensitive to acceleration information (gravity information to which the accelerometer is sensitive when the gravity meter is stationary) in the three-dimensional space, and in installation, it is preferable that the accelerometer in the X-axis direction is perpendicular to the axial direction of the servo motor 12, and the accelerometer in the Y-axis direction is coincident with the axial direction of the servo motor 12; the IF conversion module is a high-precision current detection module and can convert the current output by the accelerometer into a digital signal, and an IF converter is arranged in the IF conversion module.
In order to monitor the rotation angle of the accelerometer assembly 20 in real time, the gravity meter based on the single-axis servo structure further comprises a reading head 30, wherein the reading head 30 is arranged on the shafting frame 11 and is in communication connection with the accelerometer assembly 20, and after the reading head 30 reads the rotation angle of the accelerometer assembly 20, angle information is transmitted to a resolving chip in a peripheral circuit board.
In this embodiment 1, the accelerometer component is used to replace the conventional inertial navigation technical scheme of gyroscope and accelerometer, compared with the conventional technical scheme, the servo structure is simplified, the overall volume of the gravity meter is greatly reduced, the convenience of carrying and operation is improved, and the relative cost is also much lower.
Example 2:
based on the gravity meter based on the single-axis servo structure in the embodiment 1, the embodiment 2 provides a leveling method of the gravity meter based on the single-axis servo structure, as shown in fig. 4, including:
s1, zeroing the shaft system of the single-shaft servo mechanism.
The process of zeroing the axis of the single-axis servo mechanism, namely the calibration process before the gravity measurement is performed, is used for reducing errors in the subsequent gravity measurement process, and can be executed before each opening and use.
S2, calculating the floor inclination by using the accelerometer component.
Since the floor is not an absolute level, different degrees of floor inclination can affect the gravity measurement result to different degrees, and the floor inclination degree needs to be measured and considered in advance.
As shown in fig. 5, the coordinate system O-ABC is a local geographical coordinate system, where the plane O-AB is a horizontal plane, and the coordinate system O-XYZ is a coordinate system formed by the accelerometer output shaft in the accelerometer assembly, where the accelerometer assembly is in the vicinity of the horizontal state, and there will be a certain tilt angle.
In particular implementations, the use of the accelerometer assembly to calculate floor tilt includes:
the pitch and roll states of the accelerometer assembly are calculated through accelerometer output in the following calculation modes:
wherein θ is pitch angle, ψ is roll angle, f x 、f y 、f z The output specific force of the accelerometer in the X, Y, Z axial direction is respectively.
S3, performing unidirectional physical leveling by using the terrace inclination.
In particular, when realizing, utilize terrace slope to carry out unidirectional physics leveling, include:
the rotating shaft is adjusted to be-phi through a servo motor, so that physical leveling in a single direction is completed; it can be understood that the rotation axis is adjusted to- ψ through the servo motor, correspondingly, so that the accelerometer component rotates to- ψ, - ψ and- ψ are offset, namely the process of single-direction physical leveling is completed, and after physical leveling, the axis O-Y approximately coincides with the axis 0-B.
S4, after the single-direction physical leveling, limiting the rotation of the accelerometer component by using a brake.
After the physical leveling, the accelerometer component is braked by a brake, and the accelerometer component finishes unidirectional anti-shake so as to prevent the leveled accelerometer component from being influenced by unexpected external force.
S5, performing residual inclination measurement by using the accelerometer assembly to finish digital leveling.
In particular implementations, the use of an accelerometer assembly to perform residual tilt measurements to complete digital leveling includes:
after physical leveling, the residual inclination condition of the accelerometer component is calculated by the following calculation modes:
wherein θ 'is the residual pitch angle, ψ' is the residual roll angle, f x 、f y 、f z The output specific force of the accelerometer in the X, Y, Z axial direction is respectively;
and carrying out digital platform compensation on the gravity measurement result through the calculated residual pitch and roll angles.
In specific implementation, the residual pitch and roll angle obtained by calculation performs digital platform compensation on the gravity measurement result, and the calculation mode is as follows:
G＝f z cos(θ′)cos(ψ′)+f y sin(θ′)+f x sin(ψ′)
wherein G is a gravity value.
In the embodiment 2, the combined leveling is performed by the physical platform leveling and the digital platform compensation mode, so that the gravity measurement result is more accurate, and the measurement accuracy is improved.
Example 3:
based on the gravity meter based on the single-axis servo structure in embodiment 1, embodiment 3 provides a measurement method of the gravity meter based on the single-axis servo structure, as shown in fig. 6, including:
and S10, after a gravity measurement instruction is obtained, using an accelerometer assembly to perform floor inclination measurement.
After the gravity meter is placed at the gravity measurement position, a gravity measurement instruction is input into the gravity meter in a one-key starting mode, and after the gravity meter receives the input gravity measurement instruction, the gravity meter starts to control the accelerometer assembly 20 to measure the inclination of the terrace.
S20, feeding back the terrace inclination information to the single-axis servo mechanism after measurement is completed; the method comprises the steps of carrying out a first treatment on the surface of the The single-axis servo mechanism completes single-direction physical leveling through terrace inclination information.
The gravity meter based on the single-axis servo structure mainly utilizes the roll angle to finish single-direction physical leveling in the practical realization process.
S30, limiting the accelerometer assembly to rotate by a brake after physical leveling.
After physical leveling, the accelerometer assembly is finished through a brake to finish unidirectional anti-shake.
And S40, the accelerometer component performs residual direction digital attitude calculation and digital leveling.
In the concrete implementation, the residual pitch angle and the residual roll angle obtained through calculation by the accelerometer component are used for carrying out digital platform compensation on the gravity measurement result.
And S50, the accelerometer component sends the gravity information to a resolving chip for data processing and understanding.
In the embodiment 3, the gravity value can be measured by a one-key operation mode, so that the operation flow of the gravity meter is simplified, and the measurement process is simple and quick.
In summary, the gravity meter based on the single-axis servo structure and the leveling and measuring method thereof provided by the invention have the advantages that the physical platform leveling and the digital platform compensation mode are used for combined leveling, the measuring accuracy is improved, the operation flow of the gravity meter is simplified, one-key operation can be realized, and the gravity meter has the characteristics of high precision, low cost, high efficiency, small volume, friendly human and the like.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. A gravity meter based on a single axis servo structure, comprising:
a single axis servo mechanism; the single-shaft servo structure comprises a shafting frame, a servo motor and a brake, wherein the servo motor and the brake are respectively arranged at two ends of the shafting frame;
an accelerometer assembly; the accelerometer component is arranged in the shafting frame and is respectively connected with the servo motor and the brake system; the method comprises the steps of,
a peripheral circuit board containing a resolving chip; the peripheral circuit board is respectively in communication connection with the servo motor, the brake and the accelerometer component; wherein,,
the servo motor is used for driving the accelerometer component in a rotating way, and the brake is used for braking the accelerometer component.
2. The single axis servo based gravity gauge according to claim 1, wherein the accelerometer assembly comprises three accelerometers with axes of sensitivity perpendicular to each other and an IF conversion module.
3. The gravity meter based on a single axis servo structure of claim 2 further comprising a reading head disposed on the shafting frame and in communication with the accelerometer assembly; wherein the reading head is used for reading the rotation angle of the accelerometer component.
4. A single axis servo based gravity gauge according to claim 3, wherein the accelerometer assembly has a rotation angle of 0-200 °.
5. A method for leveling a gravity meter based on a single-axis servo structure, wherein the gravity meter according to any one of claims 1 to 4 is used, comprising:
zeroing a single-shaft servo mechanism shafting;
calculating a floor tilt using the accelerometer assembly;
performing single-direction physical leveling by using the inclination of the terrace;
after the physical leveling in a single direction, limiting the rotation of the accelerometer component by using a brake;
digital leveling is accomplished using accelerometer assemblies to make residual tilt measurements.
6. The method of leveling a single axis servo based gravity meter of claim 5, wherein said calculating a floor tilt using an accelerometer assembly comprises:
the pitch and roll states of the accelerometer assembly are calculated through accelerometer output in the following calculation modes:
wherein θ is pitch angle, ψ is roll angle, f x 、f y 、f z The output specific force of the accelerometer in the X, Y, Z axial direction is respectively.
7. The method for leveling a gravity meter based on a single-axis servo structure according to claim 6, wherein the unidirectional physical leveling by using the floor tilt comprises:
and the rotating shaft is adjusted to be-phi through a servo motor, so that the physical leveling in a single direction is finished.
8. The method of leveling a single axis servo based gravity meter of claim 7, wherein said using an accelerometer assembly to perform residual tilt measurement to perform digital leveling comprises:
after physical leveling, the residual inclination condition of the accelerometer component is calculated by the following calculation modes:
wherein θ 'is the residual pitch angle, ψ' is the residual roll angle, f x 、f y 、f z The output specific force of the accelerometer in the X, Y, Z axial direction is respectively;
and carrying out digital platform compensation on the gravity measurement result through the calculated residual pitch and roll angles.
9. The method for leveling a gravity meter based on a single-axis servo structure according to claim 8, wherein the residual pitch and roll angles obtained by calculation are used for carrying out digital platform compensation on the gravity measurement result, and the calculation mode is as follows:
G＝f z cos(θ′)cos(ψ′)+f y sin(θ′)+f x sin(ψ′)
wherein G is a gravity value.
10. A method of measuring a gravimeter based on a single axis servo configuration, using the gravimeter of any one of claims 1 to 4, comprising:
after a gravity measurement instruction is obtained, using an accelerometer component to measure the inclination of the terrace;
feeding back the floor inclination information to the single-axis servo mechanism after measurement is completed; the single-axis servo mechanism completes single-direction physical leveling through terrace inclination information;
the physical leveling rear brake limits the accelerometer component to rotate;
the accelerometer component carries out digital attitude calculation and digital leveling of the residual direction;
the accelerometer component sends the gravity information to the resolving chip for data processing and understanding.
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| CN202211665662.1A CN116184517B (en) | 2022-12-23 | Gravity meter based on single-axis servo structure and leveling and measuring method thereof |
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| CN202211665662.1A CN116184517B (en) | 2022-12-23 | Gravity meter based on single-axis servo structure and leveling and measuring method thereof |
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Inventor after: Shen Chuyang Inventor after: Song Hongwei Inventor after: Wu Mingqiang Inventor after: Li Dewen Inventor after: Wang Dongtian Inventor before: Shen Chuyang Inventor before: Song Hongwei Inventor before: Li Dewen Inventor before: Wang Dongtian |
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