CN1275718A

CN1275718A - High speed self adaptable acceleration and slope measuring sensor

Info

Publication number: CN1275718A
Application number: CN 00112880
Authority: CN
Inventors: 黄松柏
Original assignee: Individual
Current assignee: Individual
Priority date: 2000-04-25
Filing date: 2000-04-25
Publication date: 2000-12-06

Abstract

According to the principle of counterbalance mechanics, on the mutual perpendicular type guideway shaft based on stereocoordinate triaxial axle centre as centre the spring-coupled balance slide block m1 and fixed weight counterbalance m2 are respectively mounted, and connected with base by means of mutual perpendicular type correction joint, and according to the acceleration equilibrium formula aml=p'L and self-adaption equilibrium fomula am1gL=am2h the acceleration measurement with environmental self-correction power can be implemented, and the slope measurement also can be implemented by using its self-correcting mechanism. Said invention possesses the strong adaptive capability, can be used in the automatical control system of vehicle and ship or for self-induction signal test of robot, and is favourable for raising the intelligence extent of its control system.

Description

High speed self adaptable acceleration and slope measuring sensor

The present invention relates to a kind ofly establish the acceleration of juice and the mechanical hook-up of slope measuring according to balance mechanics and principle of inertia.

In the present prior art, acceleration transducer generally can only be measured based on the variable rate signal on a certain direction of carrier, and the gradient stability that will be consistent, therefore should not be used for the changeable occasion of volume coordinate state, even add from correcting device and also can only be used for the mild occasion of volume coordinate state variation, self-induction sensor as aircraft and rocket, can not be used for accurate acceleration test such as the intelligent automatic control device of light-duty land mobile devices such as automobile and open-air detection Work robot at all, do not use this type of sensor in the restricting vehicle automatic control system that Here it is, and the environment self-adaption ability of robot can not get one of technology barrier of breakthrough, on the other hand the power system of automobile is controlled, at once understand the volume coordinate state of vehicle body, extrapolate road gradient of living in, kinematic behavior adjusting to engine under the different road surface has certain help, but present gradient protractor generally can only be used and non-speed change field, can not adapt to the working environment of automobile and robot; Therefore acceleration and Slope Transducer that the environment self-adaption ability is arranged, the combination property of reliable precision and environment self-adaption ability has extremely important contact to the development prospect of intelligent automatic control system.

Purpose of the present invention designs exactly a kind ofly to be had at a high speed from the correction ability, and direction of measurement is the acceleration transducer of benchmark with the surface level and can overcomes the gradient protractor that speed change is disturbed.

The scheme that the present invention adopts is according to balance mechanics and inertia mechanics principle, with three axle center of volume coordinate is benchmark, with x axle and y axle is uniform two guide rails of cross nodular that the axle center makes symmetry, one group of slide block is installed respectively on two guide rails, it can be slided along axis, but can not rotate around rotating shaft, slide block is connected with spring with the two ends of guide rail, the center of gravity that triplicity is formed is on the axial line of diaxon, and when making it to be formed on cross joint and being in horizontality, acting force at the situation lower spring that does not have the external force effect makes slide block be positioned at the center of guide rail, forms its combined gravity on the intersection point in two axle center; Side at the perpendicular bisector z of two axial line intersection points axle has an end slightly with the stationary shaft that weighs the balance bead; Respectively there is one to be the small sircle hole in the center of circle at y axle two ends with the axle center, be connected by rotating shaft with a pair of fixed orifice on the annulus, annulus also is to be made by the uniform section bar of quality, having the two coupled columns hearts orthogonal small sircle hole on the circle ring center plane to be respectively applied for the two ends of cross joint y axle and the pilot hole of pedestal on the annulus connects, make it to form a pair of mutually vertical, the rotating mechanism that can rotate along its axis respectively; The mechanical balance formula of its principle of work is am ₁=P ' L (1); MgL=am ₂H (2); M in the formula ₁Be the quality of slide block, m ₂The mass of balance block of attaching most importance to; A is by measuring acceleration; L is slide block and spring and the guide rail distance of combined gravity and rotating shaft core at once, and g is an acceleration of gravity; The attach most importance to centre distance in counterbalance weight center of gravity and y axle axle center of h; P ' is the spring ratio of spring; Formula (1) is the formula in a basic balance of acceleration analysis on the guide rail, and (2) are adaptive correction formula in a basic balance.More than the precondition set up of two formula be that the acceleration direction is on horizontal line, and its guide rail axially on, when its not in the axial direction time utilization composite force learn the intensity and the orientation angles that just can calculate acceleration on its horizontal line after formula carries out computing with the signal intensity on the diaxon, its adaptive principle is when acceleration signal is imported, slide block on the guide rail produces and quickens potential energy, the acting force that overcomes spring produces displacement, slide block stops to slide during both force balance, and its balanced relationship is formula (1); And the deviation of gravity center guideway centreline that slide block slides and impels whole guide rail, produce sagging trend, meanwhile because of the center of gravity of heavy counterbalance weight not on the axle center of rotation axis, the acceleration potential energy of its generation will produce the acting force of a trend acceleration direction, identical with the sense of displacement of guide rail top shoe, its adaptive ability combined with inertia just and can maintain guide rail on the horizontal line all the time when both relations satisfied formula (2), the displacement of having only acceleration and counterbalance weight in two equations of equilibrium is a variable, all the other are constant, so the displacement of counterbalance weight is the parameter of acceleration.The anglec of rotation of two rotating shafts is carrier base and horizontal relative gradient parameter in the self-reacting device, therefore just can obtain value of slope more accurately by measuring the anglec of rotation, through understanding the concrete volume coordinate state of carrier after the calculation process, effectively utilize the function of this device, and can draw the concrete orientation and the intensity of steric acceleration by computing, obtain the acceleration of adaptive ability and the complex sensor device of slope measuring ability.

The present invention will be further described in detail below in conjunction with accompanying drawing.

Fig. 1 is the three-dimensional view of the characteristic of a kind of implementation method of the present invention, as shown in the figure, the present invention be bore on the plane of determining by the center line of the ring bar (2) of a donut two pairs vertical mutually, intersection point is at the small sircle hole in the annulus center of circle, wherein a pair of by the pilot hole socket on the y axle of fixing round pin (4) and cross nodular balance guide rail (1), another is to by the pilot hole socket on fixedly round pin (5) and the pedestal (3); Cross nodular balance is that the axial line with three of the spatial coordinates of intersection point altogether is the center, at x axle and y axle is that four ends of the joint of saltire symmetrically in axle center settle one can slide but the slide block (6) that can not rotate along axle respectively, and fixedly connected homoaxial two slide blocks respectively by two little (7).By reciprocal spring slide block is linked to each other with the guide rail two ends, photoelectric coding bar (dish) or slip capacitance resistance ware are installed in the appropriate location, not shown in last two point diagrams.

Fig. 2 is the three-dimensional view of middle cross nodular balance guide rail shown in Figure 1, and (1) is the x axle, is the balance guide rail shown in the figure, and (2) are the y axle, are the balance guide rails, and (3) are the z axle, are heavy counterbalance weights that three's center line is intersection point altogether, and vertical mutually in twos.

Fig. 3 be shown in Figure 2 in cross nodular balance guide rail along the sectional view on the plane that y axle and z axle axial line are determined.

Fig. 4 is parts shown in Figure 2 along the sectional view on the plane that x axle and z axle axial line are determined.

Fig. 5 is the sectional view of middle balance correction mechanism shown in Figure 1 along the plane that the x axle and the y axle axial line of cross joint are determined, (1) shown in the figure is cross nodular guide rail, and (2) use annulus for revising; (3,4) are respectively the register pin of annulus and cross joint and pedestal, use screw thread and its outer end coupling.

One of technical essential among the present invention is the slide block that relates in above-mentioned two formula and heavy mass of balance block (weight) and heavy counterbalance weight center of gravity to the harmony between the spring ratio of the vertical range of rotating shaft core and spring, and the drawing materials to distribute of appropriate change just can obtain different resolution and measuring limit value; Two of main points be preferably adopt untouchable photoelectric encoder as digitizer spare to reduce frictional resistance, increase its resolving accuracy and Acceptable life; Three of main points are not mention the low precision that friction force is brought in the above-mentioned formula separately, in practicality, can not be ignored, but can't avoid fully again, effective scheme is the frictional resistance of the frictional resistance of slide block and guide rail and rotating shaft to be accomplished to be similar to could improve adaptivity, but frictional resistance should be as much as possible little.

The present invention mainly is used as the self-induction sensor in the automatic control system of light-duty surface carrier and exploration robot, to improving its adaptive capacity to environment and processing ability certainly important role is arranged, can effectively improve the combination property of automatic control system under suitable handling procedure support, be the important self-induction sensing device of high-grade intelligent automatic control system.As be applied to the automatic control in fields such as sedan limousine, being to improve the important parameter generation sensor that three of its suspension prevents that the kinematic behavior of engine under (preventing nodding, preventing recoil, anti-inclination) effects and different gradient situation and the different user demands is controlled automatically, is one of necessary technology of raising security and comfortableness.

Claims

1: according to balance mechanics and inertia mechanics principle, with three axle center of volume coordinate is benchmark, with x axle and y axle is uniform two guide rails of cross nodular that the axle center makes symmetry, one group of slide block is installed respectively on two guide rails, it can be slided along axis, slide block is connected with spring with the two ends of guide rail, the center of gravity that triplicity is formed is on the axial line of diaxon, under the situation that does not have the external force effect, the acting force of spring makes slide block be positioned at the center of guide rail, forms its combined gravity on the intersection point in two axle center; Side at the perpendicular bisector z of two axial line intersection points axle has an end slightly with the stationary shaft that weighs the balance bead; Respectively there is one to be the small sircle hole in the center of circle at y axle two ends with the axle center, be connected by rotating shaft with a pair of fixed orifice on the annulus, annulus also is to be made by the uniform section bar of quality, having the two coupled columns hearts orthogonal small sircle hole on the circle ring center plane to be respectively applied for the two ends of cross joint y axle and the pilot hole of pedestal on the annulus connects, it is a pair of vertical mutually to it is characterized in that mechanical realization forms, the rotating mechanism that can rotate along its axis respectively; Its principle of work is to be am according to the acceleration equation of equilibrium ₁=P ' L and review one's lessons by oneself positive balance formula m ₁GL=am ₂H is a theoretical foundation; M in the formula ₁Be the quality of slide block, m ₂The mass of balance block of attaching most importance to; A is by measuring acceleration; L is slide block and spring and the guide rail distance of combined gravity and rotating shaft core at once, and g is an acceleration of gravity; H attach most importance to the counterbalance weight center of gravity with the axle axle center centre distance; P ' is the spring ratio of spring.

2: the precondition that two formula according to claim 1 are set up is that the acceleration direction is on horizontal line, and its guide rail axially on, when its not in the axial direction time utilization composite force learn and just can calculate its intensity and orientation angles after formula carries out computing with the signal intensity on the diaxon, it is characterized in that adaptive principle is when acceleration signal is imported, slide block on the guide rail produces and quickens potential energy, the acting force that overcomes spring produces displacement, slide block stops to slide during both force balance, and its equilibrium relation formula is am ₁=P ' L; And the deviation of gravity center guideway centreline that slide block slides and impels whole guide rail, produce sagging trend, meanwhile because of the center of gravity of heavy counterbalance weight not on the axle center of rotation axis, the acceleration potential energy of its generation will produce the acting force of a trend acceleration direction, identical with the sense of displacement of guide rail top shoe, both relations satisfy m ₁GL=am ₂Its adaptive ability combines just with inertia and guide rail can be maintained on the horizontal line all the time during h.

3: the anglec of rotation of two rotating shafts is carrier base and horizontal relative gradient parameter in the self-reacting device according to claim 1, it is characterized in that just obtaining value of slope more accurately by measuring the anglec of rotation, through understanding the concrete volume coordinate state of carrier after the calculation process, effectively utilize the function of this device, obtain the slope measuring sensor device of adaptive ability.

4: the intersecting point test of slider displacement according to claim 1 and balance correction rotating shaft preferably adopts untouchable photoelectric encoder as digitizer spare, it is characterized in that reducing frictional resistance, increases its resolving accuracy, and improves Acceptable life.