CN201561749U - Angle measuring device and project machine - Google Patents
Angle measuring device and project machine Download PDFInfo
- Publication number
- CN201561749U CN201561749U CN2009203523725U CN200920352372U CN201561749U CN 201561749 U CN201561749 U CN 201561749U CN 2009203523725 U CN2009203523725 U CN 2009203523725U CN 200920352372 U CN200920352372 U CN 200920352372U CN 201561749 U CN201561749 U CN 201561749U
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- acceleration transducer
- measurement unit
- angle measurement
- angle
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Abstract
The utility model discloses an angle measuring device, which also relates to a project machine with the angle measuring device. The angle measuring device comprises a micro processor, a main acceleration sensor and an output device, and also comprises an assistant acceleration sensor. A preset angle is between the positive direction of a main sensitive shaft of the main acceleration sensor and the positive direction of the assistant acceleration sensor. The main acceleration sensor and the assistant acceleration sensor respectively output a first initial parameter and a second initial parameter. The micro processor obtains a first actual parameter of the main acceleration sensor, and a high-precision angle parameter is obtained according to the first actual parameter. the first actual parameter represents when not interfered by the outside, and the main acceleration sensor outputs parameters. The angle measuring device can obtain exact measuring results under a moving state.
Description
Technical field
The utility model relates to a kind of measurement of angle technology, and particularly a kind of angle measurement unit also relates to the engineering machinery with this angle measurement unit.
Background technology
Possess based on the angle measurement unit of acceleration transducer that volume is little, low in energy consumption, response speed fast and the reliability advantages of higher, therefore, this kind angle measurement unit has been widely used in engineering machinery field, be used for measuring in real time the angle parameter of predetermined parts, think that the control of engineering machinery provides positional information.
Acceleration transducer generally comprises sensitive element, and in the time spent of doing that is subjected to acting force, this sensitive element can move in predetermined sensitive axes direction, and its displacement of moving generation be subjected to the proportionate relationship that acting force becomes to be scheduled to; Like this, can determine the acting force that is subjected to, and then realize measurement acceleration according to displacement.In measuring process, the change in displacement of sensitive element at first is converted to corresponding electric signal, and with the amplification of electric signal process, the noise reduction that obtain, analog to digital conversion obtains digital signal again; At last, according to signal and the predetermined relation of acceleration, obtain the acceleration of detected parts on the sensitive axes direction, or detected parts are subjected to the direction and the size of acting force.
Principle of work based on the angle measurement unit of acceleration transducer is: when the acceleration transducer horizontal positioned, it is zero that sensitive element is subjected to by the acting force that gravity produces on the sensitive axes direction, preset parameter of acceleration transducer output, just the parameter zeroset that exports during the zero-bit of angle measurement unit.When the sensitive axes of angle measurement unit and surface level are angled, gravity can produce corresponding component in the sensitive axes direction, this component can make sensitive element produce corresponding displacement, at this moment, the parameter X of the corresponding sign acceleration of angle when acceleration transducer is exported therewith, by microprocessor the parameter of output is handled then, and according to the positive dirction and the negative direction of being scheduled to sensitive axes, output angle parameter.The acquisition methods of angle parameter can be α=arcsin{ (X-zeroset)/sensitivity}, and wherein α is an angle parameter, and sensitivity is the sensitivity coefficient of angle measurement unit; X-zeroset is illustrated in the sensitive axes direction, with the corresponding amount of sensitive element displacement.Certainly, angle measurement unit can be changed angle parameter according to the purpose difference of initial position, angle, measurement, so that the angle parameter of output meets predetermined requirement, realizes predetermined purpose.
According to foregoing description, be decided by angle between sensitive axes and the gravity direction based on the angle parameter of the angle measurement unit of acceleration transducer output, specifically be angle between predetermined positive dirction of sensitive axes and the gravity direction.
According to foregoing description as can be seen, the parameter that takes measurement of an angle of angle measurement unit need remain static with acceleration transducer, and sensitive element only gravitate is the basis; Therefore, when angle measurement unit was kept in motion, the angle parameter of acquisition was difficult to characterize exactly its actual angle.
Yet when utilizing above-mentioned angle measurement unit to measure the angle of engineering machinery corresponding component, the diversity and the frequency of engineering machinery action often make angle measurement unit be kept in motion; Under this state, the sensitive element of acceleration transducer not only is subjected to action of gravity, also may be subjected to the effect of other acting forces, these acting forces have just formed the external interference to angle measurement unit, this external interference can make the sensitive element of acceleration transducer produce displacement, thereby reduces the measuring accuracy of angle measurement unit.For example, at the boom system of concrete mixer in the vertical pivot rotary course, angle measurement unit on the boom system not only will be subjected to action of gravity, also can be subjected to owing to the centripetal force that produces of rotation, at this moment, the angle parameter of the acquisition of the angle measurement unit on the boom system will produce very big error.In order to obtain angle parameter more accurately, need generally to wait for that boom system obtains angle parameter after static again, this can influence the operating performance and the operating efficiency of concrete mixer undoubtedly.Though angle measurement unit can reduce to vibrate influence to the angle measurement unit measuring accuracy by filter; But filter can not be eliminated the adverse effect of external interference to angle measurement unit.
How to reduce the influence of external interference to measurement of angle, the measuring accuracy that improves angle measurement unit is the technical barrier that the current techniques personnel face.
The utility model content
At above-mentioned technical barrier, the purpose of one side of the present utility model is, a kind of angle measurement unit is provided, and to reduce the influence of external interference to measurement of angle, improves the measuring accuracy of angle measurement unit.
The utility model purpose on the other hand is, a kind of engineering machinery with above-mentioned angle measurement unit is provided, to improve the operating performance and the work efficiency of engineering machinery.
In order to realize the purpose of first aspect, the angle measurement unit that the utility model provides comprises microprocessor, main acceleration transducer, output unit, difference with the prior art is, also comprise between the positive dirction of the secondary sensitive axes of the positive dirction of at least one secondary acceleration transducer, described main acceleration transducer master sensitive axes and secondary acceleration transducer and have predetermined angular, this predetermined angular is spent greater than 90, and less than 270 degree; Described main acceleration transducer and secondary acceleration transducer are exported first initial parameter and second initial parameter respectively; Described microprocessor obtains first actual parameter of main acceleration transducer according to first initial parameter, second initial parameter and predetermined angular, obtains angle parameter according to this first actual parameter again; Described first actual parameter characterizes when not being subjected to external interference, the parameter of main acceleration transducer output; Described output unit is used for angle parameter is exported.
Preferably, described predetermined angular is greater than 135 degree, less than 225 degree.
Preferably, described predetermined angular is 180 degree.
Preferably, described main acceleration transducer is identical with secondary acceleration transducer.
Preferably, described angle measurement unit also comprises filter, described filter is used to filter first initial parameter and second initial parameter of main acceleration transducer and the output of secondary acceleration transducer, and first initial parameter after will filtering and second initial parameter are exported to microprocessor.
Preferably, described angle measurement unit also comprises memory storage, and described memory storage is used for storing predetermined parameter, and described microprocessor can obtain the preset parameter of storing in the memory storage.
In order to realize the purpose of second aspect, the engineering machinery that the utility model provides comprises chassis and the execution unit that is installed on the chassis, and difference with the prior art is, above-mentioned any angle measurement unit is installed on the described execution unit.
Optionally, described engineering machinery is a concrete mixer, and described execution unit comprises boom system, on each arm section of described boom system described angle measurement unit is installed.
The angle measurement method that the utility model provides may further comprise the steps:
S100, main acceleration transducer and secondary acceleration transducer obtain first initial parameter and second initial parameter respectively; Have predetermined angular between the positive dirction of the secondary sensitive axes of the positive dirction of described main acceleration transducer master sensitive axes and secondary acceleration transducer, described predetermined angular is spent greater than 90, and less than 270 degree;
S200 obtains first actual parameter according to described first initial parameter, second initial parameter and predetermined angular, and this first actual parameter characterizes when not being subjected to external interference, the parameter of main acceleration transducer output;
S300 obtains angle parameter according to described first actual parameter.
Preferably, in step S100, obtain a plurality of described second initial parameters respectively with a plurality of described secondary speed pickups.
Compared with prior art, the angle measurement unit that the utility model provides has a main acceleration transducer and at least one secondary acceleration transducer, and has predetermined angular between the positive dirction of the positive dirction of main acceleration transducer sensitive axes and secondary acceleration transducer sensitive axes, this predetermined angular is greater than 90 degree, less than 270 degree.Like this, when carrying out measurement of angle, main acceleration transducer can be according to angle measurement unit in main responsive axial stressed acquisition first initial parameter, secondary acceleration transducer also can responsively axially stressedly obtain second initial parameter main according to angle measurement unit, and has predetermined relation between first initial parameter and second initial parameter; Because external interference produces identical influence to main acceleration transducer with secondary acceleration transducer, therefore, on main sensitive axes direction, owing to external interference makes first initial parameter identical with the error that second initial parameter produces, therefore, can be according to the predetermined relation between first initial parameter and second initial parameter, cancellation error, acquisition is characterized in when not being subjected to external interference, first actual parameter that main acceleration transducer should be exported; Obtain angle parameter according to first actual parameter again.Like this, the angle measurement unit that the utility model provides just can reduce the error that produces owing to external interference, improves the measuring accuracy of angle measurement unit.
In optimized technical scheme, predetermined angular between the positive dirction of described main sensitive axes and the positive dirction of secondary sensitive axes is 180 degree, at this moment, external interference makes first initial parameter and second initial parameter produce equal and opposite in direction, the error that direction is opposite, thus can obtain first actual parameter by the method that obtains second initial parameter and the second initial parameter mean value.In this technical scheme,, therefore, can guarantee that external interference makes first initial parameter and second initial parameter produce equal and opposite in direction, the error that direction is opposite because the positive dirction of the sensitive axes of two acceleration transducers is opposite; Like this, on the one hand can obtain first actual parameter easily, the error that can avoid the conversion owing to trigonometric function to cause on the other hand improves the measuring accuracy of angle measurement unit further; The 3rd can avoid enlarging the range of application and the occasion of angle measurement unit owing to the influence of transverse force effect to measurement result.
In optimized technical scheme, described main acceleration transducer is identical with secondary acceleration transducer, have identical measurement parameter setting and measuring basis, can guarantee further that like this external interference amount produces identical influence to two acceleration transducers, improves the measuring accuracy of angle measurement unit.
Because angle measurement unit has above-mentioned technique effect, engineering machinery with above-mentioned angle measurement unit also has corresponding technique effect, and, because angle measurement unit can obtain reliable angle parameter under rotation, swing or other motion states, therefore, can in operational motion carries out, realize detection, improve the operating performance and the operating efficiency of engineering machinery angle parameter.
Description of drawings
Fig. 1 is the structured flowchart of the angle measurement unit that provides of the utility model embodiment one;
Fig. 2 is the measuring principle synoptic diagram of the angle measurement unit that provides of the utility model embodiment one;
Fig. 3 is the workflow diagram of the angle measurement unit that provides of the utility model embodiment one, also is simultaneously the process flow diagram of the angle measurement method that provides of the utility model;
Fig. 4 is the measuring principle synoptic diagram of the angle measurement unit that provides of the utility model embodiment two.
Embodiment
Below in conjunction with accompanying drawing the utility model is described in detail, the description of this part only is exemplary and explanatory, should any restriction not arranged to protection domain of the present utility model.
Please refer to Fig. 1 and Fig. 2, Fig. 1 is the structured flowchart of the angle measurement unit that provides of the utility model embodiment one, and Fig. 2 is the measuring principle synoptic diagram of the angle measurement unit that provides of the utility model embodiment one.
The angle measurement unit that embodiment one provides comprises microprocessor 100, main acceleration transducer 210, secondary acceleration transducer 220 and output unit 300.As shown in Figure 2, have predetermined angle theta between the positive dirction of the positive dirction of main acceleration transducer 210 main sensitive axes X1 and secondary acceleration transducer 220 secondary sensitive axes X2, this predetermined angle theta is spent greater than 90, and less than 270 degree.
According to shown in Figure 2, be subjected to the directed force F parallel at angle measurement unit and do the time spent with main sensitive axes X1 direction, directed force F is f at the component of secondary sensitive axes X2 direction, f=F * cos (π-θ), according to the acceleration transducer measuring principle, the first initial parameter a '
X1With the second initial parameter a '
X2Relevant with directed force F respectively with component f; Be located at when not having external interference, first actual parameter that main acceleration transducer 210 should be exported is a
X1Second actual parameter that secondary acceleration transducer 220 should be exported is a
X2
Can determine formula (3): a
X2=-a
X1* cos (π-θ).
The angle parameter a that output unit 300 is used for obtaining exports, and makes the operating system of operating personnel or engineering machinery can obtain the result that angle measurement unit is measured, and determines the angle of inclination of angle measurement unit place parts again according to predetermined strategy.
Please refer to Fig. 3, this figure is the workflow diagram of the angle measurement unit that provides of the utility model embodiment one, simultaneously, also is the process flow diagram of the angle measurement method that provides of the utility model.Be subjected to time spent of doing of the directed force F parallel at angle measurement unit, obtain angle parameter by following steps with main sensitive axes X1 direction:
Step S100, main acceleration transducer 210 and secondary acceleration transducer 220 obtain the first initial parameter a respectively
X1With the second initial parameter a
X2
Step S200 is according to the first initial parameter a
X1, the second initial parameter a
X2Obtain the first actual parameter a with predetermined angle theta
X1
This step can be undertaken by microprocessor 100, and concrete mode is:
If the error that external interference makes main acceleration transducer 210 produce on main sensitive axes X1 direction is Δ a; Like this, can draw formula (1):
a′
X1＝a
X1+Δa
Equally, external interference makes the error of secondary acceleration transducer 220 generations also be Δ a on main sensitive axes X1 direction; At this moment, can draw formula (2):
a′
X2/cos(π-θ)＝a
X2/cos(π-θ)+Δa
According to formula (3): a
X1=-a
X2/ cos (π-θ), can be with in formula (1) the substitution formula (2), cancellation Δ a obtains formula (4):
a
X1＝(a′
X1-a’
X2/cos(π-θ))/2
Thereby obtain the first actual parameter a
X1, in next step, obtain more accurate angle parameter a prerequisite be provided.
S300 is according to the described first actual parameter a
X1Obtain angle parameter, the just measurement result of angle measurement unit.
Concrete mode is:
a＝arcsin((α
X1-zeroset)/sensitivity)
Wherein a is an angle parameter, and zeroset is the parameter that main acceleration transducer 210 is exported when zero-bit, and sensitivity is the sensitivity coefficient of angle measurement unit, draws angle parameter a by the trigonometric function relation.Wherein, zeroset and sensitivity can be preset in the angle measurement unit; Also enough avoid enlarging the range of application and the occasion of angle measurement unit owing to the influence of transverse force effect to measurement result.
According to foregoing description, in order to make external interference identical with the influence that secondary acceleration transducer 220 produces to main acceleration transducer 210, in the optimized technical scheme, can select for use identical acceleration transducer as main acceleration transducer 210 and secondary acceleration transducer 220, make main acceleration transducer 210 have identical measurement parameter setting and measuring basis with secondary acceleration transducer 220.
In order further to improve the measuring accuracy of angle measurement unit, can also make angle measurement unit have a plurality of secondary acceleration transducers 220, and obtain a plurality of second initial parameter a ' respectively
X2, obtain a plurality of intermediate parameters with above-mentioned formula (1), (2), (3) again, and then the mean value that obtains above-mentioned a plurality of intermediate parameters is as the first actual parameter a
X1Can eliminate the error of a secondary acceleration transducer 220 so better, improve the measuring accuracy of angle measurement unit.
If above-mentioned main sensitive axes X1 and secondary sensitive axes X2 form plane P, parallel in the external interference generation with plane P, and the transverse force vertical with directed force F done the time spent, a '
X2Just not exclusively corresponding with the component f of directed force F, formula (2) will produce corresponding error, and then, the angle parameter error of acquisition is increased.Error in order to reduce to cause owing to the transverse force effect can limit predetermined angle theta, such as making predetermined angle theta greater than 135 degree, less than 225; For the error that fundamentally reduces to cause owing to the transverse force effect, the utility model embodiment two also provides another kind of angle measurement unit.
Compare with the angle measurement unit that embodiment one provides, its difference is: the predetermined angle theta between the positive dirction of the secondary sensitive axes X2 of the positive dirction of the main sensitive axes X1 of main acceleration transducer 210 and secondary acceleration transducer 220 equals 180 degree; The measuring principle synoptic diagram of the angle measurement unit that the utility model embodiment two as shown in Figure 4 provides, main sensitive axes X1 and secondary sensitive axes X2 keeping parallelism, it is opposite that positive dirction keeps, and the predetermined angle theta between the positive dirction equals 180 degree.Like this, the first initial parameter a ' of main acceleration transducer 210 and 220 outputs of secondary acceleration transducer
X1With the second initial parameter a '
X2Can be owing to the transverse force effect does not change, thus can avoid reducing owing to the transverse force effect causes measuring accuracy, keep the measuring accuracy of angle measurement unit.
When θ is 180 °, correspondingly,
Formula (2) is: a '
X2=a
X2+ Δ a
Formula (3) is: a
X1=-a
X2
Formula (4) is: a
X1=(a '
X1-a '
X2)/2
Thereby, can obtain the first actual parameter a more easily
X1Simultaneously, the error that can also avoid the conversion owing to trigonometric function to produce.
Should be noted that in spatial relationship, not only comprise above-mentioned intersecting and parallel relation at main sensitive axes X1 and secondary sensitive axes X2, can also be the antarafacial relation.When between main sensitive axes X1 and secondary sensitive axes X2, concerning for antarafacial, predetermined angle theta is the angle that main sensitive axes X1 positive dirction and the projection of secondary sensitive axes X2 positive dirction on reference planes form, this reference planes while and main sensitive axes X1 and secondary sensitive axes X2 keeping parallelism.When main sensitive axes X1 and secondary sensitive axes X2 are arbitrary the relation, predetermined angle theta between the positive dirction of main sensitive axes X1 and the positive dirction of secondary sensitive axes X2 can for secondary sensitive axes X2 positive dirction and one with reference to the angle between the ray bearing of trend, this end points with reference to ray is that main sensitive axes X1 goes up predetermined point, and its bearing of trend is parallel with secondary sensitive axes X2 positive dirction, just can realize the purpose of this utility model as long as satisfy this condition.
In general, angle measurement unit also comprises filter, and filter is used to filter main acceleration transducer 210 and secondary acceleration transducer 220 output signals, will be scheduled to the interference filtering signals and fall, and the output of the signal microprocessor after will filtering.Improve the first initial parameter a '
X1With the second initial parameter a '
X2Accuracy.In addition, independent memory storage can also be set, with stored parameter zeroset, sensitivity coefficient sensitivity or other predetermined parameters; Certainly, also can in microprocessor 100, store relevant parameter.
On the basis of above-mentioned angle measurement unit, the utility model also provides a kind of engineering machinery, and this work mechanism comprises chassis and execution unit, and above-mentioned any angle measurement unit is installed on the execution unit; Especially, described engineering machinery can be a concrete mixer, and concrete mixer comprises chassis and boom system, boom system is rotatably installed on the chassis, boom system is formed by the hinged arm section of a plurality of orders, and angle measurement unit can be installed on the arm section, to determine the angle of each arm section; Like this, when boom system rotates with respect to the chassis, above-mentioned angle measurement unit also can obtain the angle of respective arms section exactly, thereby does not need to wait for that boom system determines the angle of inclination of each arm section after static again, can improve the operating performance and the work efficiency of concrete mixer.
The above only is a preferred implementation of the present utility model; should be understood that; for those skilled in the art; under the prerequisite that does not break away from the utility model principle; can also make some improvements and modifications; such as; main acceleration transducer 210 can be a double-axel acceleration sensor; at this moment; can correspondingly secondary acceleration transducer 220 be set to double-axel acceleration sensor; or two secondary acceleration transducers 220 are set, or the like, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (8)
1. angle measurement unit, comprise microprocessor (100), main acceleration transducer (210), output unit (300), it is characterized in that, also comprise between the positive dirction of the positive dirction of at least one secondary acceleration transducer (220), the main sensitive axes of described main acceleration transducer (210) (X1) and the secondary sensitive axes of secondary acceleration transducer (220) (X2) and have predetermined angular, this predetermined angular is spent greater than 90, and less than 270 degree;
Described main acceleration transducer (210) and secondary acceleration transducer (220) are exported first initial parameter and second initial parameter respectively;
Described microprocessor (100) obtains first actual parameter of main acceleration transducer (210) according to first initial parameter, second initial parameter and predetermined angular, obtains angle parameter according to this first actual parameter again; Described first actual parameter characterizes when not being subjected to external interference, the parameter of main acceleration transducer output;
Described output unit (300) is used for angle parameter is exported.
2. angle measurement unit according to claim 1 is characterized in that, described predetermined angular is greater than 135 degree, less than 225 degree.
3. angle measurement unit according to claim 2 is characterized in that, described predetermined angular is 180 degree.
4. according to each described angle measurement unit of claim 1-3, it is characterized in that described main acceleration transducer (210) is identical with secondary acceleration transducer (220).
5. according to each described angle measurement unit of claim 1-3, it is characterized in that, also comprise filter, described filter is used to filter first initial parameter and second initial parameter of main acceleration transducer (210) and secondary acceleration transducer (220) output, and first initial parameter after will filtering and second initial parameter are exported to microprocessor (100).
6. according to each described angle measurement unit of claim 1-3, it is characterized in that also comprise memory storage, described memory storage is used for storing predetermined parameter, described microprocessor (100) can obtain the preset parameter of storing in the memory storage.
7. an engineering machinery comprises chassis and the execution unit that is installed on the chassis, it is characterized in that, each described angle measurement unit of claim 1-6 is installed on the described execution unit.
8. engineering machinery according to claim 7 is characterized in that, described engineering machinery is a concrete mixer, and described execution unit comprises boom system, on each arm section of described boom system described angle measurement unit is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009203523725U CN201561749U (en) | 2009-12-24 | 2009-12-24 | Angle measuring device and project machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009203523725U CN201561749U (en) | 2009-12-24 | 2009-12-24 | Angle measuring device and project machine |
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| Publication Number | Publication Date |
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| CN201561749U true CN201561749U (en) | 2010-08-25 |
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ID=42626895
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|---|---|---|---|
| CN2009203523725U Expired - Fee Related CN201561749U (en) | 2009-12-24 | 2009-12-24 | Angle measuring device and project machine |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102505853A (en) * | 2011-11-10 | 2012-06-20 | 三一重工股份有限公司 | Injection machine and mechanical arm, injection control method and injection control device thereof |
| WO2013104224A1 (en) * | 2012-01-09 | 2013-07-18 | 中联重科股份有限公司 | Method, device, and system for measuring vibration and displacement of boom of pumper truck, and engineering machinery apparatus |
| CN113701574A (en) * | 2020-05-21 | 2021-11-26 | 北京机械设备研究所 | Rocket nozzle swing angle measuring method and device |
-
2009
- 2009-12-24 CN CN2009203523725U patent/CN201561749U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102505853A (en) * | 2011-11-10 | 2012-06-20 | 三一重工股份有限公司 | Injection machine and mechanical arm, injection control method and injection control device thereof |
| CN102505853B (en) * | 2011-11-10 | 2014-01-15 | 三一汽车制造有限公司 | Injection machine and mechanical arm, injection control method and injection control device thereof |
| WO2013104224A1 (en) * | 2012-01-09 | 2013-07-18 | 中联重科股份有限公司 | Method, device, and system for measuring vibration and displacement of boom of pumper truck, and engineering machinery apparatus |
| CN113701574A (en) * | 2020-05-21 | 2021-11-26 | 北京机械设备研究所 | Rocket nozzle swing angle measuring method and device |
| CN113701574B (en) * | 2020-05-21 | 2023-04-11 | 北京机械设备研究所 | Rocket nozzle swing angle measuring method and device |
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Granted publication date: 20100825 Termination date: 20141224 |
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