CN201935688U - Device for detecting inclination degree of pipe pile - Google Patents

Abstract

The utility model discloses a device for detecting the inclination degree of a pipe pile, which comprises a main control unit, a command input unit, a sensor unit, a signal conditioning unit, an A/D (Analog to Digital) conversion unit, a memory unit, a display unit and a communication interface, wherein the command input unit is connected with the main control unit; the sensor unit is connected with the signal conditioning unit; an electronic compass in the sensor unit is directly connected with the main control unit; an accelerometer in the sensor unit is connected with the signal conditioning unit; the electronic compass is directly connected with the main control unit; a temperature sensor is directly connected with the main control unit; the sensor unit sequentially passes through the signal conditioning unit and the A/D conversion unit and is then connected with the main control unit; the memory unit comprises an SD (Secure Digital) card and a Flash memory which are respectively and directly connected with the main control unit; the display unit is connected with the main control unit; and the communication unit is connected with the main control unit. The device has the advantages of simple structure, low cost, high measuring precision, convenience in operation, economy and practicability; and in addition, the characteristics of accuracy, economy, convenience and quickness endowed by the device are achieved.

Description

A kind of device that is used to detect the pile tube inclined degree

Technical field

The utility model relates to Geotechnical Engineering foundation field tests, more specifically relates to a kind of device that is used to detect the pile tube inclined degree, is applicable to the work of prefabricated tubular pile delivery receiving acceptance.

Background technology

In the foundation basic construction, tube pile construction be the most basic also be a most important step.Prefabricated pile is a kind of mode of commonplace use in the tube pile construction.Prefabricated pile is made in factory or working-yard usually, with pile sinking equipment stake is squeezed into, is pressed into during construction or shake and bury, and timber, concrete-pile, piling bar etc. are arranged, and it mainly is concrete-pile and piling bar two classes that the Chinese architecture construction field adopts more.Concrete-pile commonly used has solid side's stake of concrete and pre-stressed concrete hollow pile tube, and piling bar commonly used has steel-pipe pile and the stake of H shaped steel.Wherein concrete hollow pile tube (hereinafter to be referred as pile tube) is the most common, pile tube is a right cylinder, axis is a straight line, is identical circle perpendicular to the outline of the arbitrary section of axis, because of its firm durable, speed of application fast, can bear bigger load is widely used.

Pile tube also is widely used in fields such as railway, highway, harbour, bridge, hydraulic engineering except that being widely used in industry and covil construction at present.The pile tube product has more perfect standards system, as " GB 13476-1999 pretensioned prestressed concrete pipe pile ", " 03SG409 prestressed concrete pipe pile ", " JC 888-2001 pretensioning prestressed concrete thin-wall pipe pile ", " JC/T 947-2005 pretensioned prestressed concrete pipe pile end plate ", " JC/T 950-2005 prestressed high-strength concrete pile silica flour ", " JC/T 948-2005 concrete product release agent ", " JC/T540-2006 concrete product low-carbon (LC) cold drawn wire " etc.Tube pile construction is checked and accepted also clear and definite code requirement, as " GB/T 19496-2004 bores core and detects the centrifugal high-strength concrete compressive strength test method ", " GB50202-2002 building foundation engineering construction quality acceptance specification ", " DB42/489-2008 pre-stressed concrete pipe pile foundation technical manual (Hubei Province's local regulation) " etc.

In tube pile construction, usually, make pile tube in work progress, be vulnerable to damage because factors such as geologic condition, execution conditions, construction technology cause pile tube to occur tilting.The deviation of pile tube vertical bank angle also can influence the vertical bearing capacity or the horizontal shearing resistance of pile tube simultaneously, stays hidden danger to upper building.Above-mentioned standard is to the verticality of pile tube, and promptly the deviation of vertical bank angle has clear and definite requirement, therefore should in time detect pile tube inclined degree, its verticality of control correction in work progress.

Pile tube is because its external shape is fairly regular, and detecting its inclined degree in fact is exactly in the detection construction or the vertical bank angle of construction back pile tube axis.Pile tube tilts can influence the stress of upper building structure, this influence is not only relevant with respect to the inclination of pedal line with the pile tube axis, also relevant with the orientation of pile tube axis tilt, the pile tube axis projection on surface level at the bottom of the pile tube stake is pointed on pile tube stake top that is to say that detecting the pile tube inclined degree should detect two angle: vertical tilt angle B simultaneously---the pile tube axis at the bottom of the pile tube stake is pointed on pile tube stake top is with respect to angle and horizontal azimuth A of pedal line---is with respect to the angle of position, the positive north.

Traditional pile tube inclined degree detection method is to adopt digital surveyor's staff to measure, not only complicated operation, low, the low precision of efficient, and can not directly record the vertical bank angle of pile tube, and be unidirectional measurement, the angle of both direction can't be recorded, actual needs can not be satisfied.Still do not have the method that detects the pile tube inclined degree fast and effectively in the prior art, do not have the device of the measurement pile tube inclined degree of specialty yet, can only adopt general tiltmeter device to measure.

Electronics tiltmeter device spininess of the prior art is to the lateral shift of landslide area and dark wide open excavator body monitoring, and dam configuration deformation monitoring, formation displacement monitoring etc., is not to develop at pile tube specially.Wherein can be used for the also few of pile tube deviational survey, as homemade LS160 surveyor's staff, Switzerland Lycra D5 laser range finder etc.Homemade LS160 surveyor's staff is used to measure surveyor's staff surface and horizontal plane angle, though low price, but precision is lower, only can reach 0.1 °, and its energy measurement vertical tilt angle B only, energy measurement horizontal azimuth A not, in addition, it uses the segmentation charactron to show measurement result, needs manual record data, strengthened operating personnel's workload, therefore also inconvenience is applicable to the work of pile tube deviational survey.Switzerland Lycra D5 laser range finder complete function, major function is laser ranging, have the deviational survey function concurrently, can be used for surveying instrument surface and horizontal plane angle, and analysis software is arranged, but itself and the same only energy measurement of homemade LS160 surveyor's staff vertical tilt angle B, energy measurement horizontal azimuth A not, precision also can only reach 0.1 °, and its price is more expensive, also also amateur deviational survey instrument, also inconvenience is applicable to the work of pile tube deviational survey.In addition, the electronics tiltmeter device of prior art does not all have report capability, needs the manual prepare statement of operating personnel, and the later stage work amount is more loaded down with trivial details.Therefore, need develop a kind of device and method of special detection limit pile tube inclined degree, can be accurately, economical, carry out pile tube deviational survey correction in the work progress quickly and easily.

The utility model content

The purpose of this utility model is to be to provide a kind of device that is used to detect the pile tube inclined degree, and is simple in structure, cost is low, and the measuring accuracy height is easy to operate, economical and practical.Price only is 1/3 of an imported product Switzerland Lycra D5 price, has realized accurate, economical, requirement easily and efficiently.

In order to achieve the above object, the utility model adopts following technical measures:

The utility model adopts the inclination sensor of vertical direction such as the vertical tilt angle B of diaxon accelerometer measures pile tube, adopts the inclination sensor of horizontal direction such as the horizontal azimuth A that electronic compass is measured pile tube.On the one hand, the principle of measuring vertical pitch angle B is: stationary body is under the inclination situation, and its acceleration of gravity can in an inclined direction have one-component.On each known axle, measure the size of this component, utilize this component and the value of acceleration of gravity to carry out relevant computing and just can draw each inclination angle with respect to the horizontal plane.When certain bar axis of the inclination sensor that guarantees pile tube tilting gearing vertical direction is parallel with tested pile tube bus, just can measure the vertical tilt angle B of pile tube easily.On the other hand, the principle of measuring horizontal azimuth A is: because the effect of terrestrial magnetic field, the magnetic resistance chip is different in the output valve of different directions.The principle of electronic compass utilization detection terrestrial magnetic field detects the angle of compass itself and magnetic north, is the horizontal azimuth A of pile tube.

A kind of device that is used to detect the pile tube inclined degree, this pile tube tilt detecting device comprises main control unit, command input unit, sensor unit, the signal condition unit, A/D converting unit (C8051F350), storage unit, display unit, communication interface, it is characterized in that: command input unit links to each other with main control unit, sensor unit is successively through linking to each other with main control unit after signal condition unit and the A/D converting unit, storage unit directly links to each other with main control unit, display unit links to each other with main control unit, communication interface links to each other with main control unit, and storage unit comprises SD card and Flash storer.

Described sensor unit comprises electronic compass (DCM220), and described electronic compass directly links to each other with described main control unit.

Described sensor unit comprises accelerometer (SCA100TD02), described signal condition unit (amplifier OPA2340) comprises amplitude transformation unit (amplifier OPA2340), the low-pass filter unit that links to each other successively, and described accelerometer is successively through linking to each other with main control unit after amplitude transformation unit, low-pass filter unit and the A/D converting unit in the described signal condition unit.

Described sensor unit comprises temperature sensor, and described temperature sensor directly links to each other with described main control unit.

Described storage unit comprises SD card and Flash storer.

More specifically described command input unit links to each other with main control unit, sensor unit links to each other with the signal condition unit, electronic compass in the sensor unit (DCM220) directly links to each other with main control unit, accelerometer in the sensor unit links to each other with the signal condition unit, accelerometer (SCA100TD02) passes through the amplitude transformation unit (amplifier OPA2340) in the signal condition unit successively, low-pass filter unit and A/D converting unit (C8051F350) back link to each other with main control unit, electronic compass (DCM220) directly links to each other with main control unit, temperature sensor (DS18B20) directly links to each other with main control unit, accelerometer in the sensor unit is not directly to link to each other with main control unit, but links to each other with main control unit after passing through signal condition unit (amplifier OPA2340) and A/D converting unit (C8051F350) successively again.The A/D converting unit links to each other with signal condition unit and main control unit, and storage unit comprises SD card and Flash storer, all links to each other with main control unit.Display unit links to each other with main control unit, and communication interface (USB) links to each other with main control unit.Each ingredient is carried out every function respectively: command input unit is used for the input operation instruction; Sensor unit is used to gather the various useful informations at tested pile tube measuring point place, is electric signal with these information translation, is transferred to main control unit; Accelerometer is used to measure the vertical tilt angle B of pile tube, and electronic compass is used to measure the horizontal azimuth A of pile tube, and temperature sensor provides the multi-point temp compensation when being used for synthesizing the pile tube inclination angle at last.

A kind of detection method that detects the pile tube inclined degree the steps include:

A, self-check of device.Each ingredient of pile tube tilt detecting device comprises that main control unit, command input unit, sensor unit, signal condition unit, A/D converting unit, storage unit, display unit, communication interface start successively, device preliminary work.

B, read electronic compass.Main control unit directly reads the output valve of electronic compass.

C, sampling X-axis acceleration, sampling Z axle acceleration.Accelerometer output analog voltage signal need carry out amplitude transformation and low-pass filtering, could be handled by main control unit after the A/D converting unit is converted to digital quantity through the signal condition unit.

D, resolve the angle of pitch by X-axis acceleration and Z axle acceleration, and carry out Kalman filtering, the longitudinal angle that obtains accelerometer plane and surface level is the angle of pitch (Pitch).

E, sampling Y-axis acceleration, sampling Z axle acceleration.

F, resolve roll angle by Y-axis acceleration and Z axle acceleration, and carry out Kalman filtering, the horizontal angle that obtains accelerometer plane and surface level is roll angle (Roll).

G, by the synthetic vertical tilt angle of the angle of pitch (Pitch) and roll angle (Roll).

H, obtain 3-6 measuring point (an equally distributed 3-6 measuring point on the circuit board) temperature, carry out multi-point temp compensation.

I, demonstration, event memory.

Compared with prior art, the utlity model has following advantage: first, measuring accuracy and accuracy obviously improve, for example, device vertical tilt angle B precision of the present utility model can reach 0.01 ° or 0.01%, horizontal azimuth A precision can reach 1 °, and homemade LS160 surveyor's staff only can reach 0.1 °.The second, operate more convenient fast, for example, device of the present utility model can directly show vertical tilt angle B horizontal azimuth A by lcd screen, and automatic report generation, and homemade LS160 surveyor's staff needs operating personnel's hand-kept testing result, arrangement form.The 3rd, user-friendly for operation, device for example of the present utility model can (as 0.6 ° of vertical bank angle or number percent 1%) carry out reporting to the police under audible alarm, the low electric situation when testing result surpasses early warning value automatically.The 4th, more economical and practical, because the utility model orientates special-purpose pile tube tilt detecting device as, to have simplified structure when improving special-purpose performance, reduced cost, price only is 1/3 of an imported product Switzerland Lycra D5 price.Therefore, realized that fully preamble is described accurately, economical, requirement easily and efficiently.

Description of drawings

Fig. 1 is a kind of apparatus structure schematic block diagram that is used to detect the pile tube inclined degree.

Wherein: 102-main control unit (MCU STM32); 104-command input unit (keyboard, touch-screen); 106-sensor unit (comprising accelerometer, electronic compass, temperature sensor); 108-signal condition unit (amplitude transformation unit, low-pass filter unit); 110-A/D converting unit (single-chip microcomputer C8051F350); 112-storage unit (SD card, FLASH storer); 114-display unit (320*240TFT, liquid crystal driver module HX8347); (USB changes serial ports CP2102 to the 116-communication interface; RS232 interface ST3232ECTR); 120-accelerometer (SCA100TD02); 122-electronic compass (DCM220); 124-amplitude transformation unit (amplifier OPA2340); The 126-low-pass filter unit; The 128-SD card; The 130-FLASH storer; The 132-temperature sensor.

Fig. 2 is a kind of detection method process flow diagram that detects the pile tube inclined degree.

Fig. 3 is the coordinate synoptic diagram that calculates vertical tilt angle in the pile tube slant detection method shown in Figure 2.

Fig. 4 is the coordinate synoptic diagram that calculates horizontal azimuth in the pile tube slant detection method shown in Figure 2.

Embodiment

Below with reference to accompanying drawing embodiment of the present utility model is described in further detail.Though the utility model will be set forth in conjunction with the embodiments, should understand this is not to mean the utility model is defined in these embodiment.On the contrary, defined option in the various scopes of the utility model, but modification item and be equal to item.With specific embodiment the technical solution of the utility model is described in detail in conjunction with the accompanying drawings, so that characteristic of the present utility model and advantage are more obvious.

Embodiment described herein will be described in conjunction with the executable instruction of common conceptive computing machine.The executable instruction of computing machine refers to the media that can be used by the computing machine that one or more computing machine or other similar devices are carried out, as program module.As a rule, program module comprises and carries out particular task or the routine that particular abstract is operated, object, assembly, data structure or the like.The function of program module can make up according to the demand of different embodiment or split.

By instantiation, but unrestricted, computing machine can with media can comprise computer storage media and telecommunication media.Computer storage media comprises volatibility and non-volatile, removable and non-removable, may be implemented in the media of any method or technology, is used for canned data, as computer-readable instruction, data structure, program module and other data.Computer storage media comprises, but be not limited only to, random-access memory (ram), ROM (read-only memory) (ROM), Electrically Erasable Read Only Memory (EEPROM), flash memories and other memory technology, read-only compact disk (CD-ROM), digital multi-purpose CD (DVD) and other optical storage techniques, magnetic tape cassette, magnetic video disc storer and other magnetic storage, and other can be used to the media of canned data.

Telecommunication media can be computer readable instructions, data structure, program module and other data in the modulated data signal, and modulated data signal comprises any information transmission media, as carrier wave or other transmission mechanism.Term " modulated data signal " expression is in order to be carried in information on certain signal, and certain or multifrequency nature of this signal have been carried out being provided with or changing.For example, but be not limited only to, telecommunication media can comprise wired media and wireless medium.Wired media such as cable network, straight line connect.Wireless medium such as sound wave, radio frequency (RF), infrared and other.Above-mentioned combination in any equally also should be included in the scope of computer readable medium.

In addition, following to detailed description of the present utility model in, understand completely at of the present utility model in order to provide one, illustrated a large amount of details.Yet it will be understood by those skilled in the art that does not have these details, and the utility model can be implemented equally.In some other examples, scheme, flow process, element and the circuit known for everybody are not described in detail, so that highlight the purport of the utility model.

See also Fig. 1, a kind of hardware configuration schematic block diagram of preferred implementation of the device that is used to detect the pile tube inclined degree.As shown in Figure 1, a kind ofly be used to detect the prefabricated tubular pile tilting gearing, this tilting gearing 100 is made up of main control unit 102 (MCU STM32), command input unit 104 (button), sensor unit 106, signal condition unit 108, A/D converting unit 110, storage unit 112, display unit 114, communication interface 116, and wherein sensor unit 106, signal condition unit 108, storage unit 112 also comprise subelement.Specifically, sensor unit 106 comprises accelerometer 120, electronic compass 122, temperature sensor 132; Signal condition unit 108 comprises amplitude transformation unit 124 and low-pass filter unit 126; Storage unit 112 comprises SD card 128 and Flash storer 130.Command input unit 104 (operation push-button) links to each other with main control unit 102 (MCU STM32), electronic compass 122 (DCM220) in the sensor unit 106 directly links to each other with main control unit 102, accelerometer 120 (SCA100TD02) in the sensor unit 106 links to each other with signal condition unit 108, accelerometer 120 (SCA100TD02) passes through the amplitude transformation unit 124 (amplifier OPA2340) in the signal condition unit 108 successively, low-pass filter unit 126 and A/D converting unit 110 backs link to each other with main control unit 102 (MCU STM32), and temperature sensor 132 directly links to each other with main control unit 102.A/D converting unit 110 links to each other with signal condition unit 108 and main control unit 102, storage unit 112 comprises the SD card 128 of storage of measurement data and the Flash storer 130 (FLASH) that storage Hanzi font library and interim buffer memory are used, and all directly links to each other with main control unit 102.Display unit 114 links to each other with main control unit 102, and communication interface 116 links to each other with main control unit 102, carries out every function respectively.Main control unit 102 is the core of pile tube tilt detecting device 100, is used to control the running of whole pile tube tilting gearing 100, and for example main control unit can be selected the STM32 Series of MCU (MCU) of ARM7 core for use.Command input unit 104 links to each other with main control unit 102, is used for the input operation instruction.For example, command input unit 104 can be selected common 8 key-press matrix keyboards for use, or touch-screen.When operating personnel pressed the beginning button, sensor 106 began to gather obliquity information, main control unit 102 reading of data, calculating vertical tilt angle B and horizontal azimuth A; When operating personnel pressed the storage button, the data that main control unit 102 will be cached in its sheet were stored in the SD card 128 according to predetermined form.

Sensor unit 106 comprises accelerometer 120, electronic compass 122 and temperature sensor 132, wherein accelerometer 120 links to each other with signal condition unit 108, electronic compass 122 and temperature sensor 132 directly link to each other with main control unit 102, use directly contacts with certain measuring point of tested pile tube, gather the relevant information at tested pile tube measuring point place, with these information translation is electric signal, is transferred to signal condition unit 108 or main control unit 102.

Accelerometer 120 is the inclination sensor (SCA100TD02) of vertical direction, for example Finland VTI science and technology is produced ± 90 ° of range 2 axis accelerometer SCA100TD02, accelerometer 120 output signals link to each other with main control unit 102 through the amplitude transformation unit 124 in the signal condition unit 108, low-pass filter unit 126 and A/D converting unit 110 backs successively, are used to measure the vertical tilt angle B of pile tube.SCA100TD02 type accelerometer 120 way of outputs can be SPI and analog quantity, adopt the analog quantity way of output in the utility model, and its output resolution ratio is 0.0025 °.

Electronic compass 122 is the inclination sensor (magnetic resistance chip) of horizontal direction, the two-dimentional electronic compass DCM220 that produces of the auspicious fragrant science and technology in Shenzhen for example, and electronic compass 122 directly links to each other with main control unit 102, is used to measure the horizontal azimuth A of pile tube.DCM220 type electronic compass 122 comprises single-chip microcomputer (Atmel8L) and compensating circuit (magnetic declination compensation and hard iron compensation), do not need again the data of its output to be carried out filtering and compensation, only obtain corresponding data and again its positive northern zero degree being made zero and get final product according to the output format of communication protocol.DCM220 type electronic compass 122 way of outputs are I ²The data of C or SCI form, output result are 0-360 ° angle.I ²C or SCI form are directly received and are converted to inclination angle and position angle by main control unit 102, do not need to do analog to digital conversion again.

Temperature sensor 132 (DS18B20) directly links to each other with main control unit 102, not as tilt detection, provides the multi-point temp compensation when being used for synthesizing the pile tube inclination angle at last.Because temperature is exported 0 ° of benchmark of accelerometer 120 and susceptibility is influential, for example the temperature curve of SCA100TD02 type accelerometer 120 is seen its databook, the temperature that main control unit 102 will in the end be measured in conjunction with temperature sensor 132 adopts suitable algorithm to correct drift error and temperature error, carries out the calibration of temperature compensation and zero degree.

As shown in Figure 1, the accelerometer 120 in the sensor unit 106 is not directly to link to each other with main control unit 102, but earlier successively through linking to each other with main control unit 102 again after signal condition unit 108 and the A/D converting unit 110.Signal condition unit 108 comprises amplitude transformation unit 124 and low-pass filter unit 126, the output transform of amplitude transformation unit 124 degree of will speed up meters 120 is for being fit to the amplitude range that A/D converting unit 110 is handled, for example, if adopt SCA100T type accelerometer 120, its output signal is 0-5V, and the signal input range of A/D converting unit 110 is 0-2.5V, and then the output attenuatoin that amplitude transformation unit 124 should degree of will speed up meter 120 is original 1/2.For example, amplitude transformation unit 124 can adopt amplifier OPA2340 to build, and one with ordinary skill in the art would appreciate that this does not give unnecessary details again.Low-pass filter unit 126 can adopt conventional RC wave filter, is used for elimination signal medium-high frequency clutter.Transfer to A/D converting unit 110 behind signal process amplitude transformation unit 124 that accelerometer 120 is gathered and the low-pass filter unit 126.

A/D converting unit 110 links to each other with signal condition unit 108 and main control unit 102, and being used for the analog signal conversion after gathering, nursing one's health is digital signal, handles to make things convenient for main control unit 102.For example, A/D converting unit 110 can adopt integrated mixed signal SOC (system on a chip) type MCU C8051F350.That the applicant uses is interior 24 A/D of sheet of C8051F350 type MCU, and sampling rate 1kHz comprises programmable gain amplifier (PGA), and has sheet internal calibration function.Can use UART to communicate by letter between A/D converting unit 110 and the main control unit 102, when for example C8051F350 communicated by letter with STM32, baud rate can be made as 115200, and communication frame format can as shown in table 1ly be provided with.Metadata cache is in main control unit 102 internal RAM, and the data that main control unit 102 takes out in the buffer zone when calculating the inclination angle are carried out Filtering Processing earlier, carries out algebraic operation again and obtains the inclination angle value.

Table 1C8051F350 and STM32 communication frame format

Storage unit 112 comprises SD card 128 and Flash storer 130, all directly links to each other with main control unit 102.SD card 128 is used to store final testing result and relevant information.When operating personnel imported memory commands by command input unit 104, when for example pressing the storage button, the data that main control unit 102 will be cached in Flash in its sheet were stored in the SD card 128 according to predetermined data record format.102 pairs of SD cards of main control unit 128 make up file system, and the pile tube data directly are stored in the file of setting up in advance, with the storage of TXT form, can directly read and generate report file from now on, and are convenient general.The transplanting file system can be simplified the operation to data in the SD card 128 greatly in SD card 128, and only need call the most basic function just can carry out various operations to file.The operation code of SD card 128 at present the someone finished, can carry out read-write operation to SD card 128 through simple transplanting, common file system has UC/FS, the ZLG/FS that Zhou Ligong is used to impart knowledge to students, the file system efsl that increases income and the FatFs of UCOS2 company.That transplant in the present embodiment is the modified version TFF (Tiny FAT Filesystem) 0.06 of FatFs.TFF is the FAT32 file system that improves at the ARM7 series monolithic specially, can obtain on network.SD card 128 memory capacity are more for example supposed the every group of data occupancy 20byte in packing back, and memory capacity is 999 piles, every 100 data, then needs the space of 1000*100*20=2M byte altogether.General SD card 128 capacity are 2G or 4G at present, enough use.SD card 128 adopts the SPI mode to communicate by letter with main control unit 102.The pile tube data layout of SD card 128 storages can preestablish according to detecting needs, for example, can adopt pile tube data memory format as shown in table 2:

Table 2 pile tube data memory format

Flash storer 130 also is used to store Hanzi font library, shows for literal.For example, 220*240 liquid crystal display 114 adopts 8*16 dot matrix and 16*24 dot matrix Chinese character character library usually.Character library is arranged according to the ISN of Chinese character, advance in the Flash storer 130 to get final product by the SPI interface programming of main control unit 102.During demonstration, according to the ISN of the Chinese character that will show, search for the first address of corresponding character library in Flash storer 130, read buffer zone, the brilliant display unit 114 of feed flow calls.

Display unit 114 links to each other with main control unit 102, is used for showing in real time testing result and relevant information, as vertical tilt angle B, horizontal azimuth A, test sequence number, test duration etc.Display interface can be write according to actual needs, adopts the GUI design.For example, display unit 114 can be made up of 2.8 cun TFT LCDs and the driver thereof of resolution 220*240.Display screen can show whole measurement parameters by a screen.The TFT controller adopts HX8347 commonly used, its control routine aboundresources, and convenient the transplanting also can be adopted R6150V, SSD1289 etc. in addition.

Communication interface 116 links to each other with main control unit 102, communication interface 116 is the interface that PC and pile tube tilt detecting device 100 communicate, make PC can visit the pile tube data of storage in the SD card 128 and the data of gathering at present, comprise that RS232 interface and USB change serial interface.Main control unit 102 (STM32) itself has USB controller at full speed, and USB slave can be provided function, can carry out relevant design according to the USB library file that ST company provides.In this preferred implementation, the CP2102 chip that adopts SALAB company to provide is a USB interface with one of them UART interface conversion of main control unit 102 (STM32).When USB port is gone up in 100 connections of pile tube tilt detecting device, can increase a serial ports automatically in the equipment manager of PC, upper computer software is visited it as the PC serial ports.Conventional RS232 interface is provided in addition, adopts the ST3232ECTR chip controls.

Fig. 2 is the detail flowchart of the preferred implementation of the utility model pile tube slant detection method, and this method is applicable to pile tube tilt detecting device 100 shown in Figure 1, is used to detect the vertical tilt angle B and the horizontal azimuth A of pile tube, but unrestricted.On the contrary, one of ordinary skill in the art will appreciate that this method is equally applicable to other tilt detecting device.Fig. 3 is the coordinate synoptic diagram that calculates vertical tilt angle in this pile tube slant detection method, and Fig. 4 be the coordinate synoptic diagram of calculating horizontal azimuth in this method, describes the preferred implementation of this pile tube slant detection method below in conjunction with Fig. 3 and Fig. 4.

As shown in Figure 3, square is the accelerometer 120 of signal, box-shaped shown in fact the SCA100TD02 type accelerometer 120 of the described Finland VTI science and technology of preamble production is.X among Fig. 3, Y, Z represents the axle of predefined 3 mutually orthogonals on the accelerometer 120, initial pin (pin 1 with accelerometer 120 chip SCA100TD02, SCK) be the center, make that accelerometer 120 chips are X-axis as minor face on one side wherein, vertical with it one side is Y-axis as growing the limit, is the Z axle perpendicular to the direction of accelerometer 120 chip surfaces.After accelerometer 120 tilted, ρ, Φ, θ represented the angle of X-axis, Y-axis, Z axle and surface level respectively.When accelerometer 120 is static state, the component A of accelerometer 120 output acceleration of gravity on each _X, A _Y, A _ZAs can be known:

$\mathrm{\ρ}=\arctan \left(\frac{A_X}{\sqrt{{A_Y}^2+{A_Z}^2}}\right)............\left(1\right)$

$\mathrm{\φ}=\arctan \left(\frac{A_Y}{\sqrt{{A_X}^2+{A_Z}^2}}\right)............\left(2\right)$

$\mathrm{\θ}=\arctan \left(\frac{\sqrt{{A_X}^2+{A_Y}^2}}{A_Z}\right)............\left(3\right)$

SCA100TD02 type accelerometer 120 is 2 axis accelerometers, need use the V of its output _OUTX, V _OUTY, OffsetX, OffsetY, Sensitivity, wherein V _OUTX, V _OUTYDirectly export analog quantity for the pin of SCA100TD02, OffsetX, OffsetY, Sensitivity are the intrinsic parameter of SCA100TD02, float in certain scope, can inquire about obtaining on its databook.By formula (1) (2) (3), the expression formula at corresponding inclination angle is as can be known:

$\mathrm{\ρ}=\arctan \left(\frac{A_X}{\sqrt{{A_Y}^2+{A_Z}^2}}\right)=\arcsin \left(\frac{V_{\mathrm{OUTX}}-\mathrm{OffsetX}}{\mathrm{Sensitivity}}\right)............\left(4\right)$

$\mathrm{\φ}=\arctan \left(\frac{A_Y}{{A_X}^2+{A_Z}^2}\right)=\arcsin \left(\frac{V_{\mathrm{OUTY}}-\mathrm{OffsetY}}{\mathrm{Sensitivity}}\right)............\left(5\right)$

As shown in Figure 4, circle is the electronic compass 122 of signal, is output as the angle of electronic compass 122 forwards and direct north, is the pile tube horizontal azimuth A that the utility model pile tube slant detection method will detect.

Because the monotonicity of sine function, near inclination angle output precision 0 ° of accelerometer 120 is the highest, and precision is minimum near 90 °, and pile tube is usually perpendicular to ground, the precision of pile tube tilt detecting device 100 was the highest when therefore, degree of will speed up meter 120 chip level were installed.Pile tube tilt detecting device 100 should keep accelerometer 120 chip planes vertical with the bus of pile tube when installing, and θ is the pitch angle of pile tube to be measured in (3) formula.Main innovate point of the present utility model is to extrapolate the θ angle rapidly and accurately according to accelerometer 120 static measurements two axial rake ρ, Φ, improves measuring accuracy.

Make tan ²ρ=m;

According to formula (4), formula (5), can extrapolate:

$\mathrm{\θ}=\arctan \left(\sqrt{\frac{3*m*n+2*m-1}{1-m*n}}\right)............\left(6\right)$

$m={\tan }^2\left(\arcsin \left(\frac{V_{\mathrm{outx}}-\mathrm{OffsetX}}{\mathrm{Sensitivity}}\right)\right)$

Wherein $n={\tan }^2\left(\arcsin \left(\frac{V_{\mathrm{outy}}-\mathrm{OffsetY}}{\mathrm{Sensitivity}}\right)\right)$

Because tan () value is very little, and tan () value is very big near 90 ° near 0 °, and the value after square can be littler or bigger.Therefore,, near θ=0 °, tan θ is enlarged certain multiple in the utility model, and near θ=90 °, tan θ will be dwindled the certain multiple computing for the error that prevents to cause owing to machine word length.Formula (6) calculating process has the anti-triangulo operation of a large amount of floating-points, and calculated amount is bigger.Therefore, the sin () that will be referred in the utility model, tan () make function table respectively and are stored in advance in the sheet of main control unit 102 among the Flash.For example, be to guarantee 0.01 ° of pile tube tilt detecting device 100 precision, the increment of angle independent variable is made as 0.005 °, then need Flash in the 72K sheet.STM32 type main control unit 102 can satisfy its requirement as can be known.

Get back to Fig. 2, the step that the preferred implementation of the utility model pile tube slant detection method is carried out.

A kind of detection method that detects the pile tube inclined degree the steps include:

A, self-check of device 202.In self-check of device 202 steps, pile tube tilt detecting device 100 each ingredient comprise that main control unit 102, command input unit 104, sensor unit 106, signal condition unit 108, A/D converting unit 110, storage unit 112, display unit 114, communication interface 116 start successively, device preliminary work.

B, read electronic compass 204.The output valve of electronic compass 122 is horizontal azimuth A, is accurate to 1 °.Main control unit 102 directly reads the output valve of electronic compass 122.

C, sampling X-axis acceleration 206, sampling Z axle acceleration 208.Accelerometer 120 output analog voltage signals need through the signal condition unit 108 to carry out amplitude transformation and low-pass filtering, could be handled by main control unit 102 after A/D converting unit 110 is converted to digital quantity.

D, resolve the angle of pitch, and carry out Kalman filtering 212 by X-axis acceleration and Z axle acceleration.Resolve by formula (4), the longitudinal angle that obtains accelerometer plane and surface level is the angle of pitch (Pitch).

E, sampling Y-axis acceleration 214, sampling Z axle acceleration 216.With step C.

F, resolve roll angle, and carry out Kalman filtering 220 by Y-axis acceleration and Z axle acceleration.Resolve by formula (5), the horizontal angle that obtains accelerometer plane and surface level is roll angle (Roll).

G, by the synthetic vertical tilt angle 226 of the angle of pitch (Pitch) and roll angle (Roll).

H, obtain a plurality of measuring point temperature 222, carry out multi-point temp sensor compensation 224.Because the output valve of accelerometer 120 varies with temperature and drift can occur, must carry out the off-set value correction during calculating, this step can reduce error caused by temperature, but the temperature characteristics of modified value reference acceleration meter 120.

I, demonstration, event memory 230.Horizontal azimuth A and vertical tilt angle B that pile tube tilt detecting device 100 is gathered, calculated show on display unit 114 on the one hand, can store in storage unit 112 on the other hand.According to wherein a kind of embodiment of the present utility model, testing result shows in real time, but storage needs operating personnel to send storage instruction.In the present embodiment, the testing result of pile tube tilt detecting device 100 is with the TXT document storage, and the data storage of every root canal pile is a TXT file.By the stake deletion, the name of TXT file is called pile No. for convenience.In each TXT file, deposit pile tube tilt detection results data by Measuring Time.When not selecting pile tube, set up new TXT file automatically, and automatic numbering.Each measurement data storage format is table 2 as mentioned.

Pile tube tilt detecting device of the present utility model and method adopt accelerometer to detect the vertical tilt angle B and the horizontal azimuth A of pile tube in conjunction with electronic compass, adopt the microprocessor controls collection and carry out the inclinometer calculation, the multi-point temp compensation is provided simultaneously, can be accurately, economical, detect the inclined degree of pile tube quickly and easily, a kind of pile tube special detection device and method are provided.

Though explanation before and accompanying drawing have been described preferred embodiment of the present utility model, be to be understood that under the prerequisite of spirit that does not break away from the utility model principle that is defined and protection domain, can have and variously augment, revise and replace.It should be appreciated by those skilled in the art that the utility model can change aspect form, structure, layout, ratio, material, element, assembly and other to some extent according to concrete environment and job requirement in actual applications under the prerequisite that does not deviate from the utility model criterion.Therefore, embodiment disclosed here only is illustrative rather than definitive thereof, and protection domain of the present utility model is defined by technical scheme in claims and legal equivalents thereof, and the description before being not limited thereto.

Claims (5)

1. device that is used to detect the pile tube inclined degree, this pile tube tilt detecting device (100) comprises main control unit (102), command input unit (104), sensor unit (106), signal condition unit (108), A/D converting unit (110), storage unit (112), display unit (114), communication interface (116), it is characterized in that: command input unit (104) links to each other with main control unit (102), sensor unit (106) passes through signal condition unit (108) successively and A/D converting unit (110) back links to each other with main control unit (102), storage unit (112) directly links to each other with main control unit (102), display unit (114) links to each other with main control unit (102), communication interface (116) links to each other with main control unit (102), and storage unit (112) comprises SD card (128) and Flash storer (130).

2. a kind of device that is used to detect the pile tube inclined degree according to claim 1 is characterized in that: described sensor unit (106) comprises electronic compass (122), and described electronic compass (122) directly links to each other with described main control unit (102).

3. a kind of device that is used to detect the pile tube inclined degree according to claim 1, it is characterized in that: described sensor unit (106) comprises accelerometer (120), described signal condition unit (108) comprises amplitude transformation unit (124), the low-pass filter unit (126) that links to each other successively, and amplitude transformation unit (124), low-pass filter unit (126) and A/D converting unit (110) back that described accelerometer (120) passes through in the described signal condition unit (108) successively link to each other with main control unit (102).

4. a kind of device that is used to detect the pile tube inclined degree according to claim 1, it is characterized in that: described sensor unit (106) comprises temperature sensor (132), and described temperature sensor (132) directly links to each other with described main control unit (102).

5. a kind of device that is used to detect the pile tube inclined degree according to claim 1 is characterized in that: described storage unit (112) comprises SD card (128) and Flash storer (130).

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