CN202757614U - Intelligent clinometer based on Control Area Network Open (CanOpen) field bus - Google Patents
Intelligent clinometer based on Control Area Network Open (CanOpen) field bus Download PDFInfo
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- CN202757614U CN202757614U CN 201220425931 CN201220425931U CN202757614U CN 202757614 U CN202757614 U CN 202757614U CN 201220425931 CN201220425931 CN 201220425931 CN 201220425931 U CN201220425931 U CN 201220425931U CN 202757614 U CN202757614 U CN 202757614U
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Abstract
The utility model discloses an intelligent clinometer based on a Control Area Network Open (CanOpen) field bus. The intelligent climometer based on the CanOpen field bus comprises a tilt angel sensor, a hardware filtering, a processor, a digital readout index table, a power supply system, a Control Area Network Open (Can) transceiver and a CanOpen protocol processing module. The filtering unit is used for filtering analog signals output by the tilt angel sensor and the processor is used for proceeding high-precision analog-to-digital conversion to the analog signals output by the tilt angel sensor, filtering digital signals in the processor and conducting angle conversion to the signals which is digitally processed, wherein the analog signal output by the tilt angel sensor is filtered. The digital readout index table is used for testing data which is needed to conduct linear compensation of the tilt angel sensor and calculating a reasonable linear calibration coefficient. The Can transceiver is used for enabling a physical layer of the CanOpen protocol to be compatible with a Can bus. The CanOpen protocol processing module is used for proceeding CanOpen protocol package and output to tested tilt angle data. The intelligent climometer based on the CanOpen field bus has the advantages of combining the CanOpen protocol with the tilt angel sensor, being capable of being connected with any CanOpen mater station equipment and achieving flexibility and generality of a field bus network organization.
Description
Technical field
The utility model belongs to field of measuring technique, relates to a kind of intelligent inclinator, relates in particular to a kind of intelligent inclinator based on the CanOpen fieldbus.
Background technology
Digitizing CanOpen inclinator is a kind of with CanOpen agreement and the obliquity sensor output brand-new inclinator that combines.
Usually lower, Digitalized clinometer is to measure object tilt variation and the time dependent instrument of pedal line in time, and digital interface is used for output; Digital interface mostly is the interfaces such as RS232, RS485, parallel port interface, Can, and its output protocol mostly is self-defined or standard field bus protocol such as ModBus etc.
In order to satisfy the request for utilization of the fieldbus under the different occasions, CanOpen agreement and obliquity sensor output are combined, can with any CanOpen main website equipment connection, obtain dirigibility, the versatility of fieldbus networking.Yet, nowadays also do not have similar equipment to occur.
The utility model content
Technical problem to be solved in the utility model is: a kind of intelligent inclinator based on the CanOpen fieldbus is provided, obliquity sensor and the output of CanOpen agreement are combined, can realize that the obliquity sensor under the CanOpen fieldbus is used.
For solving the problems of the technologies described above, the utility model adopts following technical scheme:
A kind of intelligent inclinator based on the CanOpen fieldbus, described intelligent inclinator comprises: obliquity sensor, hardware filtering, processor, digital display graduation rotating platform, power-supply system, Can transceiver, CanOpen protocol process module;
Described obliquity sensor is in order to provide high-resolution angle of inclination;
Described filter unit is connected with described obliquity sensor, in order to the simulating signal of described obliquity sensor output is carried out filtering;
Described processor is connected with described filter unit, in order to the simulating signal through filtering of obliquity sensor output is carried out the high precision analogue conversion, in processor, do digital signal filtering, reach and reflect truly inclination angle output information, and the signal after the digital processing is carried out angular transition;
Described digital display graduation rotating platform is connected with described processor, tests in order to biography inclination angle sensor is made the required data of linear compensation, calculates suitable linear calibration's coefficient; Linear calibration's coefficient that described processor further utilizes digital display graduation rotating platform to calculate is made linear compensation to the angle-data of measuring;
Described Can transceiver uses so that the compatible Can bus of the Physical layer of CanOpen agreement;
Described CanOpen protocol process module is in order to carry out the output of CanOpen protocol packing to measuring the angle of inclination data;
Described power-supply system is connected with described obliquity sensor, filter unit, processor, digital display graduation rotating platform, CanOpen protocol process module, in order to power supply to be provided.
As a kind of preferred version of the present utility model, described CanOpen protocol process module also is connected with pilot lamp, DIP switch; Described pilot lamp is in order to indicate the state of protocol conversion; Described DIP switch is in order to baud rate that the work of CanOpen protocol process module is set, from node address.
As a kind of preferred version of the present utility model, described filter unit is the hardware filtering unit, in order to filtering in the simulating signal bandwidth that obliquity sensor is exported.
As a kind of preferred version of the present utility model, described inclinator further comprises high low temperature sweat box, does compensation in order to the temperature at zero point of inclinator is floated.
As a kind of preferred version of the present utility model, described inclinator further comprises high low temperature sweat box, does compensation in order to the Sensitivity Temperature of inclinator is floated.
As a kind of preferred version of the present utility model, described processor is the CPU of built-in 24bit analog-to-digital conversion unit AD.
The beneficial effects of the utility model are: the intelligent inclinator based on the CanOpen fieldbus that the utility model proposes, CanOpen agreement and obliquity sensor output are combined, can with any CanOpen main website equipment connection, obtain dirigibility, the versatility of fieldbus networking.The utility model combines CanOpen agreement and obliquity sensor output, can be applicable to the fields such as automatic control, instrument and meter, device fabrication, intelligent building, elevator network, and relatively existing Digital Dipmeter has a clear superiority in.
In addition, the utility model digitizing CanOpen inclinator in house software is integrated from calibration algorithm, and externally shirtsleeve operation realizes the digital automatic Calibration of Digital Dipmeter itself.
Description of drawings
Fig. 1 is the composition schematic diagram of the utility model digitizing CanOpen inclinator.
Fig. 2 is the process flow diagram of the utility model digitizing CanOpen dipmeter survey method.
Embodiment
Describe preferred embodiment of the present utility model in detail below in conjunction with accompanying drawing.
Embodiment one
The utility model has disclosed a kind of intelligent inclinator based on the CanOpen fieldbus, comprises obliquity sensor, hardware filtering, processor CPU, digital display graduation rotating platform, power-supply system, Can transceiver, CanOpen protocol process module, pilot lamp, DIP switch.Obliquity sensor is in order to provide high-resolution angle of inclination; Filter unit carries out filtering to the simulating signal of described obliquity sensor output.Processor is connected with described filter unit, in order to the simulating signal through filtering of obliquity sensor output is carried out the high precision analogue conversion, in processor, do digital signal filtering, reach and reflect truly inclination angle output information, and the signal after the digital processing is carried out angular transition.Digital display graduation rotating platform is connected with described processor, tests in order to biography inclination angle sensor is made the required data of linear compensation, calculates suitable linear calibration's coefficient; Linear calibration's coefficient that described processor further utilizes digital display graduation rotating platform to calculate is made linear compensation to the angle-data of measuring.Described power-supply system is connected with described obliquity sensor, filter unit, processor, digital display graduation rotating platform, CanOpen protocol process module, in order to power supply to be provided.The Can transceiver uses so that the compatible Can bus of the Physical layer of CanOpen agreement; The CanOpen protocol process module is in order to carry out the output of CanOpen protocol packing to measuring the angle of inclination data; Pilot lamp is in order to indicate the state of protocol conversion; DIP switch is in order to baud rate that the work of CanOpen protocol process module is set, from node address.
See also Fig. 1, in the present embodiment, described CanOpen inclinator comprises obliquity sensor 4, hardware filtering 5, processor CPU3, digital display graduation rotating platform, power-supply system 6, Can transceiver 1, CanOpen protocol module 2, pilot lamp 7, DIP switch 8.Described CPU3 connects hardware filtering unit 5, power-supply system 6, digital display graduation rotating platform, CanOpen protocol module 2, and described power-supply system 6 connects obliquity sensor 4, hardware filtering unit 5, digital display graduation rotating platform, CanOpen protocol module 2.Described Can transceiver 1 connects CanOpen protocol module 2, power-supply system 6.
Core high precision MEMS obliquity sensor 4 can provide very high angular resolution, by filtering in 5 couples of high precision MEMS of hardware filtering obliquity sensor, the 4 outputting analog signal bandwidth, the CPU3 of built-in 24BitAD carries out the high precision analogue conversion to the simulating signal of core high precision MEMS obliquity sensor 4 outputs, in the CPU3 in house software, do digital signal filtering, reach and reflect truly inclination angle output information.
The CPU3 of built-in 24bit AD can carry out angular transition to signal after the digital processing, then can utilize outside high-precision digital display graduation rotating platform that obliquity sensor is made the required data of linear compensation and test.The CPU3 of built-in 24bit AD utilizes inner least square method algorithm to the on-line testing data operation, calculates suitable linear calibration's coefficient, and is stored in the Flash Data storage space of opening up MCU inside.After measuring each time, linear calibration's coefficient that the CPU3 of built-in 24bit AD utilizes calculated in advance to go out is made linear compensation to the angle-data of measuring, and reaches the purpose of the linearity that improves measurement of dip angle.
The linear compensation method of described processor comprises: to one group of standard value a
1, a
2, a
3..., a
k, and the actual measurement gained one class value b to organizing standard value
1, b
2, b
3..., b
k, simulate a polynomial expression a according to two class values
i=F (bi), i=1...k, i.e. f=k
0+ k
1C+k
2C
2+ k
3C
3+ ...+k
mC
m, k
0, k
1, k
2, k
3..., k
mBe multinomial coefficient, C=a
1, a
2, a
3..., a
kUtilize the least square method algorithm, find the solution the coefficient k of fitting of a polynomial
0, k
1, k
2, k
3..., k
m, the MCU program of processor is solidified this polynomial expression wherein, and utilizes this polynomial expression that the data that gather are carried out polynomial computation, i.e. compensation data.
In addition, described digitizing CanOpen inclinator further comprises high low temperature sweat box, does compensation in order to the temperature at zero point of inclinator is floated float with Sensitivity Temperature.Utilize the high low temperature experimental box of external unit that core high precision MEMS obliquity sensor 1 is done temperature compensation test (Sensitivity Temperature is floated, zero point temperature float), built-in 24bitCPU3 utilize inner least square method algorithm to online to test data process, computing, calculate temperature compensation coefficient, and be stored in the storage space of opening up inside, later on every-inferior measurement data output all can by the temperature compensation coefficient correction, can reduce temperature to the impact of sensor well.
The zero point temperature drift compensation method comprises: humid test is done in the output at zero point to inclinator, export the variation of temperature influence the zero point of measuring inclinator, utilize least square fitting to go out polynomial relation formula between zero point output and the temperature variation, Z=Z (T), i.e. Z (T)=k
0+ k
1T+k
2T
2+ k
3T
3+ ...+k
mT
m, wherein, k
0, k
1, k
2, k
3..., k
mBe multinomial coefficient; Utilize the least square method algorithm, find the solution the coefficient k of fitting of a polynomial
0, k
1, k
2, k
3..., k
m, the MCU program of processor is solidified this polynomial expression wherein, and utilizes this relational expression that compensation is done in output at zero point.
The compensation of α TCS method comprises: humid test is done in the sensitivity to inclinator, measure the variation of the sensitivity temperature influence of inclinator, utilize least square fitting to go out polynomial relation formula between sensitivity and the temperature variation, S=S(T), i.e. S (T)=k
0+ k
1T+k
2T
2+ k
3T
3+ ...+k
mT
m, wherein, k
0, k
1, k
2, k
3..., k
mBe multinomial coefficient; Utilize the least square method algorithm, find the solution the coefficient k of fitting of a polynomial
0, k
1, k
2, k
3..., k
m, the MCU program of processor is solidified this polynomial expression wherein, and utilizes this relational expression that compensation is done in sensitivity.
Above-mentioned three compensation process have used least square method; In three compensation process, polynomial coefficient k
0, k
1, k
2, k
3..., k
nCalculate polynomial coefficient k in three compensation process according to actual conditions
0, k
1, k
2, k
3..., k
mAnd do not require equal.
More than introduced the composition of the utility model digitizing CanOpen inclinator, the utility model also discloses a kind of measurement and transmission method of above-mentioned digitizing CanOpen inclinator when disclosing above-mentioned digitizing CanOpen inclinator; See also Fig. 2, described measurement and transmission method comprise the steps:
[step S1] obliquity sensor provides high-resolution angle of inclination, and filter unit is to the simulating signal filtering of obliquity sensor output;
[step S2] processor carries out the high precision analogue conversion to the simulating signal through filtering of obliquity sensor output, does digital signal filtering in processor, reaches to reflect truly inclination angle output information;
The signal of [step S3] processor after to digital processing carries out angular transition, utilizing outside high-precision digital display graduation rotating platform that obliquity sensor is made the required data of linear compensation tests, described processor utilizes the least square method algorithm to the on-line testing data operation, calculate suitable linear calibration's coefficient, and be stored in the storage space in the processor;
After [step S4] measured each time, linear calibration's coefficient that processor utilizes calculated in advance to go out was made linear compensation to the angle-data of measuring, and reaches the purpose of the linearity that improves measurement of dip angle.
[step S5] after the data correction, processor carries out the data packing with inclination data by the CanOpen protocol module, is sent on the Can bus by the Can transceiver more each time, reaches the purpose of the Can interface output of CanOpen agreement angle-data.
In sum, the intelligent inclinator based on the CanOpen fieldbus that the utility model proposes, the output of CanOpen agreement and obliquity sensor is combined, can with any CanOpen main website equipment connection, obtain dirigibility, the versatility of fieldbus networking.The utility model combines CanOpen agreement and obliquity sensor output, can be applicable to the fields such as automatic control, instrument and meter, device fabrication, intelligent building, elevator network, and relatively existing Digital Dipmeter has a clear superiority in.
In addition, the utility model digitizing CanOpen inclinator in house software is integrated from calibration algorithm, and externally shirtsleeve operation realizes the digital automatic Calibration of Digital Dipmeter itself.
Here description of the present utility model and application is illustrative, is not to want with scope restriction of the present utility model in the above-described embodiments.Here the distortion of disclosed embodiment and change is possible, and the various parts of the replacement of embodiment and equivalence are known for those those of ordinary skill in the art.Those skilled in the art are noted that in the situation that do not break away from spirit of the present utility model or essential characteristic, and the utility model can be with other form, structure, layout, ratio, and realize with other assembly, material and parts.In the situation that do not break away from the utility model scope and spirit, can carry out other distortion and change to disclosed embodiment here.
Claims (6)
1. the intelligent inclinator based on the CanOpen fieldbus is characterized in that, described intelligent inclinator comprises: obliquity sensor, hardware filtering, processor, digital display graduation rotating platform, power-supply system, Can transceiver, CanOpen protocol process module;
Described obliquity sensor is in order to provide high-resolution angle of inclination;
Described filter unit is connected with described obliquity sensor, in order to the simulating signal of described obliquity sensor output is carried out filtering;
Described processor is connected with described filter unit, in order to the simulating signal through filtering of obliquity sensor output is carried out the high precision analogue conversion, in processor, do digital signal filtering, reach and reflect truly inclination angle output information, and the signal after the digital processing is carried out angular transition;
Described digital display graduation rotating platform is connected with described processor, tests in order to biography inclination angle sensor is made the required data of linear compensation, calculates suitable linear calibration's coefficient; Linear calibration's coefficient that described processor further utilizes digital display graduation rotating platform to calculate is made linear compensation to the angle-data of measuring;
Described Can transceiver uses so that the compatible Can bus of the Physical layer of CanOpen agreement;
Described CanOpen protocol process module is in order to carry out the output of CanOpen protocol packing to measuring the angle of inclination data;
Described power-supply system is connected with described obliquity sensor, filter unit, processor, digital display graduation rotating platform, CanOpen protocol process module, in order to power supply to be provided.
2. the intelligent inclinator based on the CanOpen fieldbus according to claim 1 is characterized in that:
Described CanOpen protocol process module also is connected with pilot lamp, DIP switch; Described pilot lamp is in order to indicate the state of protocol conversion; Described DIP switch is in order to baud rate that the work of CanOpen protocol process module is set, from node address.
3. the intelligent inclinator based on the CanOpen fieldbus according to claim 1 is characterized in that:
Described filter unit is the hardware filtering unit, in order to filtering in the simulating signal bandwidth that obliquity sensor is exported.
4. the intelligent inclinator based on the CanOpen fieldbus according to claim 1 is characterized in that:
Described inclinator further comprises high low temperature sweat box, does compensation in order to the temperature at zero point of inclinator is floated.
5. the intelligent inclinator based on the CanOpen fieldbus according to claim 1 is characterized in that:
Described inclinator further comprises high low temperature sweat box, does compensation in order to the Sensitivity Temperature of inclinator is floated.
6. the intelligent inclinator based on the CanOpen fieldbus according to claim 1 is characterized in that:
Described processor is the CPU of built-in 24bit analog-to-digital conversion unit AD.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220425931 CN202757614U (en) | 2012-08-24 | 2012-08-24 | Intelligent clinometer based on Control Area Network Open (CanOpen) field bus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220425931 CN202757614U (en) | 2012-08-24 | 2012-08-24 | Intelligent clinometer based on Control Area Network Open (CanOpen) field bus |
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| Publication Number | Publication Date |
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| CN202757614U true CN202757614U (en) | 2013-02-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220425931 Expired - Fee Related CN202757614U (en) | 2012-08-24 | 2012-08-24 | Intelligent clinometer based on Control Area Network Open (CanOpen) field bus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115046525A (en) * | 2022-08-15 | 2022-09-13 | 上海米度测控科技有限公司 | Movable inclinometer and method for measuring deep horizontal displacement |
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2012
- 2012-08-24 CN CN 201220425931 patent/CN202757614U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115046525A (en) * | 2022-08-15 | 2022-09-13 | 上海米度测控科技有限公司 | Movable inclinometer and method for measuring deep horizontal displacement |
| CN115046525B (en) * | 2022-08-15 | 2022-11-04 | 上海米度测控科技有限公司 | Movable inclinometer and method for measuring deep horizontal displacement |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130227 Termination date: 20150824 |
|
| EXPY | Termination of patent right or utility model |