CN207636086U - A kind of autonomous type opening self-detective instrument - Google Patents
A kind of autonomous type opening self-detective instrument Download PDFInfo
- Publication number
- CN207636086U CN207636086U CN201721764420.2U CN201721764420U CN207636086U CN 207636086 U CN207636086 U CN 207636086U CN 201721764420 U CN201721764420 U CN 201721764420U CN 207636086 U CN207636086 U CN 207636086U
- Authority
- CN
- China
- Prior art keywords
- gate
- opening self
- autonomous type
- type opening
- detective instrument
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Barrages (AREA)
Abstract
The utility model discloses a kind of autonomous type opening self-detective instruments, including shell, display screen, function button, power supply and data cable.It is accrued that high-precision three axis accelerometer, three-axis gyroscope and gravity-feed tank are integrated on shell interior circuit board.Autonomous type opening self-detective instrument is directly fixedly mounted on the upper end of gate, is connect autonomous type opening self-detective instrument and external gate control system with data line by power supply.Autonomous type opening self-detective instrument installation is simple, is suitable for any gate door type, is referred to without the external world, and theoretical measurement range can be widely applied to the detection of water conservancy and hydropower gatage without limitation.
Description
Technical field
The utility model is related to a kind of autonomous type opening self-detective instrument and its measurement methods, belong in hydraulic and hydroelectric engineering field
The innovative product of opening self-detective instrument.
Background technology
In water conservancy and hydropower industry, gate plays the important function of draining water storage.People need to know opening for gate at any time
Degree state, and the keying of gate is pushed by hydraulic cylinder mostly, then most opening self-detective instruments are all mounted on hydraulic cylinder
On, to detect the stroke of piston rod, to detect gatage value.Currently, commonly measuring the displacement sensing of gatage
There are many forms for device device, are broadly divided into three kinds：Wire rope rotating encoder, black ceramic piston rod add CIMS strokes to examine
It surveys, magnetostrictive displacement sensor.
Wire rope rotating encoder is that the product of maturation, its critical piece have earliest in hydraulic engineering：Rotary encoder,
Steel wire rope, automatic cable winder.Its measuring principle is：When hydraulic cylinder ceramic cylinder rod moves, steel wire rope is pulled and band
Dynamic rotary encoder rotation, therefrom just learns the distance of ceramic cylinder rod movement, to obtain the aperture of gate.Wire rope rotating
Installation of the encoder on hydraulic cylinder is divided into built-in and external.Built-in precision is high, and strong interference immunity is affected by environment
It is small, do not have to consider winter Anti-freezing problem, the disadvantage is that installation requirement is higher, live maintenance is difficult, once steel wire rope is drawn
It is disconnected, it is likely that damage hydraulic cylinder inwall processing face, this is not only the replacement of sensor, further relates to the damage of hydraulic cylinder itself
With dismounting, quantities is huge.External steel wire rope can be used as individual components on hydraulic pressure cylinder surfaces or lock wall, although effectively
Built-in disadvantage is avoided, but this mounting means is larger by such environmental effects, especially when steel wire rope is immersed in the water, water
The factors such as stream impact, water surface icing, water float object can all make reading misalignment.In addition, there is also skid and zero drift for steel wire rope
The problems such as shifting, influences reading stability.
Ceramic cylinder rod sensor is also one of more common product in hydraulic engineering, and critical piece has：Ceramic piston
Bar, CIMS device for detecting distance of travel.Ceramic cylinder rod has done cutting pretreatment, CIMS device for detecting distance of travel peace before ceramic coated
Ceramic work is determined mounted in the junction of hydraulic cylinder and ceramic cylinder rod, and by acquiring the small tooth socket of multirow on ceramic cylinder rod
The displacement of stopper rod.This kind of sensor manufacture is difficult, of high cost, and is easy to be blocked by silt at tooth socket, influences reading accuracy.
Magnetostriction class displacement sensor mostly uses greatly built-in, and central principle is that waveguide is moved in magnetic field and sent out
Electric signal determines displacement.Although this kind of sensor can obtain higher precision, it is detected, and length is longer, and error is then got over
Greatly, for its range mostly in 5 meters, stroke is long also restricted to hydraulic cylinder works state at present, meeting when hydraulic cylinder horizontality
Cause waveguide to be worn because amount of deflection is bent, causes the reduced service life of sensor, later maintenance also inconvenient.
Utility model content
The technical problems to be solved in the utility model is the ingenious use defect for avoiding above-mentioned existing product, proposes one kind certainly
Main formula opening self-detective instrument changes traditional measure of gate position mode, without any external device with reference to, it can be achieved that gatage
It directly measures, is suitable for various gate door types, measure contactless no abrasion.The utility model opening self-detective instrument is mounted directly solid
Be scheduled on gate, by measuring acceleration and attitudes vibration in shutter motion, to determine gate displacement stroke, range not by
Any gate door type and travel limit, and measurement accuracy is met the requirements.
The utility model is in order to solve the above technical problems, adopt the following technical scheme that：
A kind of autonomous type opening self-detective instrument, including shell have display screen, function button on shell, contain circuit in shell
Plate, circuit board are electrically connected with function button and display screen respectively；It is characterized in that：Be integrated in circuit board three axis accelerometer,
Three-axis gyroscope, gravity-feed tank be accrued and controller；Adding when three axis accelerometer is set as detecting shutter motion with shutter motion
Velocity amplitude, three-axis gyroscope are set as the position and attitude angle of detection gate all the time, and gravity-feed tank is accrued to be set as determining lock
The absolute vertical direction that door is opened；Autonomous type opening self-detective instrument is directly fixedly mounted on the upper end of gate, passes through power supply and data
Line connects autonomous type opening self-detective instrument with external gate control system.
Further, when initial installation, opening self-detective instrument is fixed on gate under gate full-shut position.
Further, after opening self-detective instrument is fixed on gate, to three axis accelerometer, three-axis gyroscope, gravity sensing
Each sensing data initialization is counted, and sets relatively each sensor direction of motion of gate.
Further, the gate is that vertical direction opens door.
Further, the gate is vertical lifting door, arc-shaped door, herringbone turnover board type gate.
It further, only need to be after three-axis gyroscope zeroing, by lock when the gate is horizontal lateral movement starting gate
Door opening direction parameter replaces measuring angle use on vertical direction.
Further, circuit board include integrated high-precision three axis accelerometer, three-axis gyroscope and gravity-feed tank it is accrued and
The chip and peripheral circuit of controller, chip are InvenSense MPU-9250；High-precision three axis accelerometer working frequency is
500Hz。
Further, measured gatage state is arbitrarily arranged, the theory unlimited system of aperture measurement range.
The method that gatage is measured using autonomous type opening self-detective instrument, it is characterised in that：It, will based on inertial navigation principle
High-precision three axis accelerometer, three-axis gyroscope and gravity-feed tank is accrued is integrated in opening self-detective instrument, opening self-detective instrument is direct
It is fixed on gate, by measuring acceleration and attitudes vibration in shutter motion, to determine gate displacement stroke.
The utility model looks for another way, and the ingenious use defect for avoiding above-mentioned existing product proposes a kind of autonomous type gate
Aperture instrument, for the utility model compared with other prior arts, advantage is as follows：
1. simple installation, is directly installed at the top of gate, maintenance cost is low.
2. change traditional measure of gate position mode, without any external device with reference to, it can be achieved that gatage it is direct
It measures, is suitable for various gate door types, measure contactless no abrasion.
3. wide range of measurement, theory unlimited system.
4. strong environmental adaptability, different external form materials may be selected in different environment, corrosion-resistant, high pressure resistant, and waterproof is prevented
It is dirt, shockproof, and there is wide in range operating temperature range.
5. high sensitivity, favorable repeatability, the linearity is high, and fast response time can reach Millisecond.
Description of the drawings
Fig. 1 is the three-dimensional view of the utility model autonomous type opening self-detective instrument.
Fig. 2 is the control module structure chart of the utility model core processing circuit plate.
Fig. 3 is the schematic diagram (arc-shaped door) that the utility model autonomous type opening self-detective instrument is mounted on gate.
Fig. 4 is the side view of Fig. 3.
Fig. 5 is schematic diagram (the herringbone door vertical view side that the utility model autonomous type opening self-detective instrument is mounted on gate
To).
Fig. 6 is the Velocity-time image schematic diagram that shutter motion starts to stopping.
In Fig. 1-5, each reference numeral corresponds to as follows：1, shell；2, display screen；3, function button；4, power supply and data line
Cable；5, gate.
Specific implementation mode
The autonomous type opening self-detective instrument structural schematic diagram of the utility model is as shown in Figs. 1-5, includes shell 1, display screen
2, function button 3 and power supply and data cable 4.Include core processing circuit plate inside the shell 1, such as Fig. 2 on circuit board
It is shown, gravity-feed tank it is accrued it is main include integrated high-precision three axis accelerometer, three-axis gyroscope and gravity-feed tank is accrued and controller
Chip and peripheral power supply circuit.
Autonomous type opening self-detective instrument is integrally attached on gate and with shutter motion, three axis accelerometer, three-axis gyroscope
It is connect respectively with controller signals with gravity sensing meter, acceleration value, attitude angle, absolute vertical bearing data is sent to control
Device, controller connect with display screen 2 and show data on a display screen, while controller is connect with sluice control system signal,
So that Measuring opening information is sent to sluice control system, controlled for gatage.
As shown in Figure 3-4, it is autonomous type opening self-detective instrument installation diagram on gates of segmental shape 5.Gates of segmental shape 5 is in gate
Under control system control, left side upland water is completely cut off around the rotation of rotary opening and closing axis and closes reservoir.By autonomous type gate
Aperture instrument (figure middle casing 1) is arranged in the upper end of gate 5, and power supply and data cable 4 pass through water-proofing treatment, power supply and data cable
4 connect shell 1 with external power supply and sluice control system.When gate is fully closed, as shown in figure 3, the utility model is autonomous
1 part of shell of formula opening self-detective instrument is fixed on 5 top of gate, connects power supply and data cable 4, passes through function button
3 by data initialization, and sets shutter motion direction.
If Fig. 5 is the utility model autonomous type opening self-detective instrument installation diagram on herringbone turnover board type gate 5.It overlooks
Direction is looked, and herringbone two fans door with center vertical axis (point midway) as rotary shaft rotates folding and seals rear side upstream water level
It closes or opens.Remaining is identical as Fig. 3-4 embodiments.Equally, general for the gate of vertical direction unlatching, such as vertical lifting door.
The gate opened for horizontal lateral movement can be also applicable in, only need to be after three-axis gyroscope zeroing, by gate opening directioin parameter
Instead of measuring angle use on vertical direction.
In the above embodiments, the shell 1 uses stainless steel, and hermetically sealed encapsulation, and good weatherability can be long-term
It is used in outdoor adverse circumstances.High-precision three axis accelerometer and gyroscope have very high sensitivity, can detect micro-
Small acceleration value and attitudes vibration angle.Integrated high-precision three axis accelerometer, three-axis gyroscope and gravity-feed tank is accrued and control
The preferred InvenSense MPU-9250 of chip of device processed.High-precision three axis accelerometer working frequency is 500Hz, that is, works as gate
When startup, accelerometer exports an acceleration value every 2ms, meanwhile, high-precision three-axis gyroscope also exports a gate appearance
State angle, gravity-feed tank is accrued to be used for determining absolute vertical direction.The time is integrated by acceleration value, can show that gate is transported
Dynamic speed and displacement distance can obtain gate in the displacement distance of opening direction, the i.e. aperture of gate further according to attitude angle.
The operation principle of the utility model：
It is theoretical that the utility model is based on advanced inertial navigation, using high-precision three axis accelerometer, three-axis gyroscope and
Gravity-feed tank is accrued, and the acceleration of motion of gate, posture beat are measured, and integrated to the time, to obtain gate
Move distance.
Gate starts to stopping from stationary state, and Velocity-time image schematic diagram based on acceleration as shown in figure 4, surveyed
Magnitude can obtain speed and distance：
In formula, vnFor tnThe instantaneous velocity at moment, anFor tnThe instantaneous acceleration at moment, SnFor tnThe original state at moment arrives
tnTime in total displacement, Δ SnFor time tn-1To tnMoment intrinsic displacement increment.
Because accelerometer output is discrete data, and sample frequency is very high, can according to higher mathematics calculus principle
Regard movement of the gate within the accelerometer sampling interval as uniformly accelrated rectilinear motion,
Then：
Under original state, v0=0, S0=0, accelerometer sampling time interval：
Δ t=t1-t0=t2-t1=...=tn-tn-1(n=1,2,3 ...) (4)
Then：
vn=vn-1+anΔ t (n=1,2,3 ...) (5)
The speed and displacement that each Δ t (Δ t=2ms in embodiment) measures in the time at this time are vector value, therefore are wanted
The speed on some direction and shift value are obtained, the measured value of three-axis gyroscope must be coordinated.
It is respectively α, β that three-axis gyroscope, which might as well be set, and measure angle on horizontal xy-plane, measures angle in the vertical direction
For γ, then by taking vertical floodgate gate as an example, gatage value is：
The gate that formula (7) opens vertical direction is general, such as vertical lifting door, arc-shaped door, herringbone plate-turning door.Together
α or β (gate opening direction) only need to be replaced formula by reason for the gate that horizontal lateral movement is opened after sensor zeroing
(7) γ in.
The utility model discloses a kind of autonomous type opening self-detective instruments, including shell, display screen, function button, electricity as a result,
Source and data cable.It is accrued that high-precision three axis accelerometer, three-axis gyroscope and gravity-feed tank are integrated on shell interior circuit board.This
Utility model is based on advanced inertial navigation theory, passes through the acceleration during accelerometer and gyroscope measurement shutter motion
Value and posture beat, and integral operation is carried out to the time, to obtain the movement velocity and opening direction during shutter motion
Shift length.Autonomous type opening self-detective instrument installation is simple, is suitable for any gate door type, is referred to without the external world, and theory is surveyed
Range is measured without limitation, can be widely applied to the detection of water conservancy and hydropower gatage.
Claims (8)
1. a kind of autonomous type opening self-detective instrument, including shell, there are display screen, function button on shell, contains circuit board in shell,
Circuit board is electrically connected with function button and display screen respectively；It is characterized in that：Three axis accelerometer, three axis are integrated in circuit board
Gyroscope, gravity-feed tank be accrued and controller；Three axis accelerometer is set as detecting acceleration when shutter motion with shutter motion
Value, three-axis gyroscope are set as the position and attitude angle of detection gate all the time, and gravity-feed tank is accrued to be set as determining that gate is opened
The absolute vertical direction opened；Autonomous type opening self-detective instrument is directly fixedly mounted on the upper end of gate, will by power supply and data line
Autonomous type opening self-detective instrument is connected with external gate control system.
2. autonomous type opening self-detective instrument according to claim 1, it is characterised in that：When initial installation, in the fully closed shape of gate
Opening self-detective instrument is fixed on gate under state.
3. autonomous type opening self-detective instrument according to claim 1 or 2, it is characterised in that：Opening self-detective instrument is fixed on gate
After upper, three axis accelerometer, three-axis gyroscope, the accrued each sensing data of gravity-feed tank are initialized, and it is opposite to set gate
Each sensor direction of motion.
4. autonomous type opening self-detective instrument according to claim 1, it is characterised in that：The gate is opened for vertical direction
Door.
5. autonomous type opening self-detective instrument according to claim 1, it is characterised in that：The gate is vertical lifting door, arc
Shape door, herringbone turnover board type gate.
6. autonomous type opening self-detective instrument according to claim 1, it is characterised in that：The gate is that horizontal lateral movement is opened
When opening gate, gate opening directioin parameter need to only be replaced to measure angle use on vertical direction after three-axis gyroscope zeroing
.
7. autonomous type opening self-detective instrument according to claim 1, it is characterised in that：Circuit board includes integrated high-precision three
Axis accelerometer, three-axis gyroscope and gravity-feed tank is accrued and the chip and peripheral circuit of controller, chip InvenSense
MPU-9250；High-precision three axis accelerometer working frequency is 500Hz.
8. autonomous type opening self-detective instrument according to claim 1, it is characterised in that：Measured gatage state is arbitrary
Setting, the theory unlimited system of aperture measurement range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721764420.2U CN207636086U (en) | 2017-12-18 | 2017-12-18 | A kind of autonomous type opening self-detective instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721764420.2U CN207636086U (en) | 2017-12-18 | 2017-12-18 | A kind of autonomous type opening self-detective instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207636086U true CN207636086U (en) | 2018-07-20 |
Family
ID=62863455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721764420.2U Active CN207636086U (en) | 2017-12-18 | 2017-12-18 | A kind of autonomous type opening self-detective instrument |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207636086U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108020224A (en) * | 2017-12-18 | 2018-05-11 | 武汉静磁栅机电制造有限公司 | A kind of autonomous type opening self-detective instrument and its measuring method |
| CN116105998A (en) * | 2023-03-15 | 2023-05-12 | 阀源智能科技(杭州)有限公司 | MEMS-based valve opening real-time detection method and device |
-
2017
- 2017-12-18 CN CN201721764420.2U patent/CN207636086U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108020224A (en) * | 2017-12-18 | 2018-05-11 | 武汉静磁栅机电制造有限公司 | A kind of autonomous type opening self-detective instrument and its measuring method |
| CN116105998A (en) * | 2023-03-15 | 2023-05-12 | 阀源智能科技(杭州)有限公司 | MEMS-based valve opening real-time detection method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105526909B (en) | A kind of sedimentation detection method and device based on image recognition principle | |
| CN207636086U (en) | A kind of autonomous type opening self-detective instrument | |
| CN205825950U (en) | A kind of settlement detecting device based on image recognition principle | |
| CN104062691A (en) | High-precision seabed geothermal gradient detection device | |
| CN106767617B (en) | Beam pumping unit polished rod displacement sensor and method based on acceleration analysis | |
| US8505359B2 (en) | System and method for determining a gate position | |
| CN201984080U (en) | Movable type ultrasonic wave anemorumbograph | |
| CN209166587U (en) | A kind of liquid level detection device and metal base vertical continuous casting equipment | |
| CN201569429U (en) | Hall tilt angle sensor | |
| CN108020224A (en) | A kind of autonomous type opening self-detective instrument and its measuring method | |
| CN201083513Y (en) | Deep water level high precision sensor device | |
| CN105806217B (en) | Single stay formula measuring system and method for the measurement of object space position | |
| CN115265438A (en) | Mechanical gate opening degree detection device and method based on network | |
| CN105737797A (en) | Vertical deformation detection method and device | |
| CN207231472U (en) | Fixed capacitive grating encoder inclination measurement device, inclinometer, deviation survey equipment and inclination measurement system | |
| CN109901245A (en) | A kind of comprehensive wind speed calibrating installation of Atmospheric Survey | |
| CN109613303A (en) | Two component gravitational field method accelerometer dynamic calibration apparatus | |
| CN203083522U (en) | High-precision pendulum-type angle measuring device | |
| CN104111351A (en) | Mechanical type accelerometer | |
| CN209689592U (en) | A kind of device of the long displacement absolute measurement based on absolute angle encoder | |
| CN205450021U (en) | Three -dimensional hydrology data sensor | |
| CN202329570U (en) | Device for high precisely measuring three-dimensional deformation of to-be-measured piece in high-low temperature chamber | |
| CN202188851U (en) | Testing system for hydrometric cableway | |
| CN201463892U (en) | Forest digital compass | |
| KR101746437B1 (en) | Two-dimensional vane using bimorphs |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |