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CN-121979088-A - Dynamic plane inclination angle measurement control system and method thereof

CN121979088ACN 121979088 ACN121979088 ACN 121979088ACN-121979088-A

Abstract

The invention provides a dynamic plane inclination angle measurement control system and a method thereof, the three-axis compensation sensing module comprises a three-axis compensation sensing module, a communication module, an automatic calibration installation assembly, a data processing module and an outer protective shell. According to the invention, through the cooperation of the MEMS accelerometer and the temperature compensation unit in the triaxial compensation sensing module, the measurement error caused by the environmental temperature change is effectively eliminated, and the vibration interference is restrained by the dynamic frequency adjustment unit, so that the high-stability inclination angle measurement in a full-temperature area and a dynamic environment is realized, the automatic calibration installation component is matched with the laser positioning device to automatically detect and compensate the installation surface deviation, the installation efficiency and the installation precision are obviously improved, the communication module realizes low-delay protocol switching through the multi-protocol conversion engine, is flexibly adapted to various industrial control systems, improves the system integration and the communication reliability, and the data processing module optimally processes the multi-axis information through the triaxial data fusion algorithm, preferentially outputs the maximum inclination component, and ensures the accuracy of the measurement result.

Inventors

  • Chi Shuihua
  • LIU GUANGLEI

Assignees

  • 福建赢鱼网络科技有限公司

Dates

Publication Date
20260505
Application Date
20260210

Claims (10)

  1. 1. A dynamic plane tilt angle measurement control system, comprising: The triaxial compensation sensing module is used for collecting triaxial acceleration data of a measured plane and eliminating measurement errors caused by environmental factors, and comprises an MEMS accelerometer, a temperature compensation unit and a dynamic frequency adjustment unit, The MEMS accelerometer is provided with two groups, the temperature compensation unit is used for correcting measurement deviation caused by environmental temperature change, and the dynamic frequency adjustment unit is used for adaptively adjusting the data acquisition rate according to the environmental vibration intensity; The communication module is electrically connected with the triaxial compensation sensing module, a multi-protocol conversion engine is arranged in the communication module and is used for supporting dynamic conversion among various industrial communication protocols, so that information interaction between measurement data and an external control system is realized; The automatic calibration installation assembly is used for bearing and fixing the triaxial compensation sensing module and automatically compensating physical position deviation generated in the installation process, and comprises a universal base and a laser positioning device, wherein the universal base is used for carrying out multi-dimensional mechanical adjustment, the universal base is connected with a shell of the triaxial compensation sensing module, the laser positioning device is used for generating an installation datum reference plane, and the laser positioning device is fixedly installed on the universal base; The data processing module is respectively and electrically connected with the triaxial compensation sensing module and the communication module, and is used for receiving acceleration data acquired by the triaxial compensation sensing module and executing an inclination angle calculation algorithm, and meanwhile, packaging the calculated inclination angle data and outputting the inclination angle data through the communication module; and the triaxial compensation sensing module, the communication module, the automatic calibration installation assembly and the data processing module are packaged in the outer protective shell.
  2. 2. A dynamic planar inclination angle measurement control system according to claim 1, wherein the temperature compensation unit comprises: the temperature sensor is an embedded sensor and is arranged around the MEMS accelerometer, and the temperature sensor is used for monitoring the ambient temperature of the MEMS accelerometer in real time; the micro-processor is electrically connected with the temperature sensor and the MEMS accelerometer, and is used for reading the temperature data and the original acceleration data of the temperature sensor, and the micro-processor carries out real-time nonlinear correction on the MEMS accelerometer by executing a second-order compensation algorithm mathematical model, so that measurement errors caused by material thermal expansion characteristic differences under a wide-temperature-range working environment are eliminated.
  3. 3. The dynamic plane inclination angle measurement control system according to claim 1, wherein the dynamic frequency adjustment unit includes: The vibration sensor is arranged in the shell of the triaxial compensation sensing module and is used for sensing the environmental vibration intensity; The input end of the sampling rate controller is electrically connected with the vibration sensor, the output end of the sampling rate controller is electrically connected with the control port of the MEMS accelerometer, and the sampling rate controller is used for dynamically adjusting the data sampling frequency of the MEMS accelerometer in a preset frequency range according to the vibration intensity signal sensed by the vibration sensor, so that the data effectiveness and the system power consumption under different vibration working conditions are optimized.
  4. 4. The dynamic planar inclination angle measurement control system of claim 1 wherein the multiprotocol conversion engine comprises: the data storage unit alternately works by two independent data buffer units, so that the data receiving and transmitting are realized; The protocol analysis unit is used for storing data frame formats and analysis rules of various industrial communication protocols; The multi-protocol conversion engine manages the internal buffer data of the data storage unit by calling the protocol analysis unit, and is used for realizing quick identification and data conversion between different industrial communication protocols.
  5. 5. A dynamic planar tilt angle measurement control system according to claim 1, wherein the gimbal base comprises; the base body is fixedly connected with the shell of the triaxial compensation sensing module through a connecting piece; the multistage precise thread adjusting mechanism is arranged between the base body and the triaxial compensation sensing module; The multi-stage precise thread adjusting mechanism comprises a coarse thread adjusting stage, a fine thread adjusting stage and a differential thread adjusting stage, wherein each stage of thread adjusting mechanism is sequentially connected in series and driven by a knob, and the multi-stage precise thread adjusting mechanism is used for realizing large-stroke rapid pre-positioning, precise displacement adjustment and micrometer-level precision displacement micro-compensation of the base body in a three-dimensional space and jointly providing multi-directional physical angle compensation capability.
  6. 6. A dynamic planar tilt angle measurement control system according to claim 1, wherein the input of the data processing module is connected to three axial data outputs of two sets of MEMS accelerometers, and the data processing module is configured to filter and noise suppress triaxial acceleration data, and calculate a tilt component of each axial direction relative to a gravitational acceleration vector.
  7. 7. The system of claim 1, further comprising a self-diagnostic unit in electrical communication with the tri-axis compensation sensor module and the data processing module for continuously monitoring the health of the MEMS accelerometer and the rationality of the output data in real time.
  8. 8. A dynamic planar tilt angle measurement control system according to claim 1, wherein the laser positioning device comprises: the linear laser generator is fixed on one side of the universal base and is used for projecting a linear laser beam to the installation foundation to form a visible datum line; The optical sensor array is arranged at the upper end of the universal base and is used for receiving the reflected light signals of the linear laser beams and sensing the light spot positions of the linear laser beams, and the relative position and the angle deviation between the universal base and the target installation reference plane are determined by processing the signals of the optical sensor array.
  9. 9. A dynamic planar tilt angle measurement control system according to claim 1, wherein the two sets of MEMS accelerometers operate using a cross-checking mechanism, the cross-checking process of the two sets of MEMS accelerometers being implemented in the data processing module, the data processing module receiving measurement data of the two sets of MEMS accelerometers in parallel.
  10. 10. A control method of a dynamic plane inclination angle measurement control system, which is adapted to the system according to any one of claims 1 to 9, comprising the steps of: S1, starting a laser positioning device in the automatic calibration installation assembly to project a reference laser plane to an installation foundation, receiving a reflected light signal by utilizing an optical sensor array of the laser positioning device to detect initial installation deviation, and then driving a multi-stage mechanical adjusting mechanism in the universal base to move so as to compensate the initial installation deviation until the triaxial compensation sensing module reaches a preset installation posture; S2, starting the triaxial compensation sensing module, synchronously collecting triaxial acceleration original data of a measured plane through two groups of MEMS accelerometers, simultaneously monitoring the ambient temperature in real time by the temperature compensation unit, performing second-order temperature compensation correction on the original data, and adaptively adjusting the data sampling frequency by the dynamic frequency adjustment unit according to the ambient vibration intensity; S3, the data processing module receives the compensated and corrected triaxial acceleration data, a triaxial data fusion algorithm is executed, filtering and denoising processing is carried out on the data, inclination components in all axial directions are calculated, and the maximum value is selected from all inclination components through comparison logic to be used as a plane inclination angle which is finally output; And S4, continuously performing cross check and health state monitoring on output data of the two groups of MEMS accelerometers by the self-diagnosis unit in the whole process of the data fusion and calculation step, automatically triggering a calibration or protection program when data abnormality or deviation overrun is detected, and simultaneously, packaging final inclination angle data into a data packet by the data processing module and transmitting the data packet to an external control system through a multi-protocol conversion engine of the communication module according to a preset industrial communication protocol.

Description

Dynamic plane inclination angle measurement control system and method thereof Technical Field The invention relates to the field of intelligent measurement, in particular to a dynamic plane inclination angle measurement control system and a method thereof. Background The plane inclination angle detection technology is a key basic technology in the fields of industrial automation, precision manufacturing, intelligent construction, structural health monitoring and the like. The measurement accuracy and reliability of the high-end equipment directly determine the installation leveling accuracy, the motion attitude control stability and the safety monitoring effectiveness of a large-scale engineering structure. Currently, the technical path for implementing tilt angle detection mainly relies on MEMS (micro-electromechanical systems) based acceleration sensors or conventional mechanical level gauges to resolve tilt angles by sensing the component decomposition of gravitational acceleration on the measurement axis. However, when applied to complex industrial scenes, these technologies face a series of technical bottlenecks, which limit the application of the technologies in occasions with high precision requirements. Conventional detection schemes mostly perform angle resolution based on static or quasi-static gravitational field assumptions. However, in actual working conditions such as shield tunneling, ship navigation, fan operation and the like, vibration, impact and movement introduced by the equipment or the external environment can generate additional acceleration interference. The disturbance is coupled with the gravity acceleration vector and collected by the sensor, so that a significant error is generated in the calculated inclination angle, and the error can easily exceed 0.1 DEG under the severe vibration environment, so that the measured data is completely invalid. In addition, the MEMS sensing core is extremely sensitive to ambient temperature, and its null bias and scale factor can drift with temperature. Under the scene of wide temperature range (-40 ℃ to 85 ℃) operation such as field monitoring, vehicle-mounted equipment and the like, the temperature drift error caused by the difference of the thermal expansion coefficients of the materials in the sensor and the change of the semiconductor characteristics is particularly prominent, the accumulated error can reach more than 0.5 ℃, and the all-weather and all-condition monitoring capability of the equipment is seriously weakened. The field installation and calibration process is complex and inefficient, and introduces a system error which is difficult to ignore. Traditional installation leveling relies on the experience of skilled workers, and repeated manual comparison and mechanical adjustment are carried out by adopting tools such as a bubble level meter, a dial indicator and the like. This mode not only takes up to 30 minutes or more for a single calibration, but also greatly affects engineering efficiency. More importantly, the actual mounting base surface tends to be non-ideal, with possible initial mechanical deviations of up to + -5 deg.. Such deviations can be introduced directly into the measurement as systematic errors, and the prior art lacks an effective means of quickly and automatically compensating for such deviations during the installation phase. Although some advanced schemes attempt to introduce laser for auxiliary positioning, the method is limited by insufficient laser positioning precision and slow convergence speed of a calibration algorithm, and is difficult to achieve high-precision installation requirements in a short time, and cannot meet urgent requirements of modern industry on efficient and accurate operation. The industrial site is a complex environment with multiple devices and multiple protocols working cooperatively, and the coexistence of multiple industrial communication protocols such as RS485, CAN, modbus and the like is common. However, conventional tilt detection devices typically only support a single communication interface, and when access to systems of different protocols is required, external protocol converters must be relied upon. The external connection mode not only increases the complexity and cost of the system, but also introduces communication delay exceeding 50ms, and obviously increases the risk of data packet loss, and is difficult to realize real-time control. Disclosure of Invention In view of the above problems, the present invention provides a dynamic plane tilt angle measurement control system and a method thereof, which are used for solving the technical problems of insufficient measurement accuracy and stability, poor industrial communication protocol compatibility and the like in the prior art. In order to achieve the above object, in a first aspect, the present application provides a dynamic plane tilt angle measurement control system, which includes a triaxial compensation sensor m