Inclination measurement method of marine inclinometer

Abstract

The invention discloses an inclination measuring method of a marine inclinometer. The marine inclinometer comprises a mounting sleeve. Both ends of the top of the mounting sleeve are provided with first threaded holes, and the inner cavity of the first threaded hole is threadedly connected with a first fastening screw, an outer sleeve rod is fixedly connected to the middle end of the front surface of the mounting sleeve, a second threaded hole is provided at the lower end of the right side of the outer sleeve rod, and the inner cavity of the second threaded hole is threadedly connected with a second fastening screw, an inner sleeve rod is sleeved in the inner cavity of the outer sleeve rod, and the lower end of the inner cavity of the inner sleeve rod is fixedly connected with a first inclination sensor, and the bottom of the inner sleeve rod is fixedly connected with a bearing seat. The invention can effectively improve the measuring accuracy of the inclinometer by calculating the swing period, the swing amplitude and the average inclination, filtering abnormal points and not displaying data when the sampling number is lower than a certain threshold value just after startup, etc., which brings great convenience to people's detection work and ensures the safety of navigation.

Description

Technical Field

[0001] The invention relates to the technical field of marine inclinometers, in particular to an inclination measuring method of a marine inclinometer. Background Art

[0002] Ships are important water transportation tools. The earliest ship appeared in the Stone Age - the canoe (a log hollowed out in the middle). Then, ships with oars and sails appeared, and later ships powered by steam or diesel engines appeared. Today, people use solar energy and jet engines as the power of ships. The speed of sailing is amazing, and the maximum speed can reach more than 500 kilometers per hour. Large ships propelled by machines are called steamships, and smaller ships are called boats (boats or boats). Early steamships were made of wood, with propellers on both sides or at the stern. The wheel with paddles is turned by manpower, and the paddles push water backwards to make the boat move forward. Nowadays, the hulls of ships are mostly made of metal, powered by engines, and use propellers. All hulls are hollow, so they are light and can float on the water. The anchor is generally located at the bow, and there are also anchors at the front and back, while the propeller is always installed at the stern. During the voyage, the ship needs to detect its inclination at all times, but the detection results of the existing inclinometer are not ideal, which brings inconvenience to people's use. For this reason, we propose a ship inclinometer and a method for measuring inclinometer. Summary of the invention

[0003] The object of the present invention is to provide a method for measuring inclination of a marine inclinometer to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solution: a method for measuring inclination of a marine inclinometer, the method comprising the following steps:

[0005] A. The tilt sensor is tested once every 100 milliseconds and continuously tested for 4 seconds to obtain 40 data, and the tilt sensor data is read through the display (11);

[0006] B. Calculate the swing period, swing amplitude and average inclination;

[0007] C. Filter outliers;

[0008] D. In the initial state, just after the machine is turned on, if the sampling number is lower than a certain threshold, no data will be displayed;

[0009] The step B comprises: ①, querying the zero crossing point (the next data of the zero crossing point is 0 or the positive or negative value changes), the 900th millisecond 6, the 1900th millisecond -2, the 2900th millisecond 1 and the 3800th millisecond -1 are the zero crossing points; ②, the swing period is equal to the average of the difference between adjacent zero crossing points multiplied by 2, that is: {(1900-900) + (2900-1900) + (3800-2900)} / 3*2=1933.3 milliseconds; ③, swing amplitude calculation: the average value of the absolute value between the zero crossing points minus the maximum value; ④, average inclination: the average value of the sampling values ​​in each fixed period;

[0010] In step C, due to the influence of environmental factors such as waves and wind, the change in the ship's inclination angle will not be as ideal as the above detection value, but many abnormal values ​​will appear. Therefore, there are two methods, and the results of the two methods are not exactly the same: 1. Filter abnormal zero crossing points: there are 4 zero crossing points, 1200 milliseconds 8 is determined to be abnormal, and the reason is that it should continuously increase or decrease after the zero crossing; 1400 milliseconds 3 is determined to be abnormal, and the filtering basis is that it should continuously increase or decrease after the zero crossing; 1600 milliseconds 1 is normal; 2900 milliseconds -1 is normal; 2. Filter abnormal points: -2, 1, -7, -5, -17, 21 are abnormal points, and the filtering basis is that the abnormal points affect the continuous increase or decrease of the array; after removing the abnormal points, that is, do not use the sampling values ​​at these moments, and then judge the zero crossing to obtain: 1400 milliseconds 3, 2900 milliseconds -1; the values ​​after the above moments and the abnormal points all represent the detected inclination angle values ​​of the ship, in degrees, and the detailed charts refer to the attached manual Figure 3-6 .

[0011] A marine inclinometer comprises a mounting sleeve, wherein both ends of the top of the mounting sleeve are provided with first threaded holes, and the inner cavity of the first threaded hole is threadedly connected with a first fastening screw, the middle end of the front surface of the mounting sleeve is fixedly connected with an outer sleeve rod, the lower end of the right side of the outer sleeve rod is provided with a second threaded hole, and the inner cavity of the second threaded hole is threadedly connected with a second fastening screw, the inner cavity of the outer sleeve rod is sleeved with an inner sleeve rod, and the lower end of the inner cavity of the inner sleeve rod is fixedly connected with a first tilt sensor, and the bottom of the inner sleeve rod is fixedly connected with a bearing seat, and the bottom of the bearing seat is fixedly connected with a An angle limiting sleeve is fixedly connected, a third threaded hole is opened at the middle end of the left side of the angle limiting sleeve, and the inner cavity of the third threaded hole is threadedly connected with a third fastening screw, the lower end of the inner cavity of the bearing seat is fixedly connected with a first connecting rod, and the bottom of the first connecting rod is fixedly connected with a cross bar, and the inner cavity of the cross bar is fixedly connected with a processor, a memory, a wireless signal transmitter and a second tilt sensor from left to right in sequence, the left end of the top of the cross bar is fixedly connected with an angle measuring rod, and the right end of the top of the cross bar is fixedly connected with a display through a second connecting rod.

[0012] Preferably, the ends of the first fastening screw, the second fastening screw and the third fastening screw are all fixedly connected with rubber pads.

[0013] Preferably, the end of the angle measuring rod is a triangular structure, and the tip of the angle measuring rod is in close contact with the outer surface of the angle limiting sleeve.

[0014] Preferably, the mounting sleeve is a "C"-shaped structure, and an anti-slip pad is fixedly connected to the inner cavity of the mounting sleeve.

[0015] Preferably, the second tilt sensor and the first tilt sensor are arranged in the X and Y directions respectively, and the X direction is defined as the direction of left and right swinging with the axis of the middle of the ship as the axis; the Y direction is defined as the direction of front and back swinging with the horizontal direction of the middle of the ship as the axis, that is, nodding.

[0016] Preferably, the memory collects data in a stacking manner, such as calculating based on only 1000 sampling values, and removing the earliest sampling value when a new sampling value is input.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention can effectively improve the measurement accuracy of the inclinometer by calculating the swing period, swing amplitude and average inclination, filtering abnormal points and not displaying data when the sampling number is lower than a certain threshold just after startup, etc., which brings great convenience to people's detection work and ensures the safety of navigation.

[0019] 2. The present invention sleeves an inner sleeve rod in the inner cavity of the outer sleeve rod, and through the second threaded hole and the second fastening screw, it can meet people's needs for adjusting the height of the inclinometer. At the same time, the first connecting rod is fixedly connected to the lower end of the inner cavity of the bearing seat, and through the angle limiting sleeve, the third threaded hole, the third fastening screw and the angle measuring rod, it can meet people's needs for adjusting the horizontal position of the cross bar, which brings great convenience to people's detection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the working principle of the present invention;

[0022] Figure 3 This is a schematic diagram of the detection data in step A of the present invention;

[0023] Figure 4 This is a schematic diagram of the first detection data in step C of the present invention;

[0024] Figure 5 This is a schematic diagram of the second detection data in step C of the present invention;

[0025] Figure 6 For the present invention Figure 5 Schematic diagram of detection data after removing outliers.

[0026] In the figure: 1 mounting sleeve, 2 processor, 3 third fastening screw, 4 first connecting rod, 5 memory, 6 angle measuring rod, 7 wireless signal transmitter, 8 second tilt sensor, 9 cross bar, 10 second connecting rod, 11 display, 12 angle limit sleeve, 13 first tilt sensor, 14 second fastening screw, 15 first fastening screw, 16 outer sleeve rod, 17 inner sleeve rod, 18 bearing seat. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figure 1-6The marine inclinometer comprises a mounting sleeve 1, which is a "C"-shaped structure, and the inner cavity of the mounting sleeve 1 is fixedly connected with an anti-skid pad, both ends of the top of the mounting sleeve 1 are provided with first threaded holes, and the inner cavity of the first threaded hole is threadedly connected with a first fastening screw 15, the middle end of the front surface of the mounting sleeve 1 is fixedly connected with an outer sleeve rod 16, the lower end of the right side of the outer sleeve rod 16 is provided with a second threaded hole, and the inner cavity of the second threaded hole is threadedly connected with a second fastening screw 14, which can meet people's needs for adjusting the height of the inclinometer, The inner cavity of the outer sleeve rod 16 is sleeved with the inner sleeve rod 17, and the lower end of the inner cavity of the inner sleeve rod 17 is fixedly connected with the first tilt sensor 13, the bottom of the inner sleeve rod 17 is fixedly connected with the bearing seat 18, and the bottom of the bearing seat 18 is fixedly connected with the angle limiting sleeve 12, the middle end of the left side of the angle limiting sleeve 12 is provided with a third threaded hole, and the inner cavity of the third threaded hole is threadedly connected with the third fastening screw 3, the ends of the first fastening screw 15, the second fastening screw 14 and the third fastening screw 3 are fixedly connected with rubber pads, and the bearing seat 1 The lower end of the inner cavity 8 is fixedly connected with the first connecting rod 4, and the bottom of the first connecting rod 4 is fixedly connected with the cross bar 9, and the inner cavity of the cross bar 9 is fixedly connected with the processor 2, the memory 5, the wireless signal transmitter 7 and the second tilt sensor 8 from left to right in sequence. The memory 5 collects data in a stacking manner, such as: only 1000 sampling values ​​are calculated, and the earliest sampling value is removed when a new sampling value is input. The second tilt sensor 8 and the first tilt sensor 13 are set in the X and Y directions respectively, and the X direction is defined as the direction of left and right swinging with the axis of the middle of the ship as the axis; the Y direction is defined as the direction of front and back swinging with the horizontal direction of the middle of the ship as the axis, that is, nodding. The left end of the top of the cross bar 9 is fixedly connected with the angle measuring rod 6, which can meet people's demand for adjusting the horizontal position of the cross bar 9, and bring great convenience to people's detection work. The end of the angle measuring rod 6 is a triangular structure, and the tip of the angle measuring rod 6 is close to the outer surface of the angle limiting sleeve 12, and the right end of the top of the cross bar 9 is fixedly connected with the display 11 through the second connecting rod 10.

[0029] The inclination measurement method of the marine inclinometer comprises the following steps:

[0030] A. The tilt sensor detects once every 100 milliseconds and continues detecting for 4 seconds to obtain 40 data, and the tilt sensor data is read through the display 11;

[0031] B. Calculate the swing period, swing amplitude and average inclination;

[0032] C. Filter outliers;

[0033] D. In the initial state, just after powering on, if the sampling number is lower than a certain threshold, no data will be displayed.

[0034] Step B includes: ①, query the zero crossing point (the next data of the zero crossing point is 0 or the positive or negative changes), the 900th millisecond 6, the 1900th millisecond -2, the 2900th millisecond 1 and the 3800th millisecond -1 are zero crossing points; ②, the swing period is equal to the average of the differences between adjacent zero crossing points multiplied by 2, as above: {(1900-900) + (2900-1900) + (3800-2900)} / 3*2=1933.3 milliseconds; ③, swing amplitude calculation: the average value of the absolute value between the zero crossing points after removing the maximum value; ④, average inclination (per second, per minute): the average value of the sampling values ​​in each fixed period.

[0035] In step C, due to the influence of environmental factors such as waves and wind, the change in the ship's inclination angle will not be as ideal as the above detection value, but many abnormal values ​​will appear. Therefore, there are two ways, and the results of the two ways are not exactly the same: 1. Filter abnormal zero crossing points: there are 4 zero crossing points, 1200 milliseconds 8 is judged as abnormal, the reason is that it should continuously increase or decrease after the zero crossing; 1400 milliseconds 3 is judged as abnormal, and the filtering basis is that it should continuously increase or decrease after the zero crossing; 1600 milliseconds 1 is normal; 2900 milliseconds -1 is normal; 2. Filter abnormal points: -2, 1, -7, -5, -17, 21 are abnormal points, and the filtering basis is that the abnormal points affect the continuous increase or decrease of the array; after removing the abnormal points, that is, do not use the sampling values ​​at these moments, and then judge the zero crossing to obtain: 1400 milliseconds 3, 2900 milliseconds -1; the values ​​after the above moments and the abnormal points all represent the detected inclination angle values ​​of the ship, in degrees, and the detailed charts refer to the attached manual Figure 3-6 .

[0036] When in use, the measurement accuracy of the inclinometer can be effectively improved by calculating the swing period, swing amplitude and average inclination, filtering abnormal points and not displaying data when the sampling number is lower than a certain threshold just after startup, etc., which brings great convenience to people's detection work and ensures the safety of navigation. The inner sleeve rod 17 is sleeved in the inner cavity of the outer sleeve rod 16, and the second threaded hole and the second fastening screw 14 can meet people's needs for adjusting the height of the inclinometer. At the same time, the first connecting rod 4 is fixedly connected to the lower end of the inner cavity of the bearing seat 18, and the angle limit sleeve 12, the third threaded hole, the third fastening screw 3 and the angle measuring rod 6 can meet people's needs for adjusting the horizontal position of the cross bar 9, which brings great convenience to people's detection work.

[0037] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for measuring inclination of a marine inclinometer, characterized in that: The method comprises the following steps: A. The tilt sensor is tested once every 100 milliseconds and continuously tested for 4 seconds to obtain 40 data, and the tilt sensor data is read through the display (11); B. Calculate the swing period, swing amplitude and average inclination; C. Filter outliers; D. In the initial state, just after the machine is turned on, if the sampling number is lower than a certain threshold, no data will be displayed; The step B comprises: ①, querying the zero crossing point: the next data of the zero crossing point is 0 or the positive or negative value changes; ②, the swing period is equal to the average of the difference between adjacent zero crossing points multiplied by 2; ③, swing amplitude calculation: the average value of the absolute value between the zero crossing points minus the maximum value; ④, average slope: the average value of the sampling values ​​within each fixed period; In step C, due to the influence of environmental factors such as waves and wind, the change in the inclination angle of the ship will not be as ideal as the above detection value, but many abnormal values ​​will appear. Therefore, there are two methods, and the results of the two methods are not exactly the same:

1. Filter abnormal zero-crossing points: the filtering basis is that the value should continuously increase or decrease after the zero-crossing point; 2. Filter abnormal points: the filtering basis is that the abnormal points affect the array to continuously increase or decrease; after removing the abnormal points, the sampling values ​​at these moments are not used, and then the zero-crossing point is judged; The marine inclinometer comprises a mounting sleeve (1), wherein both ends of the top of the mounting sleeve (1) are provided with first threaded holes, and the inner cavity of the first threaded hole is threadedly connected to a first fastening screw (15), the middle end of the front surface of the mounting sleeve (1) is fixedly connected to an outer sleeve rod (16), the lower end of the right side of the outer sleeve rod (16) is provided with a second threaded hole, and the inner cavity of the second threaded hole is threadedly connected to a second fastening screw (14), the inner cavity of the outer sleeve rod (16) is sleeved with an inner sleeve rod (17), and the lower end of the inner cavity of the inner sleeve rod (17) is fixedly connected to a first tilt sensor (13), and the bottom of the inner sleeve rod (17) is fixedly connected to a bearing seat (18), and the bottom of the bearing seat (18) is fixedly connected to the inner sleeve rod (17). An angle limiting sleeve (12) is connected, a third threaded hole is opened at the middle end of the left side of the angle limiting sleeve (12), and a third fastening screw (3) is threadedly connected to the inner cavity of the third threaded hole, a first connecting rod (4) is fixedly connected to the lower end of the inner cavity of the bearing seat (18), and a cross bar (9) is fixedly connected to the bottom of the first connecting rod (4), and a processor (2), a memory (5), a wireless signal transmitter (7) and a second tilt sensor (8) are fixedly connected to the inner cavity of the cross bar (9) from left to right in sequence, an angle measuring rod (6) is fixedly connected to the left end of the top of the cross bar (9), and a display (11) is fixedly connected to the right end of the top of the cross bar (9) via a second connecting rod (10).

2. The method for measuring inclination of a marine inclinometer according to claim 1, characterized in that: The ends of the first fastening screw (15), the second fastening screw (14) and the third fastening screw (3) are all fixedly connected with rubber pads.

3. The method for measuring inclination of a marine inclinometer according to claim 1, characterized in that: The end of the angle measuring rod (6) is a triangular structure, and the tip of the angle measuring rod (6) is in close contact with the outer surface of the angle limiting sleeve (12).

4. The method for measuring inclination of a marine inclinometer according to claim 1, characterized in that: The installation sleeve (1) is of a "C"-shaped structure, and an anti-slip pad is fixedly connected to the inner cavity of the installation sleeve (1).

5. The method for measuring inclination of a marine inclinometer according to claim 1, characterized in that: The second tilt sensor (8) and the first tilt sensor (13) are respectively arranged in the X and Y directions, and the X direction is defined as the direction of left-right swinging with the axis of the middle of the ship as the axis; the Y direction is defined as the direction of forward and backward swinging with the horizontal direction of the middle of the ship as the axis, that is, nodding.

6. The method for measuring inclination of a marine inclinometer according to claim 1, characterized in that: The memory (5) collects data in a stacking manner.

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