An angle measurement sensor based on a floating ball and an absolute angle measurement method

Abstract

A kind of angle measurement sensor based on float ball type and absolute angle measurement method, for sealed and fixed sensor base, sensor base is provided with sensor coordinate system X axis mark and sensor coordinate system Y axis mark for viewing sensor coordinate axis, the middle of sensor base is provided with high-precision timer for recording electromagnetic wave transmission time, four signal receivers are arranged on the periphery of high-precision timer on sensor base, sensor shell for fixing object in cavity is fixed on sensor base, sensor cavity is filled with sensor cavity stabilizing liquid for floating ball suspension in the cavity of sensor shell.The present application utilizes electromagnetic wave ranging and vertical upward principle of buoyancy, constructs sensor coordinate system, calculates the position of floating ball oscillation launching device in sensor coordinate by measuring the propagation time of electromagnetic wave, and then calculates absolute angle, realizes angle measurement.

Description

Technical Field

[0001] This invention relates to the field of automated engineering monitoring, and in particular to a float-type angle measurement sensor and angle measurement method. Background Technology

[0002] With the advent of the information age in China, real-time, rapid, and continuous monitoring of engineering structures has become a hot topic, particularly regarding safety monitoring in construction projects. Sensor measurement, as an emerging measurement method, has emerged, and modern engineering monitoring increasingly relies on it. Angle measurement technology evolved from optical angle measurement. Mechanical and photoelectric angle measurement have long been recognized for their accuracy and high sensitivity. However, measurement systems based on these methods have complex structures, large sizes, and high production costs, significantly limiting their application in traditional engineering fields and hindering their use in large-scale online observation. Therefore, it is imperative to find an effective method that is small in size, highly sensitive, and reliable, capable of measuring minute angles within a certain range. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a float-type angle measurement sensor and an absolute angle measurement method.

[0004] The technical solution adopted in this invention:

[0005] A float-based angle measurement sensor includes a sealed and fixed sensor base. The sensor base has X-axis and Y-axis markers for viewing the sensor's coordinate system. A high-precision timer for recording electromagnetic wave transmission and reception is located in the center of the sensor base. Four signal receivers are arranged around the high-precision timer on the sensor base. A sensor housing is fixed to the sensor base to secure objects within its cavity. The cavity of the sensor housing is filled with a stabilizing liquid for suspending the float. A float-oscillating transmitter is suspended in the stabilizing liquid and connected to the high-precision timer via a flexible wire. The signal receivers, high-precision timer, and float-oscillating transmitter power the sensor and interact with external devices via power and communication cables.

[0006] The four signal receivers are centrally symmetrically distributed around a high-precision timer.

[0007] The sensor base uses the installation position of the high-precision timer as the origin of the coordinate system. The X-axis coordinate is constructed by passing through the origin and the X-axis marker of the sensor coordinate system. The Y-axis coordinate is constructed by passing through the origin and the Y-axis marker of the sensor coordinate system. The Z-axis coordinate is constructed vertically upward from the origin. The sensor coordinate system is constructed by the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate.

[0008] The four signal receivers calculate the instantaneous distance between the float oscillating transmitter and the four signal receivers by receiving the electromagnetic wave signal emitted by the float oscillating transmitter and the propagation time recorded by the high-precision timer.

[0009] The high-precision timer is used to record the signal transmission and reception time. It is triggered when the float oscillating transmitter emits electromagnetic waves. The reception time of the four signal receivers is recorded to complete the instantaneous state of the float oscillating transmitter.

[0010] An absolute angle measurement method, which uses the aforementioned float-based angle measurement sensor to measure the instantaneous absolute angle of a float-based oscillating transmitter, comprises the following steps:

[0011] S1. Constructing the sensor coordinate system: The high-precision timer installation position on the sensor base is taken as the coordinate origin. The X-axis coordinate is constructed by passing through the coordinate origin and the X-axis marker of the sensor coordinate system. The Y-axis coordinate is constructed by passing through the coordinate origin and the Y-axis marker of the sensor coordinate system. The Z-axis coordinate is constructed vertically upward from the coordinate origin. The sensor coordinate system is constructed by the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate.

[0012] S2. Determine the float coordinates: The coordinates of the four signal receivers in the sensor coordinate system are 1#(X0,0,0), 2#(0,Y0,0), 3#(-X0,0,0), and 4#(0,-Y0,0). The refractive index of water is n. 水 =1.33, the times when the four signal receivers receive and capture the electromagnetic waves are t1 and t2 respectively. 1# t 2# t 3# t 4# Given the speed of light c, and assuming the center of the buoy is at coordinates (x, y, z) in the sensor coordinate system, then:

[0013] ;

[0014] ;

[0015] ;

[0016] ;

[0017] S3. Calculate the angles between the buoy and each coordinate axis: Assume the angle between the center of the instantaneous buoy oscillation transmitter and the X-axis of the sensor coordinate system is... The angle between the Y-axis and the Y-axis is The angle between the Z-axis and the Z-axis is Then we have:

[0018] .

[0019] The beneficial effects of this invention are as follows: This invention utilizes the principle of electromagnetic wave ranging and the vertical upward buoyancy to construct a sensor coordinate system. By measuring the propagation time of electromagnetic waves, the position of the buoy oscillating transmitter in the sensor coordinate system is calculated, and then the absolute angle is calculated to achieve angle measurement. This angle measurement sensor can be widely used in precision measurement, building tilt monitoring and other monitoring fields. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention.

[0021] Figure 2 This is a schematic diagram illustrating the application of the device of the present invention.

[0022] The components are: 1-Sensor base; 2-X-axis marker of sensor coordinate system; 3-Y-axis marker of sensor coordinate system; 4-Power supply and communication cable; 5-Sensor housing; 6-Sensor cavity stabilizing liquid; 7-Float oscillation transmitter; 8-Flexible wire; 9-High-precision timer; 10-Signal receiver. Detailed Implementation

[0023] A float-type angle measurement sensor includes a sealed and fixed sensor base 1. The sensor base 1 has X-axis and Y-axis markers for viewing the sensor coordinate system. A high-precision timer 9 for recording electromagnetic wave transmission and reception is located in the center of the sensor base 1. Four signal receivers 10 are arranged around the high-precision timer 9 on the sensor base 1. A sensor housing 5 for fixing objects inside the cavity is fixed to the sensor base 1. The cavity of the sensor housing 5 is filled with a stabilizing liquid 6 for suspending the float. A float oscillation transmitter 7 is suspended in the stabilizing liquid 6. The float oscillation transmitter 7 is connected to the high-precision timer 9 via a flexible wire 8. The signal receivers 10, the high-precision timer 9, and the float oscillation transmitter 7 are connected to the sensor via power and communication cables 4 for power supply and interaction with external devices.

[0024] The four signal receivers 10 are centrally symmetrically distributed around the high-precision timer 9.

[0025] The sensor base 1 uses the installation position of the high-precision timer 9 as the origin of the coordinate system. The X-axis coordinate is constructed by passing through the origin and the X-axis marker 2 of the sensor coordinate system. The Y-axis coordinate is constructed by passing through the origin and the Y-axis marker 3 of the sensor coordinate system. The Z-axis coordinate is constructed vertically upward from the origin. The sensor coordinate system is constructed by the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate.

[0026] The four signal receivers 10 calculate the instantaneous distance between the float oscillating transmitter 7 and the four signal receivers 10 by receiving the electromagnetic wave signal emitted by the float oscillating transmitter 7 and the propagation time recorded by the high-precision timer 9.

[0027] The high-precision timer 9 is used to record the signal transmission and reception time. It is triggered when the float oscillating transmitter 7 emits electromagnetic waves. The four signal receivers 10 record the instantaneous state of the float oscillating transmitter 7 after all the reception times are completed.

[0028] An absolute angle measurement method, which uses the aforementioned float-based angle measurement sensor to measure the instantaneous absolute angle of a float-based oscillating transmitter, comprises the following steps:

[0029] S1. Constructing the sensor coordinate system: On the sensor base 1, with the installation position of the high-precision timer 9 as the coordinate origin, the X-axis coordinate is constructed by passing through the coordinate origin and the X-axis marker 2 of the sensor coordinate system, the Y-axis coordinate is constructed by passing through the origin and the Y-axis marker 3 of the sensor coordinate system, and the Z-axis coordinate is constructed vertically upward from the coordinate origin. The sensor coordinate system is constructed by the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate.

[0030] S2. Determine the float coordinates: The coordinates of the four signal receivers 10 in the sensor coordinate system are 1#(X0,0,0), 2#(0,Y0,0), 3#(-X0,0,0), and 4#(0,-Y0,0), respectively. The refractive index of water is n. 水 =1.33, the times when the four signal receivers 10 receive and capture electromagnetic waves are t1 and t2 respectively. 1# t 2# t 3# t 4# Given the speed of light c, and assuming the center of the buoy is at coordinates (x, y, z) in the sensor coordinate system, then:

[0031]

[0032]

[0033]

[0034]

[0035] S3. Calculate the angles between the buoy and each coordinate axis: Assume the angle between the center of the instantaneous buoy oscillation transmitter 7 and the X-axis of the sensor coordinate system is... The angle between the Y-axis and the Y-axis is The angle between the Z-axis and the Z-axis is Then we have:

[0036] .

[0037] In application, the steps for data acquisition by this sensor are as follows:

[0038] 1) An external platform or artificial excitation unit sends a data acquisition command;

[0039] 2) The float oscillation transmitter 7 emits electromagnetic waves, which simultaneously triggers the high-precision timer 9 to start timing;

[0040] 3) Four signal receivers 10 receive electromagnetic wave signals according to the distance, and the signal reception time is recorded by a high-precision timer 9;

[0041] 4) The high-precision timer 9 sends the collected time data to the client. The position of the instantaneous float oscillation transmitter 7 is obtained by formula # (4). The angle between the float oscillation transmitter 7 and each coordinate axis is calculated by formula # (5). The instantaneous absolute angle state of the float oscillation transmitter 7 in the sensor coordinate system is obtained.

[0042] The embodiments of the present invention have been described in detail above, but the content described is only a preferred embodiment of the present invention and should not be considered as limiting the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the patent coverage of the present invention.

Claims

1. A float ball based angular measurement sensor, characterized in that, The utility model provides a sensor base (1) for sealing and fixed, be provided with sensor coordinate system X axis mark (2) and sensor coordinate system Y axis mark (2) for viewing sensor coordinate axis on sensor base (1), the middle of sensor base (1) is provided with high accuracy timer (9) for recording electromagnetic wave transceiving time, four signal receivers (10) are provided on the periphery of high accuracy timer (9) on sensor base (1), sensor base (1) is fixed with sensor shell (5) for fixing the object in cavity, the cavity of sensor shell (5) is filled with sensor cavity stable liquid (6) for floating ball suspension, floating ball shock emission device (7) is suspended in sensor cavity stable liquid (6), floating ball shock emission device (7) is connected to high accuracy timer (9) through flexible wire (8), signal receiver (10), high accuracy timer (9) and floating ball shock emission device (7) are powered and interact with external equipment through power supply and communication cable (4), four signal receivers (10) are centrally symmetrically distributed with high accuracy timer (9) as the center, The sensor base (1) is provided with high accuracy timer (9) installation position as the coordinate origin, the X-axis coordinate is constructed through the coordinate origin and the sensor coordinate system X axis mark (2), the Y-axis coordinate is constructed through the coordinate origin and the sensor coordinate system Y axis mark (3), the Z-axis coordinate is constructed vertically upward from the coordinate origin, and the sensor coordinate system is constructed by the X-axis coordinate, the Y-axis coordinate and the Z-axis coordinate; The four signal receivers (10) calculate the instantaneous distance of the floating ball shock emission device (7) and the four signal receivers (10) by receiving the electromagnetic wave signals emitted by the floating ball shock emission device (7) and the propagation time recorded by the high accuracy timer (9). The high accuracy timer (9) is used to record the signal transmission time, and the instantaneous state of one floating ball shock emission device (7) is recorded by triggering the electromagnetic wave emission of the floating ball shock emission device (7) and recording the receiving time of the four signal receivers (10). The coordinates of the four signal receivers (10) in the sensor coordinate system are 1# (X0, 0, 0), 2# (0, Y0, 0), 3# (-X0, 0, 0) and 4# (0, -Y0, 0). By measuring the propagation time of the electromagnetic wave, the coordinates of the floating ball shock emission device in the sensor coordinate system are calculated, and the angle between the floating ball and each coordinate axis is calculated to realize angle measurement.

2. A method of absolute angle measurement, characterized in that The steps of measuring the instantaneous absolute angle of the floating ball shock emission device by using the floating ball type angle measurement sensor of claim 1 are as follows: S1. Constructing the sensor coordinate system: the sensor base (1) is provided with high accuracy timer (9) installation position as the coordinate origin, the X-axis coordinate is constructed through the coordinate origin and the sensor coordinate system X axis mark (2), the Y-axis coordinate is constructed through the coordinate origin and the sensor coordinate system Y axis mark (3), the Z-axis coordinate is constructed vertically upward from the coordinate origin, and the sensor coordinate system is constructed by the X-axis coordinate, the Y-axis coordinate and the Z-axis coordinate; S2. Determine the ball coordinates: the coordinates of the four signal receivers (10) under the sensor coordinates are 1# (X0, 0, 0), 2# (0, Y0, 0), 3# (-X0, 0, 0), 4# (0, -Y0, 0), the refractive index of water n 水 = 1.33, the time when the four signal receivers (10) receive the captured electromagnetic waves is t 1# , t 2# , t 3# , t 4# , the speed of light is c, and assuming the coordinates of the ball center under the sensor coordinates are (x, y, z), then: S3. Calculate the angle between the floating ball and each coordinate axis: Assuming that the angle between the floating ball center of the instantaneous floating ball oscillation launching device (7) and the sensor coordinate system X axis is the angle with the Y axis is and the angle with the Z axis is then we have:

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