Inclinometer and measurement method for torsion angle displacement compensation

Abstract

The embodiments of the present application relate to the field of engineering automation measurement technology, and in particular to an inclinometer and measurement method for torsion angular displacement compensation. The inclinometer includes a measuring rod, a first guide wheel structure, a second guide wheel structure, and a control module. The measuring rod, and the first guide wheel structure and the second guide wheel structure arranged on the measuring rod; the control module is arranged inside the measuring rod, including a sensor circuit board and a main control circuit board embedded with the sensor circuit board, a three-axis inclinometer and a gyroscope are soldered on the sensor circuit board, the three-axis inclinometer is used to obtain inclination data, and the gyroscope is used to obtain the torsion angle data of the inclinometer tube, and the vertical foundation pit direction displacement and the parallel foundation pit direction displacement are calculated according to the inclination data and the torsion angle data; the main control circuit board is integrated with a power management chip, a main control chip, a temperature and humidity sensor, and a communication module. Thereby, the measurement accuracy can be effectively improved in the case of twisting and deformation of the inclinometer tube.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of engineering automation measurement, and in particular to an inclinometer and a measurement method for torsional angular displacement compensation. Background Art

[0002] Inclinometer refers to the measurement of the inclination angle of engineering structures or geological bodies such as buildings, bridges, and slopes. It is usually used to monitor the stability and safety of structures or geological bodies, and to evaluate their deformation under external forces. Traditional manual inclinometer methods usually require workers to manually operate inclinometer equipment for measurement, and determine the inclination of the structure by observing the instrument readings or recording the instrument data.

[0003] In the horizontal displacement monitoring of deep foundation pits, the quality of the buried inclinometer tube has a certain impact on the accuracy of the monitoring data. Especially when the inclinometer tube is twisted, that is, the guide groove of the inclinometer tube deviates from the vertical direction of the foundation pit, it will cause the inclinometer data to deviate from the actual deformation. In the actual construction process, it is difficult to ensure that the guide groove of the inclinometer tube is completely perpendicular to the direction of the foundation pit. With the increase of the buried depth of the inclinometer tube, the distortion and non-verticality of the inclinometer tube during the construction process become more significant. The measurement data deviation caused by the distortion of the inclinometer tube profoundly threatens the reliability and safety of the foundation pit deformation monitoring. However, it is unrealistic to improve the construction process of the inclinometer tube to completely avoid distortion and keep it completely vertical. Therefore, how to solve the problem of measurement data deviation caused by the distortion of the inclinometer tube is still an important issue. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide an inclinometer and a measurement method with torsion angular displacement compensation, which can effectively improve the measurement accuracy when the inclinometer tube is twisted and deformed.

[0005] In order to solve the above technical problems, an embodiment of the present application provides an inclinometer, which is arranged along the guide groove of the inclinometer tube, and the inclinometer tube is buried at the edges of the foundation pit. The inclinometer is connected to the host computer through a cable. The inclinometer includes a measuring rod, a first guide wheel structure, a second guide wheel structure and a control module. A measuring rod, and a first guide wheel structure and a second guide wheel structure arranged on the measuring rod; a control module, arranged inside the measuring rod, comprises a sensor circuit board and a main control circuit board embedded with the sensor circuit board, a three-axis inclinometer and a gyroscope are soldered on the sensor circuit board, the three-axis inclinometer is used to obtain inclination data, the gyroscope is used to obtain the torsion angle data of the inclinometer tube, and the vertical foundation pit direction displacement A and the parallel foundation pit direction displacement B are calculated according to the inclination data and the torsion angle data; a power management chip, a main control chip, a temperature and humidity sensor and a communication module are integrated on the main control circuit board, the main control chip is respectively connected to the temperature and humidity sensor, the three-axis inclinometer and the gyroscope for communication, the communication module is connected to the host computer for communication, the main control chip, the gyroscope and the temperature and humidity sensor are respectively electrically connected to the host computer, and the host computer is used to generate an inclinometer curve by calculating the measurement data obtained by the control module.

[0006] In some embodiments, the inclinometer further includes: the spacing between the first guide wheel structure and the second guide wheel structure is L; the foundation pit coordinate system is determined with the center point O of the inclinometer tube as the origin, wherein the displacement in the direction perpendicular to the foundation pit is the X-axis, the displacement in the direction parallel to the foundation pit is the Y-axis, and the displacement in the direction perpendicular to the X-axis and the Y-axis is the Z-axis; the three-axis inclinometer is used to obtain the X-axis inclination angle α and the Y-axis inclination angle β; the gyroscope is used to obtain the inclinometer tube torsion angle θ when the inclinometer rotates along the Z-axis, with the X-axis direction of the foundation pit as 0°, counterclockwise torsion as positive, and clockwise torsion as negative The main control circuit board is used to solve the data collected by the three-axis inclinometer and gyroscope: when the torsion angle θ of the inclinometer tube is positive, the displacement in the direction perpendicular to the foundation pit is A=Lsinαcosθ+Lsinβsinθ, and the displacement in the direction parallel to the foundation pit is B=Lsinβcosθ-Lsinαsinθ; when the torsion angle θ of the inclinometer tube is negative, the displacement in the direction perpendicular to the foundation pit is A=Lsinαcosθ-Lsinβsinθ, and the displacement in the direction parallel to the foundation pit is B=Lsinβcosθ+Lsinαsinθ.

[0007] In some implementations, a first MOS tube is provided between the main control chip and the three-axis inclinometer, and a second MOS tube is provided between the main control chip and the gyroscope.

[0008] In some embodiments, the inclinometer also includes a first guide wheel structure bracket and a second guide wheel structure bracket, the first guide wheel structure bracket is fixedly connected to the measuring rod by screws, the first guide wheel structure bracket is fixedly connected to the first guide wheel structure, the second guide wheel structure bracket is fixedly connected to the second guide wheel structure, and the sensor circuit board is fixedly connected to the second guide wheel structure by studs.

[0009] In some embodiments, a locking structure is provided on the measuring rod, and the locking structure is locked with the first guide wheel structure bracket. The first guide wheel structure bracket is provided with a first sealing groove, and the second guide wheel structure bracket is provided with a second sealing groove. The first sealing groove is provided with a first O-ring, and the second sealing groove is provided with a second O-ring. The second guide wheel structure bracket is fixed with a rubber pad.

[0010] Correspondingly, the embodiment of the present application further provides a measurement method for torsion angular displacement compensation, including a forward measurement stage and a reverse measurement stage after rotating 180°. The method adopts the above-mentioned inclinometer, and the method also includes a preparation stage and a calculation stage, wherein: the preparation stage includes connecting the inclinometer and the host computer through a cable, the host computer starts the torsion angle measurement function, the host computer controls the inclinometer tube torsion angle θ to zero, uses a three-axis inclinometer to obtain the X-axis inclination angle α and the Y-axis inclination angle β in the forward measurement stage and the reverse measurement stage, and uses a gyroscope to obtain the inclinometer tube torsion angle θ in the forward measurement stage of the inclinometer rotating along the Z axis, with the X-axis direction of the foundation pit as 0°, counterclockwise torsion is positive, and clockwise torsion is negative;

[0011] After completing the forward measurement stage and the reverse measurement stage after rotating 180°, the calculation stage begins. The calculation stage includes using the host computer to extract the data of the X-axis inclination angle α, the Y-axis inclination angle β and the inclinometer tube torsion angle θ in the forward measurement stage, and arbitrarily selecting the data of multiple measurement points to calculate the forward and reverse measurement constant values ​​for data verification. If the forward and reverse measurement constant values ​​of multiple measurement points are all less than the preset values, the original values ​​of the X-axis inclination angle α and the Y-axis inclination angle β after eliminating the system error are calculated. The original values ​​are combined with the data of the inclinometer tube torsion angle θ to calculate the vertical foundation pit direction displacement and the parallel foundation pit direction displacement and perform cumulative calculation to generate the inclinometer curve; if the forward and reverse measurement constant values ​​of multiple measurement points are all greater than or equal to the preset values, re-measurement is required;

[0012] The formula for the positive and negative measurement constant value of the X-axis inclination angle α at the i-th point is: ;

[0013] in, The positive and negative measurement constant value of the X-axis inclination angle α at the i-th point, is the X-axis inclination angle α of the forward measurement point i, is the X-axis inclination angle α of the forward measurement point i;

[0014] The formula for the positive and negative measurement constant value of the Y-axis inclination angle β at the i-th point is: ;

[0015] in, is the positive and negative measurement constant value of the Y-axis inclination angle β at the i-th point, is the Y-axis inclination angle β of the forward measurement point i, is the Y-axis inclination angle β of the i-th point measured in reverse;

[0016] The calculation formula of the X-axis inclination angle α after eliminating the system error is: ;

[0017] in, is the X-axis inclination angle of the i-th point after eliminating the system error, is the X-axis inclination angle of the i-th point measured in the forward direction, is the X-axis inclination angle of the i-th point measured in the forward direction;

[0018] The calculation formula of the Y-axis inclination angle β after eliminating the system error is: ;

[0019] in, is the Y-axis inclination angle of the i-th point after eliminating the system error, is the Y-axis inclination angle of the i-th point measured in the forward direction, It is the Y-axis inclination angle of the i-th point measured in reverse;

[0020] The calculation formula for the cumulative data in the vertical foundation pit direction (foundation pit X axis) is: ;

[0021] in, is the cumulative displacement in the vertical direction of the foundation pit from the starting point to the i-th point, is the vertical pit direction displacement of each measuring interval;

[0022] The calculation formula for the accumulated data parallel to the foundation pit direction (foundation pit Y axis) is: ;

[0023] in, is the cumulative displacement from the starting point to the i-th point in the direction parallel to the foundation pit, is the displacement in the direction parallel to the foundation pit at each measuring interval.

[0024] In some embodiments, the calculation stage further includes the host computer saving data of the inclinometer tube torsion angle θ in the forward measurement stage of the initial round as a fixed value, and the fixed value is used for calculation in subsequent measurement rounds.

[0025] In some implementations, the preset value is 2.

[0026] The inclinometer, measurement method and control system for torsion angle displacement compensation provided by the implementation mode of the present application adopt a three-axis inclinometer to obtain the inclination data of the X-axis and the Y-axis, and a gyroscope to obtain the rotation angle of the Z-axis of the inclinometer, that is, the torsion angle of the inclinometer tube, and the two sets of data are solved by the main control circuit board. In this way, on the one hand, after the inclinometer tube is twisted, the data of the X-axis and the Y-axis can be accurately compensated and corrected to adapt to the measurement environment where the torsion angle is positive or negative; on the other hand, by adopting a measurement method with a fixed torsion angle, the problem of increased measurement error caused by data drift after long-term measurement of the gyroscope is effectively solved. The present application adopts a gyroscope to measure the torsion angle of the inclinometer tube, which realizes that the technical solution has high measurement accuracy, and at the same time avoids the data drift after long-term measurement of the gyroscope, and the technical solution works stably. In addition, the present application can adapt to a variety of actual working scenarios, and can realize displacement compensation for both vertical foundation pits and parallel foundation pits, and it can also be used for the situations of positive and negative torsion angles. Therefore, in the case where the inclinometer tube is twisted and deformed, even if there is interference from ferromagnetic objects around the inclinometer tube during the measurement process, large measurement errors can be effectively avoided, thereby effectively improving the measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0028] Figure 1 It is the conventional algorithm data of the X-axis provided in the prior art;

[0029] Figure 2 7 sets of torsion angle measurement data of inclinometer casings provided in some embodiments of the present application;

[0030] Figure 3 is a schematic diagram of the overall structure of an inclinometer provided in some embodiments of the present application;

[0031] Figure 4 is a schematic diagram of the internal structure of an inclinometer provided in some embodiments of the present application;

[0032] Figure 5 is a schematic diagram of the electrical structure of an inclinometer provided in some embodiments of the present application;

[0033] Figure 6 It is a schematic diagram of a measurement top view of some embodiments of the present application when the X-axis is positive, the Y-axis is positive, and the Z-axis is positive;

[0034] Figure 7 It is a schematic diagram of a top view of measurement of some embodiments of the present application when the X axis is positive, the Y axis is positive, and the Z axis is negative;

[0035] Figure 8 It is a schematic diagram of a top view of measurement of some embodiments of the present application when the X axis is positive, the Y axis is negative, and the Z axis is positive;

[0036] Fig. 9 It is a schematic diagram of a top view of measurement of some embodiments of the present application when the X axis is positive, the Y axis is negative, and the Z axis is negative;

[0037] Fig.10 is a schematic diagram of a top view of some embodiments of the present application when the X axis is negative, the Y axis is positive, and the Z axis is positive;

[0038] Fig.11 is a schematic diagram of a top view of measurements of some embodiments of the present application when the X axis is negative, the Y axis is positive, and the Z axis is negative;

[0039] Fig.12 It is a schematic diagram of a top view of some embodiments of the present application when the X-axis is negative, the Y-axis is negative, and the Z-axis is positive;

[0040] Fig.13 is a schematic diagram of a top view of measurements of some embodiments of the present application under the conditions of negative X-axis, negative Y-axis, and negative Z-axis;

[0041] Fig.14 It is the measurement data obtained by the fixed torsion angle measurement method in some embodiments of the present application;

[0042] Fig.15 is the measurement data obtained by using the real-time torsion angle measurement method in some embodiments of the present application;

[0043] Fig.16 is the standard deviation of the X-axis, Y-axis, and Z-axis raw data obtained by the real-time torsion angle measurement method in some embodiments of the present application;

[0044] Fig.17 is a flow chart of a measurement method provided by some embodiments of the present application;

[0045] Fig.18 The original data and solution data of the measurement method provided in some embodiments of the present application for controlling the deformation of the inclinometer tube in the vertical direction of the foundation pit;

[0046] Fig.19 The original data and solution data of the measurement method provided in some embodiments of the present application for controlling the deformation of the inclinometer tube in the direction parallel to the foundation pit;

[0047] Fig. 20 These are the original data and solution data of the measurement method provided in some embodiments of the present application for controlling the deformation of the inclinometer tube in the direction parallel to the foundation pit. DETAILED DESCRIPTION

[0048] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, each embodiment of the present application will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in each embodiment of the present application, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can also be implemented. The division of the following embodiments is for the convenience of description, and the specific implementation of the present application should not constitute any limitation, and the various embodiments can be combined with each other and referenced to each other without contradiction.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0050] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0051] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0052] In the current field of engineering surveying, mobile inclinometers mainly use single-axis (X-axis) or dual-axis (X+Y-axis or X+Z-axis) measurement methods. However, this method faces a significant challenge in practical applications: when the inclinometer tube is twisted, there will be a deviation between the data measured by the single-axis and dual-axis inclinometers and the actual data. This deviation not only affects the accuracy of the measurement, but may also mislead the subsequent design and construction of the project. In practice, if a three-axis magnetometer is used to measure the torsion angle of the inclinometer tube, the measurement accuracy of the magnetometer is easily affected by the surrounding ferromagnetic objects. The inclinometer tube is generally buried in the soil along with the steel cage. The accuracy of the magnetometer will be affected by the steel cage, resulting in a large deviation in the measurement results.

[0053] Figure 1The X-axis displacement data using conventional algorithms are presented, with a bottom repeatability of ±1.05mm. The test environment was carried out on a 42.5m inclinometer tube at the actual site, with measurements taken every 500mm, for a total of 7 sets of data, with the tube mouth as the starting point for calculation. Figure 2 Seven sets of inclinometer tube torsion angle measurement data were presented, from which it can be seen that when the inclinometer tube reaches a depth of 42.5 meters, its torsion angle is close to 50°. This significant torsion phenomenon will cause deviations in the measurement data, reduce the accuracy of the measurement, and thus affect the accurate assessment of the stability and safety of the engineering structure.

[0054] To this end, some embodiments of the present application provide an inclinometer and measurement method for torsion angle displacement compensation, using a three-axis inclinometer to obtain the inclination data of the X-axis and Y-axis, and a gyroscope to obtain the Z-axis rotation angle of the inclinometer, that is, the torsion angle of the inclinometer tube. The main control circuit board solves the data of the three-axis inclinometer and the gyroscope, so that the inclinometer can correct the X-axis and Y-axis data to the vertical and parallel direction of the foundation pit after the inclinometer tube is twisted. It is applicable to both counterclockwise and clockwise twisting conditions, and can effectively resist interference from ferromagnetic objects and avoid measurement errors. At the same time, by using a fixed torsion angle measurement method, the problem of data drift after long-term measurement of the gyroscope is solved, and the measurement accuracy of the inclinometer is improved, which is more in line with the actual engineering application needs.

[0055] Combine the following Figures 3 to 5 , illustrating the structure of the inclinometer provided in some embodiments of the present application.

[0056] like Figure 3 and Figure 4As shown, an embodiment of the present application provides an inclinometer, which is arranged along the guide groove of the inclinometer tube, and the inclinometer tube is buried at the edges of the foundation pit. The inclinometer is connected to the host computer 110 through the cable 211, and the inclinometer includes a measuring rod 330, a first guide wheel structure 320, a second guide wheel structure 360 ​​and a control module. The measuring rod 330, and the first guide wheel structure 320 and the second guide wheel structure 360 ​​arranged on the measuring rod 330; the control module is arranged inside the measuring rod 330, including a sensor circuit board 342 and a main control circuit board 340 embedded in the sensor circuit board 342, a three-axis inclinometer 341 and a gyroscope 343 are soldered on the sensor circuit board 342, the three-axis inclinometer 341 is used to obtain the inclination data, and the gyroscope 343 is used to obtain the torsion angle data of the inclinometer tube, and the vertical is calculated according to the inclination data and the torsion angle data. Displacement A in the direction of the foundation pit and displacement B in the direction parallel to the foundation pit; the main control circuit board 340 integrates a power management chip, a main control chip, a temperature and humidity sensor and a communication module. The main control chip is respectively communicated with the temperature and humidity sensor, the three-axis inclinometer 341 and the gyroscope 343, and the communication module is communicated with the host computer 110. The main control chip, the gyroscope 343 and the temperature and humidity sensor are respectively electrically connected to the host computer 110. The host computer 110 is used to generate an inclinometer curve by calculating the measurement data obtained by the control module.

[0057] Inclinometer tubes are buried around the edges of the foundation pit to accommodate inclinometers and provide guide grooves so that the inclinometers can move and measure along them. Inclinometers are arranged along the guide grooves of the inclinometer tubes and connected to the host computer 110 through cables 211 to detect the inclination and deformation of the edges around the foundation pit. A cable marker 210 is provided every 500 mm on the cable 211. The cable 211 is a four-core cable, two of which are used for power supply and two for communication.

[0058] The measuring rod 330 supports the entire inclinometer structure and is provided with a first guide wheel structure 320 and a second guide wheel structure 360. The first guide wheel structure 320 and the second guide wheel structure 360 ​​are respectively installed at the upper and lower ends of the measuring rod 330, and the first guide wheel structure 320 is arranged above the second guide wheel structure 360 ​​to ensure the smooth movement of the inclinometer in the inclinometer tube. The first guide wheel structure 320 is provided with a first high guide wheel and a first low guide wheel, and the second guide wheel structure 360 ​​is provided with a second high guide wheel and a second low guide wheel.

[0059] The control module is arranged inside the measuring rod 330, and includes a sensor circuit board 342 and a main control circuit board 340 embedded in the sensor circuit board 342. On the sensor circuit board 342, a three-axis inclinometer 341 and a gyroscope 343 are fixed by patch welding. These two components are responsible for measuring the tilt angle and the rotation angle respectively. The main control circuit board 340 is integrated with a power management chip, a main control chip, a temperature and humidity sensor and a communication module, which can realize the comprehensive control and data transmission of the inclinometer. Among them, the main control chip is respectively connected to the temperature and humidity sensor, the three-axis inclinometer 341 and the gyroscope 343 to ensure that the measurement data can be obtained in real time. The communication module maintains a communication connection with the host computer 110, so that the measurement data can be transmitted to the host computer 110 in time for processing. The main control chip, the gyroscope 343 and the temperature and humidity sensor are respectively electrically connected to the host computer 110, which provides a guarantee for the stable transmission of data. After receiving the measurement data transmitted by the control module, the host computer 110 generates an inclinometric curve through calculation, thereby intuitively displaying the inclination of the foundation pit edge and providing strong support for engineering safety monitoring.

[0060] The inclinometer provided in some embodiments of the present application uses a three-axis inclinometer 341 to obtain the X-axis and Y-axis inclination data, and a gyroscope 343 to obtain the Z-axis rotation angle of the inclinometer, that is, the torsion angle of the inclinometer tube. The main control circuit board 340 solves the data of the three-axis inclinometer 341 and the gyroscope 343. It realizes the correction of the X and Y axis data measured by the inclinometer after the inclinometer tube is twisted to the data perpendicular to the foundation pit direction and parallel to the foundation pit direction. It is also suitable for the counterclockwise and clockwise twisting of the inclinometer tube based on the vertical foundation pit direction. In this way, even if the ferromagnetic objects around the inclinometer tube are interfered during the measurement process, large measurement errors can be effectively avoided. Thereby solving the problem of measurement data deviation caused by the twisting and deformation of the inclinometer tube, and effectively improving the measurement accuracy.

[0061] In some embodiments, the inclinometer further includes: the spacing between the first guide wheel structure 320 and the second guide wheel structure 360 ​​is L; the foundation pit coordinate system is determined with the center point O of the inclinometer tube as the origin, wherein the displacement in the direction perpendicular to the foundation pit is the X-axis, the displacement in the direction parallel to the foundation pit is the Y-axis, and the displacement in the direction perpendicular to the X-axis and the Y-axis is the Z-axis; the three-axis inclinometer 341 is used to obtain the X-axis inclination α and the Y-axis inclination β; the gyroscope 343 is used to obtain the inclinometer tube torsion angle θ of the inclinometer rotating along the Z-axis, with the X-axis direction of the foundation pit as 0°, counterclockwise torsion as positive, and clockwise torsion as negative. Negative; the main control circuit board 340 is used to solve the data collected by the three-axis inclinometer 341 and the gyroscope 343: when the torsion angle θ of the inclinometer tube is positive, the displacement in the direction perpendicular to the foundation pit is A=Lsinαcosθ+Lsinβsinθ, and the displacement in the direction parallel to the foundation pit is B=Lsinβcosθ-Lsinαsinθ; when the torsion angle θ of the inclinometer tube is negative, the displacement in the direction perpendicular to the foundation pit is A=Lsinαcosθ-Lsinβsinθ, and the displacement in the direction parallel to the foundation pit is B=Lsinβcosθ+Lsinαsinθ.

[0062] During the actual construction and use of the inclinometer casing, its torsion angle is usually between 0 and 60 degrees. A torsion angle exceeding 60 degrees is very rare in practice, because this degree of distortion usually means that the inclinometer casing has been severely deformed or even damaged. In this case, the inclinometer casing may need to be reinstalled or repaired. In actual measurement, the inclinometer casing and inclinometer may be twisted in different directions and degrees due to installation, construction or environmental factors. In order to ensure the accuracy and reliability of the measurement data, the torsion angle compensation algorithm needs to consider multiple situations, including positive torsion angles and negative torsion angles.

[0063] The distance between the first guide wheel structure 320 and the second guide wheel structure 360 ​​is L, which is the measurement distance of the inclinometer. A foundation pit coordinate system is established with the center point O of the inclinometer tube as the origin. In this coordinate system, the displacement in the direction perpendicular to the foundation pit is defined as the X-axis, the displacement in the direction parallel to the foundation pit is defined as the Y-axis, and the displacement in the direction perpendicular to the X-axis and the Y-axis is defined as the Z-axis.

[0064] The center point O of the inclinometer tube is displaced to point O', and the coordinate system of the inclinometer and the inclinometer tube is determined with the center point O of the inclinometer tube as the origin, wherein the displacement of the inclinometer tube in a specific direction in the radial direction is the X' axis, and the displacement of the inclinometer tube in the radial direction perpendicular to the X' axis is the Y' axis. The X'Y' coordinate system is the coordinate system of the inclinometer and the inclinometer tube, and the origin of the X'Y' coordinate system shown in the figure is the center point O of the original inclinometer tube. Even if the center point O of the inclinometer tube is displaced to point O' in actual use, the origin of the X'Y' coordinate system is still maintained at point O, so as to facilitate the calculation of displacement and angle.

[0065] The three-axis inclinometer 341 equipped in the inclinometer is used to obtain the X-axis inclination α and the Y-axis inclination β, and these two inclination angle data are crucial for the subsequent displacement calculation. At the same time, the gyroscope 343 is used to obtain the inclinometer tube torsion angle θ when the inclinometer rotates along the Z axis. In order to determine the direction of the torsion angle, it is stipulated that the X-axis direction of the foundation pit is 0°, counterclockwise torsion is positive, and clockwise torsion is negative.

[0066] like Figures 6 to 13 As shown, the inclinometer in the inclinometer tube can be divided into eight situations: X positive Y positive Z positive, X positive Y positive Z negative, X positive Y negative Z positive, X positive Y negative Z negative, X negative Y positive Z positive, X negative Y positive Z negative, X negative Y negative Z positive, and X negative Y negative Z negative.

[0067] Figure 6 The schematic diagram of the principle under the condition of X positive, Y positive, and Z positive is shown. OP=A is the displacement in the X-axis direction of the foundation pit, that is, the displacement in the direction perpendicular to the foundation pit, O'P=B is the displacement in the Y-axis direction of the foundation pit, that is, the displacement in the direction parallel to the foundation pit, and OO'=C. The main control circuit board 340 collects and solves the data of the three-axis inclinometer 341 and the gyroscope 343.

[0068] The derivation process of the distortion compensation algorithm when X is positive, Y is positive, and Z is positive is as follows:

[0069] δ+γ=θ (1)

[0070] A = Ccosδ (2)

[0071] B = Csinδ (3)

[0072] δ=θ-γ (4)

[0073] A = Ccos (θ-γ) (5)

[0074] B = Csin (θ-γ) (6)

[0075] Sinγ=Ly / C (7)

[0076] Cosγ=Lx / C (8)

[0077] Substituting formula (7) and formula (8) into formula (5) and formula (6) can obtain the displacement A in the direction perpendicular to the foundation pit and the displacement B in the direction parallel to the foundation pit:

[0078] A = Lxcosθ + Lysinθ (9)

[0079] That is: A=Lsinαcosθ+Lsinβsinθ (10)

[0080] B = Lycosθ - Lxsinθ (11)

[0081] That is: B=Lsinβcosθ-Lsinαsinθ (12)

[0082] The schematic diagram of the principle when X is positive, Y is positive, and Z is negative is as follows Figure 7 As shown, the formula derivation process is as follows:

[0083] +γ+θ=90° (13)

[0084] A = Csinδ (14)

[0085] B = Ccosδ (15)

[0086] δ=90°-(γ+θ) (16)

[0087] A=Csin[90°-(γ+θ)] (17)

[0088] B=Ccos[90°-(γ+θ)] (18)

[0089] Sinγ=Ly / C (19)

[0090] Cosγ=Lx / C (20)

[0091] Substituting formula (19) and formula (20) into formula (17) and formula (18) can obtain the displacement A in the direction perpendicular to the foundation pit and the displacement B in the direction parallel to the foundation pit:

[0092] A = Lxcosθ-Lysinθ (21)

[0093] That is: A=Lsinαcosθ-Lsinβsinθ (22)

[0094] B = Lycosθ + Lxsinθ (23)

[0095] That is: B=Lsinβcosθ+Lsinαsinθ (24)

[0096] The schematic diagram of the principle when X is positive, Y is negative, and Z is positive is as follows Figure 8 As shown, the formula derivation process is the same as above, and the results are as follows:

[0097] A=Lsinαcosθ+Lsinβsinθ (10)

[0098] B=Lsinβcosθ-Lsinαsinθ (12)

[0099] The schematic diagram of the principle in the case of X positive, Y negative, and Z negative is as follows Fig. 9 As shown, the formula derivation process is the same as above, and the results are as follows:

[0100] A=Lsinαcosθ-Lsinβsinθ (22)

[0101] B=Lsinβcosθ+Lsinαsinθ (24)

[0102] The schematic diagram of the principle when X is negative, Y is positive, and Z is positive is as follows Fig.10 As shown, the formula derivation process is the same as above, and the results are as follows:

[0103] A=Lsinαcosθ+Lsinβsinθ (10)

[0104] B=Lsinβcosθ-Lsinαsinθ (12)

[0105] The schematic diagram of the principle in the case of X negative, Y positive, and Z negative is as follows Fig.11 As shown, the formula derivation process is the same as above, and the results are as follows:

[0106] A=Lsinαcosθ-Lsinβsinθ (22)

[0107] B=Lsinβcosθ+Lsinαsinθ (24)

[0108] The schematic diagram of the principle when X is negative, Y is negative, and Z is positive is as follows Fig.12 As shown, the formula derivation process is the same as above, and the results are as follows:

[0109] A=Lsinαcosθ+Lsinβsinθ (10)

[0110] B=Lsinβcosθ-Lsinαsinθ (12)

[0111] The schematic diagram of the principle in the case of X negative, Y negative, and Z negative is as follows Fig.13 As shown, the formula derivation process is the same as above, and the results are as follows:

[0112] A=Lsinαcosθ-Lsinβsinθ (22)

[0113] B=Lsinβcosθ+Lsinαsinθ (24)

[0114] In summary, the inclinometer casing distortion compensation algorithm can be summarized as follows:

[0115] When the torsion angle θ is positive (the guide groove of the inclinometer is twisted counterclockwise relative to the vertical direction of the foundation pit):

[0116] Vertical displacement in foundation pit direction

[0117] A=Lsinαcosθ+Lsinβsinθ (10)

[0118] Displacement parallel to the foundation pit

[0119] B=Lsinβcosθ-Lsinαsinθ (12)

[0120] When the torsion angle θ is negative (the guide groove of the inclinometer is twisted clockwise relative to the vertical direction of the foundation pit):

[0121] Vertical displacement in foundation pit direction

[0122] A=Lsinαcosθ-Lsinβsinθ (22)

[0123] Displacement parallel to the foundation pit

[0124] B=Lsinβcosθ+Lsinαsinθ (24)

[0125] That is to say, when the inclinometer tube torsion angle θ is positive, the displacement A in the direction perpendicular to the foundation pit can be calculated by the formula A=Lsinαcosθ+Lsinβsinθ, and the displacement B in the direction parallel to the foundation pit can be calculated by the formula B=Lsinβcosθ-Lsinαsinθ. Similarly, when the inclinometer tube torsion angle θ is negative, the displacement in the direction perpendicular to the foundation pit can be calculated by the formula A=Lsinαcosθ-Lsinβsinθ, and the displacement B in the direction parallel to the foundation pit can also be calculated by the formula B=Lsinβcosθ+Lsinαsinθ.

[0126] In some embodiments, a first MOS tube may be provided between the main control chip and the three-axis inclinometer 341 , and a second MOS tube may be provided between the main control chip and the gyroscope 343 .

[0127] The main control chip is connected to the three-axis inclinometer 341 through the first MOS tube, and the main control chip is connected to the gyroscope 343 through the second MOS tube, so that the main control chip controls the power on and off of the three-axis inclinometer 341 and the gyroscope 343 respectively, thereby realizing more sophisticated power management. When necessary, the main control chip can provide power or cut off power to the corresponding sensor by controlling the switch state of the MOS tube, so as to achieve the purpose of energy saving and extending the service life of the equipment.

[0128] In some embodiments, the inclinometer may further include a first guide wheel structure bracket 310 and a second guide wheel structure bracket 350. The first guide wheel structure bracket 310 and the measuring rod 330 may be fixedly connected by screws, the first guide wheel structure bracket 310 and the first guide wheel structure 320 may be fixedly connected, the second guide wheel structure bracket 350 and the second guide wheel structure 360 ​​may be fixedly connected, and the sensor circuit board 342 and the second guide wheel structure 360 ​​may be fixedly connected by studs 344.

[0129] The first guide wheel structure bracket 310 and the second guide wheel structure bracket 350 play a supporting and fixing role in the inclinometer. Specifically, the first guide wheel structure bracket 310 is tightly connected to the measuring rod 330 through screws, ensuring a stable connection between the measuring rod 330 and the first guide wheel structure 320. At the same time, the first guide wheel structure bracket 310 is also fixedly connected to the first guide wheel structure 320, providing a stable support for the first guide wheel.

[0130] Similarly, the second guide wheel structure bracket 350 is also fixedly connected to the second guide wheel structure 360, providing necessary support and stability for the second guide wheel. In addition, the sensor circuit board 342 is also fixedly connected to the second guide wheel structure 360 ​​through the stud 344. This design ensures a tight connection between the sensor circuit board 342 and the second guide wheel structure 360, which is beneficial to signal transmission and data processing between the components on the sensor circuit board 342 and the second guide wheel structure 360. Thus, the various components of the inclinometer are tightly connected, stable and reliable, ensuring the accuracy and stability of the inclinometer during the measurement process.

[0131] In some embodiments, a locking structure 212 may be provided on the measuring rod 330 , and the locking structure 212 is locked with the first guide wheel structure bracket 310 .

[0132] The measuring rod 330 is provided with a locking structure 212, which is locked with the first guide wheel structure bracket 310, so that the measuring rod 330 and the first guide wheel structure bracket 310 can maintain a stable relative position during the measurement process, thereby helping to improve the accuracy of the measurement results.

[0133] In addition, the first guide wheel structure bracket 310 may be provided with a first sealing groove, the second guide wheel structure bracket 350 may be provided with a second sealing groove, the first sealing groove may be provided with a first O-ring 311, and the second sealing groove may be provided with a first O-ring 351.

[0134] The function of the sealing groove is to accommodate and fix the O-ring, thereby providing the necessary sealing function. Specifically, the first sealing groove is equipped with a first O-ring 311, and the second sealing groove is equipped with a first O-ring 351. These O-rings are made of elastic material and can effectively fill the gap between the sealing groove and the adjacent components to prevent external substances such as liquid, gas or dust from invading the internal structure of the inclinometer. Through this design, the sealing performance of the inclinometer is significantly improved, which not only protects the precision components inside from the influence of the external environment, but also prolongs the service life of the inclinometer. At the same time, this also ensures that the inclinometer can maintain stable measurement performance in various harsh environments.

[0135] In actual situations, the second guide wheel structure bracket 350 can be fixed with a rubber pad.

[0136] The rubber pad 370 has good waterproof performance. The second guide wheel structure bracket is fixed with the rubber pad 370, which can effectively prevent water from penetrating, thereby avoiding water leakage inside the inclinometer. This waterproof design ensures that the inclinometer can maintain stable measurement performance in various humid or underwater environments, extending its service life.

[0137] Some embodiments of the present application also provide a method for measuring torsion angular displacement compensation, the method comprising a forward measurement phase and a reverse measurement phase after rotating 180°, characterized in that the method adopts the above-mentioned inclinometer, and the method further comprises a preparation phase and a calculation phase, wherein:

[0138] The preparation stage includes connecting the inclinometer and the host computer 110 through the cable 211. The host computer 110 can start the torsion angle measurement function. The host computer 110 can control the torsion angle θ of the inclinometer's inclinometer tube to return to zero, use the three-axis inclinometer 341 to obtain the X-axis inclination angle α and the Y-axis inclination angle β in the forward measurement stage and the reverse measurement stage, and use the gyroscope 343 to obtain the torsion angle θ of the inclinometer tube in the forward measurement stage of the inclinometer rotating along the Z axis, with the X-axis direction of the foundation pit as 0°, counterclockwise torsion is positive, and clockwise torsion is negative.

[0139] In the preparation stage, the inclinometer is first connected to the host computer 110 through the cable 211 to ensure the stability of data transmission. Then, the host computer 110 can start the torsion angle measurement function and initialize the inclinometer to return the torsion angle θ to zero to ensure the accuracy of the measurement.

[0140] The first guide wheel structure 320 and the second guide wheel structure 360 ​​are respectively provided with a high guide wheel and a low guide wheel. In the forward measurement stage, the high guide wheel is first placed into the guide groove of the inclinometer tube toward the foundation pit, and in the reverse measurement stage after rotating 180°, the low guide wheel is placed into the guide groove of the inclinometer tube toward the foundation pit.

[0141] After completing the forward measurement stage and the reverse measurement stage after rotating 180°, the calculation stage begins. The calculation stage includes using the host computer to extract the data of the X-axis inclination angle α, the Y-axis inclination angle β and the inclinometer tube torsion angle θ in the forward measurement stage, and arbitrarily selecting the data of multiple measurement points to calculate the forward and reverse measurement constant values ​​for data verification. If the forward and reverse measurement constant values ​​of multiple measurement points are all less than the preset values, the original values ​​of the X-axis inclination angle α and the Y-axis inclination angle β after eliminating the system error are calculated. The original values ​​are combined with the data of the inclinometer tube torsion angle θ to calculate the vertical foundation pit direction displacement and the parallel foundation pit direction displacement and perform cumulative calculation to generate an inclinometer curve; if the forward and reverse measurement constant values ​​of multiple measurement points are all greater than or equal to the preset values, re-measurement is required.

[0142] The formula for the positive and negative measurement constant value of the X-axis inclination angle α at the i-th point is: ;

[0143] in, The positive and negative measurement constant value of the X-axis inclination angle α at the i-th point, is the X-axis inclination angle α of the forward measurement point i, is the X-axis inclination angle α of the forward measurement point i;

[0144] The formula for the positive and negative measurement constant value of the Y-axis inclination angle β at the i-th point is: ;

[0145] in, is the positive and negative measurement constant value of the Y-axis inclination angle β at the i-th point, is the Y-axis inclination angle β of the forward measurement point i, is the Y-axis inclination angle β of the i-th point measured in reverse;

[0146] The calculation formula of the X-axis inclination angle α after eliminating the system error is: ;

[0147] in, is the X-axis inclination angle of the i-th point after eliminating the system error, is the X-axis inclination angle of the i-th point measured in the forward direction, is the X-axis inclination angle of the i-th point measured in the forward direction;

[0148] The calculation formula of the Y-axis inclination angle β after eliminating the system error is: ;

[0149] in, is the Y-axis inclination angle of the i-th point after eliminating the system error, is the Y-axis inclination angle of the i-th point measured in the forward direction, It is the Y-axis inclination angle of the i-th point measured in reverse;

[0150] The calculation formula for the cumulative data in the vertical foundation pit direction (foundation pit X axis) is: ;

[0151] in, is the cumulative displacement in the vertical direction of the foundation pit from the starting point to the i-th point, is the vertical pit direction displacement of each measuring interval;

[0152] The calculation formula for the accumulated data parallel to the foundation pit direction (foundation pit Y axis) is: ;

[0153] in, is the cumulative displacement from the starting point to the i-th point in the direction parallel to the foundation pit, is the displacement in the direction parallel to the foundation pit at each measuring interval.

[0154] Some embodiments of the present application provide a method for measuring torsion angle displacement compensation. After the inclinometer tube is twisted, the inclination data of the X-axis and Y-axis and the torsion angle data of the Z-axis are measured, and the displacements in the directions perpendicular to and parallel to the foundation pit are calculated after eliminating the system error of the data. Then, the data of the X-axis and Y-axis are accurately compensated and corrected, and the X-axis data is corrected to the direction perpendicular to the foundation pit, and the Y-axis data is corrected to the direction parallel to the foundation pit. At the same time, this method can adapt to the measurement environment where the torsion angle is positive or negative. This solves the problem of data distortion caused by conventional algorithms after the inclinometer tube is twisted, and improves the measurement accuracy of the inclinometer.

[0155] In some embodiments, the calculation stage also includes the host computer 110 saving the data of the inclinometer tube torsion angle θ in the forward measurement stage of the initial round as a fixed value, and the fixed value is used for calculation in subsequent measurement rounds.

[0156] That is to say, the host computer 110 can not only be responsible for extracting and processing various data in the inclinometer and generating an inclinometer curve, but also can save the torsion angle data of the inclinometer tube in the forward measurement phase in the initial measurement round as a fixed value. When performing subsequent measurements, the host computer 110 can directly use the previously saved torsion angle data of the forward measurement phase for calculation without having to enable the torsion angle measurement function again. This method of measuring the deformation of the inclinometer tube with a fixed rotation angle can reduce the long-term measurement requirements of the gyroscope 343, thereby effectively reducing the influence of the drift error of the gyroscope 343 caused by long-term measurement on the data measurement accuracy, which is more in line with actual engineering applications.

[0157] It should be noted that the inclinometer torsion angle, as a function, needs to be manually turned on by the host computer 110. The torsion angle measurement function of the host computer 110 needs to be turned on at regular intervals to perform a round of measurement and update the stored fixed torsion angle value.

[0158] Fig.14 The measurement data obtained by the measurement method of the present invention with a fixed torsion angle is shown, and the bottom repeatability is ±1.08mm. It can be found that when the measurement data obtained by the measurement process with a fixed rotation angle is adopted, the repeatability is greatly improved, which meets the accuracy requirements of product application.

[0159] In some embodiments, the preset value is 2.

[0160] Fig.15The vertical pit direction displacement calculated by the real-time rotation angle using the embodiment of the present application is shown, with a bottom repeatability of ±4.4mm. Compared with the X-axis displacement repeatability of the conventional algorithm, the vertical pit direction displacement repeatability obtained by the real-time torsion angle measurement method (i.e., each group performs torsion angle measurement and substitutes it into the compensation algorithm for calculation) is poor. This is due to the large repeatability error of the Z-axis torsion angle measured by the gyroscope 343. The reason for the large repeatability error of the gyroscope 343 is the drift of the measurement data of the gyroscope 343.

[0161] Fig.16 The standard deviation of the raw data of the X-axis, Y-axis and Z-axis after the real-time rotation angle calculation is used in the embodiment of the present application is shown. It can be seen that the standard deviation of the Z-axis torsion angle measurement data of the gyroscope 343 is large, and as the measurement time increases, the standard deviation data gradually increases, that is, the repeatability error becomes larger. It should be noted that the inclinometer starts measuring from 42.5m.

[0162] like Fig.17 As shown, in a preferred embodiment of the present invention, the measuring method includes:

[0163] Step 1: The inclinometer is connected to the host computer 110 via the cable 211;

[0164] Step 2: The host computer 110 starts the torsion angle measurement function;

[0165] Step 3: The high guide wheel of the inclinometer is placed vertically in the direction of the foundation pit, and the upper computer 110 sends a command to control the torsion angle of the inclinometer to return to zero;

[0166] Step 4: Place the high guide wheel of the inclinometer into the guide groove of the inclinometer tube with the direction facing the foundation pit, manually lower the inclinometer to the bottom of the inclinometer tube, and let it stand for 10 minutes;

[0167] Step 5: Manually pull the cable 211, based on the mark on the cable 211, pull up each marked point once, pause for about 10 seconds after pulling each point, and the host computer 110 records the inclinometer data until the inclinometer is pulled up to the pipe mouth;

[0168] Step 6: Take out the inclinometer, rotate it 180°, put it into the inclinometer tube along the guide groove with the lower guide wheel facing the foundation pit, and manually lower the inclinometer to the bottom of the inclinometer tube and let it stand for 10 minutes;

[0169] Step 7: Manually pull the cable 211, based on the mark on the cable 211, pull up each marked point once, pause for about 10 seconds after pulling each point, and the host computer 110 records the inclinometer data until the inclinometer is pulled up to the pipe mouth;

[0170] Step 8: After the measurement is completed, take out the inclinometer;

[0171] Step 9: The host computer 110 extracts the inclination data and torsion angle data of the XY axis of the inclinometer, calculates the forward and reverse measurement constants with the forward and reverse measurement data of the XY axis, verifies the reliability of the data, and if the forward and reverse measurement constants of each point are less than 2, then the original value after eliminating the system error is calculated according to the forward and reverse measurement algorithm, and the displacement in the vertical foundation pit direction and the displacement in the parallel foundation pit direction are calculated by combining the forward measured torsion angle data and the XY axis inclination data, and the cumulative calculation is performed to generate the inclinometer curve; if a certain forward and reverse measurement constant is greater than or equal to 2, it is necessary to re-measure;

[0172] Step 10: The host computer 110 stores and records the torsion angle data of the inclinometer tube measured in the forward direction as a fixed value. The torsion angle function does not need to be turned on in subsequent measurements, and the torsion angle data of the inclinometer tube stored in the host computer 110 is used for calculation.

[0173] Figure 18-20 The test results of the embodiment of the present application are shown. The test platform uses a 3-meter bracket, and the inclinometer tube at 1 meter is deformed by controlling the ejection structure, and the deformation is measured by a dial indicator and compared with the inclinometer data.

[0174] Fig.18 The original data and solution data of the vertical deformation of the inclinometer tube are presented. It can be seen from the table that when the torsion angle of the inclinometer tube is about 30°, if the vertical deformation of the inclinometer tube is 10mm, the displacement value of the inclinometer tube at 1m calculated by this method is greater than the displacement value calculated by the conventional algorithm, and is more consistent with the deformation value (Note: The small error with the true value in the table mainly comes from the test platform). Similarly, the same trend was observed when the vertical deformation of the inclinometer tube was 20mm, 30mm, and 40mm.

[0175] Fig.19 The original data and solution data of the deformation of the inclinometer tube parallel to the foundation pit are presented. It can be seen that when the torsion angle of the inclinometer tube is about 30° and the deformation of the inclinometer tube parallel to the foundation pit is 10mm, the displacement value of the inclinometer tube at 1m calculated by this method is greater than the displacement value calculated by the conventional algorithm, which is consistent with the deformation value. When the deformation of the inclinometer tube perpendicular to the foundation pit is 20mm, 30mm, and 40mm, the situation is the same as described above.

[0176] Fig. 20 The calculation results of the algorithm for positive and negative torsion angles in the present invention are compared. It can be seen from the table that when the inclinometer tube is twisted about -30° relative to the vertical foundation pit direction and the inclinometer tube is controlled to deform 10mm at 1m in the vertical foundation pit direction, the algorithm result for negative torsion angle in the present invention is consistent with the deformation value. However, if only the algorithm for positive torsion angle is used to calculate the case of negative torsion angle, the calculation result is wrong.

[0177] Some embodiments of the present application also provide a torsional angular displacement compensation inclinometer system, which includes a main control circuit board 340, on which a power management chip, a main control chip, a temperature and humidity sensor and a communication module are integrated; the main control chip controls the power on and off of the gyroscope 343 and the three-axis inclinometer 341 through a universal input and output interface, the main control chip interacts and communicates with the temperature and humidity sensor through I²C, the main control chip communicates with the three-axis inclinometer 341 through UART serial port communication, and the main control chip communicates with the gyroscope 343 through SPI communication.

[0178] In some embodiments, the inclinometer system also includes a host computer 110, which converts voltage through a power management chip to power the main control chip, the three-axis inclinometer 341, the gyroscope 343 and the temperature and humidity sensor. The host computer 110 is provided with a level conversion chip for converting voltage.

[0179] like Figure 3 As shown, the inclinometer system mainly includes key components such as a host computer 110, a communication module, a level conversion chip, a power management chip, a main control chip, a three-axis inclinometer 341, a gyroscope 343, and a temperature and humidity sensor. The host computer 110 and the communication module realize communication connection to ensure smooth transmission of data. At the same time, the host computer 110 can have a built-in level conversion chip for converting different voltage signals to adapt to the voltage requirements of various components in the system. In addition, the host computer 110 can also convert the 5V voltage to 3.3V through the power management chip, and provide a stable and reliable power supply for the main control chip, the three-axis inclinometer 341, the gyroscope 343, and the temperature and humidity sensor in the system, ensuring that the various components of the system operate under normal working voltage, thereby improving the stability and service life of the system.

[0180] As the core of the system, the main control chip can accurately control the power on and off of the gyroscope 343 and the three-axis inclinometer 341 through the universal input and output interface to achieve efficient energy management. At the same time, the main control chip can also exchange data with the temperature and humidity sensor through the I²C communication method to obtain environmental temperature and humidity information in real time. Through the UART serial communication method, the main control chip can communicate with the three-axis inclinometer 341 to obtain the inclination angle data of the inclinometer. And through the SPI communication method, the main control chip can communicate with the gyroscope 343 to obtain the torsion angle data of the inclinometer tube.

[0181] In actual situations, the host computer 110 can also communicate with the RS485 communication module on the inclinometer main control circuit board 340 via RS485 communication. In order to ensure the stability and accuracy of communication, a level conversion chip is required to convert the RS485 voltage to 3.3V to meet the voltage requirements of the host computer 110.

[0182] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0183] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present application, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present application.

Claims

1. An inclinometer, characterized in that: The inclinometer is arranged along the guide groove of the inclinometer tube, the inclinometer tube is buried around the edges of the foundation pit, the inclinometer is connected to the host computer through a cable, and the inclinometer includes: A measuring rod, and a first guide wheel structure and a second guide wheel structure provided on the measuring rod; A control module is arranged inside the measuring rod, and includes a sensor circuit board and a main control circuit board embedded in the sensor circuit board. A three-axis inclinometer and a gyroscope are soldered on the sensor circuit board. The three-axis inclinometer is used to obtain inclination data, and the gyroscope is used to obtain torsion angle data of the inclinometer tube. A displacement A in a direction perpendicular to the foundation pit and a displacement B in a direction parallel to the foundation pit are calculated according to the inclination data and the torsion angle data. The main control circuit board is integrated with a power management chip, a main control chip, a temperature and humidity sensor and a communication module. The main control chip is respectively connected to the temperature and humidity sensor, the three-axis inclinometer and the gyroscope for communication. The communication module is connected to the host computer for communication. The main control chip, the gyroscope and the temperature and humidity sensor are respectively electrically connected to the host computer. The host computer is used to generate an inclinometer curve by calculating the measurement data obtained by the control module. The distance between the first guide wheel structure and the second guide wheel structure is L; The foundation pit coordinate system is determined with the center point O of the inclinometer tube as the origin, wherein the displacement in the direction perpendicular to the foundation pit is the X-axis, the displacement in the direction parallel to the foundation pit is the Y-axis, and the displacement in the direction perpendicular to the X-axis and the Y-axis is the Z-axis; The three-axis inclinometer is used to obtain the X-axis inclination angle α and the Y-axis inclination angle β; The gyroscope is used to obtain the torsion angle θ of the inclinometer tube rotating along the Z axis, with the X axis direction of the foundation pit as 0°, counterclockwise torsion as positive, and clockwise torsion as negative; The main control circuit board is used to solve the data collected by the three-axis inclinometer and the gyroscope: When the inclinometer tube torsion angle θ is positive, the displacement in the vertical direction of the foundation pit is A=Lsinαcosθ+Lsinβsinθ, and the displacement in the parallel direction of the foundation pit is B=Lsinβcosθ-Lsinαsinθ; When the torsion angle θ of the inclinometer tube is negative, the displacement in the direction perpendicular to the foundation pit is A=Lsinαcosθ-Lsinβsinθ, and the displacement in the direction parallel to the foundation pit is B=Lsinβcosθ+Lsinαsinθ.

2. An inclinometer according to claim 1, characterized in that: A first MOS tube is arranged between the main control chip and the three-axis inclinometer, and a second MOS tube is arranged between the main control chip and the gyroscope.

3. An inclinometer according to claim 2, characterized in that: The inclinometer also includes a first guide wheel structure bracket and a second guide wheel structure bracket, the first guide wheel structure bracket is fixedly connected to the measuring rod by screws, the first guide wheel structure bracket is fixedly connected to the first guide wheel structure, the second guide wheel structure bracket is fixedly connected to the second guide wheel structure, and the sensor circuit board is fixedly connected to the second guide wheel structure by studs.

4. An inclinometer according to claim 3, characterized in that: The measuring rod is provided with a locking structure, and the locking structure is locked with the first guide wheel structure bracket. The first guide wheel structure bracket is provided with a first sealing groove, and the second guide wheel structure bracket is provided with a second sealing groove. The first sealing groove is provided with a first O-ring, and the second sealing groove is provided with a second O-ring. The second guide wheel structure bracket is fixed with a rubber pad.

5. A method for measuring torsion angular displacement compensation, comprising a forward measurement phase and a reverse measurement phase after rotating 180°, characterized in that: According to any one of claims 1 to 4, the torsion angular displacement compensation measurement method further comprises a preparation stage and a calculation stage, wherein: The preparation stage includes connecting the inclinometer and the host computer through a cable, the host computer starts a torsion angle measurement function, the host computer controls the torsion angle θ of the inclinometer tube to zero, uses the three-axis inclinometer to obtain the X-axis inclination angle α and the Y-axis inclination angle β in the forward measurement stage and the reverse measurement stage, and uses the gyroscope to obtain the torsion angle θ of the inclinometer tube in the forward measurement stage when the inclinometer rotates along the Z axis, with the X-axis direction of the foundation pit as 0°, counterclockwise torsion is positive, and clockwise torsion is negative; After completing the forward measurement stage and the reverse measurement stage after rotating 180°, the calculation stage is entered. The calculation stage includes using the host computer to extract the data of the X-axis inclination angle α, the Y-axis inclination angle β and the inclinometer tube torsion angle θ in the forward measurement stage, arbitrarily selecting the data of multiple measurement points to calculate the forward and reverse measurement constant values ​​for data verification. If the forward and reverse measurement constant values ​​of the multiple measurement points are all less than the preset values, the original values ​​of the X-axis inclination angle α and the Y-axis inclination angle β after eliminating the system error are calculated. The original values ​​are combined with the data of the inclinometer tube torsion angle θ to calculate the vertical foundation pit direction displacement and the parallel foundation pit direction displacement and perform cumulative calculation to generate an inclinometer curve. If the forward and reverse measurement constant values ​​of the multiple measurement points are all greater than or equal to the preset values, re-measurement is required. The formula for the forward and reverse measurement constant value of the X-axis inclination angle α at the i-th point is: ； in, The forward and reverse measurement constant value of the X-axis inclination angle α at the i-th point, is the X-axis inclination angle α of the forward measurement point i, is the X-axis inclination angle α of the i-th point measured in reverse; The formula for the forward and reverse measurement constant value of the Y-axis inclination angle β at the i-th point is: ； in, is the positive and negative measurement constant value of the Y-axis inclination angle β at the i-th point, is the Y-axis inclination angle β of the forward measurement point i, is the Y-axis inclination angle β of the i-th point measured in reverse; The calculation formula of the X-axis inclination angle α after eliminating the system error is: ； in, is the X-axis inclination angle of the i-th point after eliminating the system error, is the X-axis inclination angle of the i-th point measured in the forward direction, is the X-axis inclination angle of the i-th point measured in the forward direction; The calculation formula of the Y-axis inclination angle β after eliminating the system error is: ； in, is the Y-axis inclination angle of the i-th point after eliminating the system error, is the Y-axis inclination angle of the i-th point measured in the forward direction, It is the Y-axis inclination angle of the i-th point measured in reverse; The calculation formula for the cumulative data in the vertical foundation pit direction (foundation pit X axis) is: ； in, is the cumulative displacement in the vertical direction of the foundation pit from the starting point to the i-th point, is the vertical pit direction displacement of each measuring interval; The calculation formula for the accumulated data parallel to the foundation pit direction (foundation pit Y axis) is: ； in, is the cumulative displacement in the vertical direction of the foundation pit from the starting point to the i-th point, is the vertical pit direction displacement of each measuring interval; The calculation stage also includes that the host computer saves the data of the inclinometer tube torsion angle θ in the forward measurement stage of the initial round as a fixed value, and the fixed value is used for calculation in subsequent measurement rounds.

6. A method for measuring torsion angular displacement compensation according to claim 5, characterized in that: The preset value is 2.

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