Wireless stay wire type displacement sensor system

Abstract

The invention belongs to the technical field of displacement sensors, and particularly discloses a wireless stay wire type displacement sensor system which comprises a moving end installed on a measured object and a winding end installed on a fixed object, and the moving end and the winding end are connected through a stay wire. The calculation module is used for calculating a second linear parameter of the measured object according to the angle parameter through a contained calculation model and sending the second linear parameter to the far end through wireless transmission; the first signal modules are respectively arranged at the winding end and the fixed object; the calculation module is further provided with a correction factor used for correcting the angle parameter at each moment, and the correction factor is calibrated according to the linear distance between the two first signal modules. The second signal module is arranged at the mobile terminal; the calculation module updates a correction factor according to the linear distance and through a corresponding angle parameter under the current electric signal; the method has the advantages that through dynamic updating of the correction factors, it is ensured that the system keeps high precision and stability in long-term use and complex environments.

Description

Technical Field

[0001] The present invention relates to the technical field of displacement sensors, and in particular to a wireless pull-wire type displacement sensor system. Background Art

[0002] Existing wireless cable displacement sensors measure the displacement of an object by the extension and contraction of the cable, and convert it into displacement data by the rotation angle of the drum. However, in sensors with multi-turn winding designs, the winding of the cable on the drum may cause a series of error sources, especially under the influence of cable wear and temperature changes, which may significantly affect the measurement accuracy of the sensor.

[0003] First, the wear of the cable will cause its surface to become rough, thereby reducing the cross-sectional area. The cross-sectional area of ​​the cable directly affects the elasticity and elongation of the cable. The worn cable may produce different elongations under the same tension. Since the elongation of the cable is closely related to the change in the rotation angle of the drum, the change in cross-sectional area will cause a deviation in the relationship between the drum angle and the actual displacement, thereby affecting the angle measurement accuracy of the rotary encoder. Especially after long-term use, the wear and tear accumulates, and the error may continue to increase.

[0004] Secondly, temperature changes will also affect the cross-sectional area and length of the cable. As the temperature rises, the cable (especially the metal cable) will expand and the cross-sectional area may increase; while when the temperature drops, the cable may contract and the cross-sectional area decreases. The temperature change causes a slight change in the cable length, which in turn affects the displacement calculated by the drum rotation angle. Especially in high or low temperature environments, changes in the cable material properties will significantly affect the measurement accuracy.

[0005] For the cable with multi-turn winding design, in addition to the wear and temperature changes affecting the cross-sectional area, the tension of the cable may also be uneven. The multi-turn winding design means that the cable between different turns will be affected by different degrees of friction and tension. The outer layer of the cable is subject to more friction, while the inner layer of the cable is subject to less friction. This uneven tension may cause the cable's elasticity to change, further affecting the change of the drum angle, thereby affecting the accurate measurement of the rotary encoder.

[0006] Therefore, a wireless pull-wire displacement sensor system is proposed to solve the above-mentioned problems. Summary of the invention

[0007] The present invention aims to provide a wireless pull-wire displacement sensor system to solve or improve the accuracy problems caused by wire wear or external foreign matter adhesion, temperature changes and multiple windings during the use of the wireless pull-wire displacement sensor in the above-mentioned technical problem.

[0008] In view of this, a first aspect of the present invention is to provide a wireless pull-wire displacement sensor system.

[0009] The first aspect of the present invention provides a wireless pull-wire displacement sensor system, comprising: a mobile end installed on an object to be measured and a winding end installed on a fixed object, the mobile end and the winding end being connected by a pull wire, the pull wire being used to convert the first linear parameter of the mobile end into the angle parameter of the winding end; a calculation module, which calculates the second linear parameter of the object to be measured according to the angle parameter through the included calculation model, and sends it to a remote end through wireless transmission; a first signal module, which is respectively arranged on the winding end and the fixed object; the calculation module is also provided with a correction factor for correcting the angle parameter at each moment, and the correction factor is calibrated according to the linear distance between the two first signal modules; a second signal module, which is arranged at the mobile end; when the second signal module interacts with the first signal module, the first signal module generates an electrical signal and transmits it to the calculation module; the calculation module updates the correction factor according to the linear distance and the corresponding angle parameter under the current electrical signal.

[0010] In any of the above technical solutions, the wireless pull-wire displacement sensor system also includes a calibration module for updating the measuring range of the pull-wire according to the correction factor at each moment.

[0011] In any of the above technical solutions, the calibration module is also used to divide the measuring range into n line segments according to the linear distance, and generate a judgment factor between adjacent line segments for judging whether the wire drawing is qualified.

[0012] In any of the above technical solutions, the judgment factor is generated by angle parameters corresponding to adjacent line segments.

[0013] In any of the above technical solutions, the wireless pull-wire displacement sensor system also includes a clock module for obtaining time data when the angle parameter changes; the calculation module generates the angle parameter corresponding to each line segment through the time data and the linear distance.

[0014] In any of the above technical solutions, the clock module starts to obtain the time data when the mobile end approaches the winding end.

[0015] In any of the above technical solutions, whether the pull wire is qualified is judged by the following rules: when the absolute value of at least one judgment factor is greater than a preset threshold, the pull wire is judged to be unqualified; when the absolute values ​​of all judgment factors are less than or equal to the preset threshold, the pull wire is judged to be qualified.

[0016] In any of the above technical solutions, the wireless pull-wire displacement sensor system further includes a wireless module for transmitting the second linear parameter; when the pull-wire is judged to be unqualified, the wireless module sends an alarm message to a remote end.

[0017] In any of the above technical solutions, the second signal module and the first signal module arranged at the winding end form a normally closed switch circuit, and an electrical signal is generated when the normally closed switch circuit is in an open state.

[0018] In any of the above technical solutions, the second signal module and the first signal module arranged on the fixed object form a normally open switch circuit, and an electrical signal is generated when the normally open switch circuit is in a closed state.

[0019] Compared with the prior art, the present invention has the following beneficial effects: The synergy of the first signal module and the second signal module, combined with the real-time correction factor update, ensures that the system can provide high-precision displacement measurement. In particular, when the wire is affected by wear, temperature changes or external factors, the dynamic update of the correction factor can ensure that the conversion relationship between the angle parameter and the displacement is always accurate, thereby ensuring the accuracy of the measurement.

[0020] The calculation module updates the correction factor based on the real-time electrical signal and linear distance, and can deal with errors caused by factors such as cable wear, temperature changes, or external environmental pollution. This enables the system to adapt to changes in long-term use or complex environments, ensuring the continuous stability of measurement results and avoiding accuracy loss due to equipment aging or environmental changes.

[0021] Additional aspects and advantages of embodiments according to the present invention will become apparent in the following description or may be learned through practice of embodiments according to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 It is a structural logic block diagram of the present invention. DETAILED DESCRIPTION

[0023] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0024] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0025] See also Figure 1 , a wireless pull-wire displacement sensor system according to some embodiments of the present invention is described below.

[0026] The embodiment of the first aspect of the present invention provides a wireless pull-wire displacement sensor system. In some embodiments of the present invention, such as Figure 1 As shown, the wireless pull-wire displacement sensor system includes: The moving end installed on the object to be measured and the winding end installed on the fixed object, the moving end and the fixed object produce a change in distance through the movement of the moving end; the moving end and the winding end are connected by a pull wire, the pull wire is used to convert the first linear parameter of the moving end into the angle parameter of the winding end, and the encoder or potentiometer of the receiving end obtains the rotation angle change of the reel of the winding wire. The moving end, the winding end and the pull wire constitute a pull wire sensor.

[0027] The calculation module calculates the second linear parameter of the object under test according to the angle parameter through the included calculation model, and sends it to the remote end through wireless transmission. The calculation model can convert the angle parameter obtained by detection into the numerical form of the movement distance required by the remote end through calculation.

[0028] The first signal modules are arranged on the winding end and the fixed object respectively; the calculation module is also provided with a correction factor for correcting the angle parameter at each moment, and the correction factor is calibrated according to the linear distance between the two first signal modules.

[0029] The second signal module is arranged at the mobile end; when the second signal module interacts with the first signal module, the first signal module generates an electrical signal and transmits it to the calculation module, so that the calculation module actually obtains a fixed value of the distance between the mobile end and the fixed object that is not affected by the abnormal working of the wire pulling; the calculation module updates the correction factor according to the linear distance and the corresponding angle parameter under the current electrical signal, so that the wire pulling can achieve the detected angle parameter can correctly correspond to the first linear parameter under the influence of temperature, environmental foreign matter and its own wear and tear, so that the remote end can obtain the working state of the wire pulling under invisible conditions at the current moment, and accurately give the linear distance change between the measured object and the fixed object.

[0030] The present invention provides a wireless wire-drawing displacement sensor system, in which the mobile end is mounted on the object to be measured, and the winding end is mounted on the fixed object. The system connects the two end points through a wire, and causes the angle change of the winding end through the movement (i.e., displacement) of the mobile end, which is finally converted into an electrical signal. The mobile end is usually mounted on the object to be measured, such as the end of a robotic arm, a measuring point of a bridge, or other moving parts of the equipment. As the object to be measured moves, the mobile end is displaced relative to the winding end, thereby causing the wire to be stretched or relaxed. The movement mode of the mobile end can be in different directions such as linear, horizontal, and vertical, depending on the specific needs of the measurement. The winding end is fixedly mounted on a stationary base, usually in a position where the structure is stable and will not move with the object to be measured. The core function of the winding end is to connect with the wire. When the wire is stretched, the reel of the winding end will rotate, resulting in an angle change. This angle change reflects the change in the length of the wire, thereby indirectly indicating the displacement of the object to be measured.

[0031] In a wireless cable displacement sensor system, the core function of the cable is to convert the linear displacement of the moving end into an angular change at the winding end. The cable is usually made of high-strength, durable materials such as wire rope or special synthetic materials, with a certain tension and flexibility to withstand the friction and stretching of long-term use. When the moving end is displaced, the cable changes accordingly. The change in the length of the cable causes the drum at the winding end to rotate, resulting in an angular change proportional to the displacement. This angular change can be accurately detected by sensors such as encoders or potentiometers. Specifically, the encoder or potentiometer can sense the slight changes in the rotation angle of the cable drum and convert these angular changes into corresponding electrical signals, which in turn reflect the displacement of the object.

[0032] The calculation module processes the angle parameters obtained by the sensor and converts them into actual displacement data or movement distance. These data will be further transmitted to the remote control system for real-time monitoring, data analysis and other applications. The calculation module converts the detected angle changes into physical quantities with practical significance (such as displacement, movement distance, etc.) through the preset calculation model. These physical quantities are usually expressed in numerical form to facilitate subsequent system control and judgment. The input of the calculation module comes from measuring devices such as encoders or potentiometers in the wireless wire-type displacement sensor system. These devices obtain angle parameters based on the rotation angle of the reel at the winding end. These angle parameters reflect the degree of elongation or contraction of the wire, which further affects the position change of the mobile end. For example, when the reel at the winding end rotates, the encoder records the angle of rotation of the reel, thereby calculating the change in length of the wire. This angle information is transmitted to the calculation module as input.

[0033] The calculation module uses a known mathematical model to calculate the second linear parameter of the object under test based on the angle parameter. These linear parameters are usually expressed as the displacement or movement distance of the object. Through the geometric transformation model (for example, using the relationship between the angle and the roll radius), the actual physical displacement value is calculated. For example, in a bridge monitoring application, the calculation module transmits the displacement data to the central monitoring platform via a wireless network in real time. The platform generates real-time reports based on the received data to monitor the health status of the bridge.

[0034] The first signal module is mainly arranged on the winding end and the fixed object. Specifically, the function of the first signal module is to establish a signal interaction mechanism between the winding end and the fixed object. It receives the electrical signal from the second signal module and transmits it to the calculation module, thereby ensuring that the calculation module can accurately calculate the linear distance between the mobile end and the fixed object. In order to ensure the accuracy of the signal and the reliability of the system, the signal transmission between the first signal module and the calculation module is crucial. Only through accurate signal transmission can the system obtain valid data. When laying out, the installation position of the first signal module should take into account its relative position relationship with the second signal module. The first signal module usually needs to move relative to the second signal module so as to establish physical contact between the two signal modules and generate an effective electrical signal when in contact. For example, in bridge monitoring, the first signal module can be installed at a fixed position of the bridge (such as the foundation part or load-bearing support of the bridge). When the second signal module (installed on another part of the bridge or the monitoring point) contacts the first signal module, the first signal module calculates the physical displacement related to the contact through the received electrical signal. The transmission of the signal ensures that the displacement between the mobile end and the fixed object can be transmitted to the calculation module in real time.

[0035] The calculation module not only receives the electrical signal from the first signal module, but is also equipped with a correction factor to correct the angle parameter at each moment, thereby improving the accuracy and stability of the system. The role of the correction factor is to cope with the environmental changes and fluctuations in the working state that the system may encounter, and ensure that the angle is consistent with the actual displacement. The correction factor is calibrated according to the linear distance between the two first signal modules. Because the wire may cause measurement errors due to temperature changes, environmental factors, or wear of the wire itself during operation, the correction factor can adjust the measurement results of the system in real time to ensure the accuracy of the calculation results. The calibration process is to measure the linear distance between the two first signal modules during the initial setup or maintenance process, and use this value to calibrate the correction factor in the calculation module. This calibration value is the basis for the normal operation of the system. Any measurement errors caused by factors such as changes in the external environment, equipment wear or temperature changes can be corrected by dynamic adjustment of the correction factor.

[0036] The second signal module is set at the mobile end. Its function is to interact with the first signal module, trigger the first signal module to generate an electrical signal and transmit it to the calculation module. When the second signal module receives the electrical signal sent by the first signal module, it will start the entire measurement process. The calculation module obtains the distance data based on the received electrical signal and performs further correction calculations to ensure the accuracy of the measurement. When the second signal module contacts the first signal module, the first signal module generates an electrical signal and transmits it to the calculation module, thereby starting the displacement measurement and data transmission functions of the system. The second signal module can be installed on the movable part of the automation equipment (such as the end of the robotic arm). Every time the part contacts the first signal module, the displacement data is collected and processed by the calculation module through wireless transmission to ensure that the position change of the equipment is recorded in real time.

[0037] In order to ensure that the wire-type displacement sensor can cope with different working environments and state changes, the calculation module will update the correction factor according to the current angle change based on the electrical signal received through the second signal module each time. In this way, the calculation module can perform self-calibration in real time to ensure the measurement accuracy of the system. Whenever the second signal module interacts with the first signal module, the system automatically adjusts the correction factor according to the actual situation (such as the deviation between the actual displacement and the calculated result). In this way, even if the wire is affected by factors such as temperature changes, environmental foreign matter, or self-wear, the system can still provide accurate displacement calculation results. For example, the wire is worn or stretched due to long-term use, and the calculation module dynamically compensates for these physical changes through correction factors to ensure the accuracy of the data.

[0038] In summary, by adding a correction factor to the calculation module, the factor will be calibrated according to the linear distance between the two first signal modules, and will be updated in real time according to factors such as temperature changes, wear, tension, etc. during each use. By dynamically adjusting the correction factor, the errors caused by wire wear, temperature changes and tension unevenness can be compensated. In this way, the sensor can still maintain measurement accuracy when the wire changes. The angle parameters can be monitored and adjusted dynamically in real time. Even if the material of the wire is deformed due to temperature changes or long-term use, the calculation module can still accurately reflect the actual displacement according to the update of the correction factor. With the interaction of the first signal module and the second signal module, the system can compensate for the tension unevenness of the wire to a certain extent. Especially in the case of a multi-turn winding design, the tension unevenness between different turns is corrected by the dynamic adjustment of the calculation module, thereby avoiding the change in the elasticity of the outer and inner wires due to friction differences.

[0039] In any of the above embodiments, the wireless wire-drawing displacement sensor system also includes a calibration module for updating the range of the wire according to the correction factor at each moment. Since the length of the wire will also be affected by temperature, the actual length will be greatly affected, and since the correction factor is calibrated through the linear distance between the two first signal modules and is a fixed value, under the conditions of changes in the cross-section and diameter of the wire caused by wear, changes in length due to temperature, and excessive external dust and other fine impurities adhering to the surface of the wire, for a fixed correction factor, the length of the wire required to produce the same original setting angle parameter by winding will also change. Therefore, it is necessary to update the range of the wire at each moment to ensure that the angle parameter and the first linear parameter always have a correct correspondence, avoid affecting the subsequent angle parameter calculation of the second linear parameter, and decouple the correction in the overall calculation into two different corrections, one correction is used to compensate for errors caused by environmental factors such as temperature and foreign matter, and the other is used to compensate for errors in different circumferences caused by multiple turns of winding.

[0040] In any of the above embodiments, the calibration module is also used to divide the range into n segments according to the linear distance, and generate a judgment factor between adjacent segments for judging whether the pull line is qualified. The setting of the linear distance is smaller than the range, so that a larger distance can be corrected by a smaller distance and more accurate correction factor, especially for engineering projects that require correction of pull lines with ultra-long ranges, and the division into n segments can better understand the conversion differences of different positions of the pull line under the angle parameters under long-term use, so as to avoid the conversion of different angle parameters due to different positions of the pull line under the same movement distance.

[0041] In this embodiment, the correction factor is calibrated by the linear distance between the two first signal modules, and the calibration value is a fixed value. However, due to factors such as temperature changes, wire wear, external pollution, etc., the length and elasticity of the wire may change, so a fixed correction factor cannot adapt to all environments and usage conditions. In this case, the calibration module dynamically updates the range of the wire according to the correction factor at the current moment. This real-time update ensures that the relationship between the length and angle parameters of the wire at each moment is always accurate, thereby avoiding measurement deviations caused by error accumulation. Temperature change is an important factor affecting the length of the wire. As the temperature rises, the wire (especially the metal wire) may expand, resulting in an increase in length; while in a low temperature environment, the wire may shrink, resulting in a decrease in its length. If this slight change caused by temperature is not compensated, it may cause a deviation in the relationship between the angle and the displacement. In addition, the wear of the wire will also affect its cross-section and diameter, changing the elasticity and elasticity of the wire. Impurities such as dust or oil accumulated on the surface of the wire will also increase friction, resulting in uneven elasticity of the wire, thereby affecting the accurate measurement of displacement. Therefore, the system needs to adjust the correction factor according to the real-time environmental conditions (temperature, wear, pollution, etc.) to ensure that the length change of the wire can be accurately compensated and will not affect the subsequent conversion relationship between angle parameters and displacement.

[0042] In order to deal with different types of errors, the present invention adopts a correction decoupling design, that is, the correction in the overall calculation is divided into two independent correction factors. One correction factor is mainly used to compensate for the change in the length of the cable caused by environmental factors such as temperature change and foreign body contamination. This correction factor can be updated in real time and compensate for the errors caused by changes in the external environment. The other correction factor is specifically used to compensate for the errors caused by the multiple turns of the cable, especially between different turns, the cable exhibits different elasticity due to different friction forces, resulting in different expansion and contraction amounts of the cable at different positions at the same angle. By processing these two correction factors separately, the system can more accurately handle the performance changes of the cable in different use environments, thereby improving the accuracy and stability of the overall measurement. Combining these two independent correction factors, the system can continue to maintain high-precision displacement measurement under variable environmental conditions. The dynamic update of the correction factor and the real-time adjustment of the range ensure that the relationship between the length and angle of the cable is always correct. Even in the case of long-term use and complex environmental changes, the system can still effectively compensate for the effects of factors such as temperature changes, wear, and foreign body adhesion, ensuring the reliability of the measurement results.

[0043] In any of the above embodiments, the judgment factor is generated by the angle parameters corresponding to the adjacent line segments. The rotation angle parameters can intuitively reflect the change in detection accuracy under different line segments, providing an observable basis for later judgment of the detection life of the pull line.

[0044] In this embodiment, the judgment factor is generated by the angle parameters corresponding to the adjacent segments. Specifically, the system calculates the angle parameters of each segment according to the relationship between each small segment of the cable (i.e., the cable range corresponding to each segment) and the angle. These angle parameters reflect the elongation and tension changes of the cable under different working conditions, which in turn affect the elasticity and measurement accuracy of the cable. The judgment factor determines whether the cable has reached its service life by monitoring the changes in these angle parameters. Each adjacent segment represents a small range of the cable. Through the angle parameters of this small range, the system can monitor the performance changes of the cable in these small segments. For example, when the cable is worn or affected by the external environment (such as temperature, humidity, etc.), the angle parameters of different segments will change slightly. These changes reflect the physical state of the cable at different positions, so the angle parameters can be used as a basis for measuring whether the cable meets the use standards. Assume that the cable range is divided into 10 segments, each segment represents a measurement range of 1 meter. As the cable is used for a longer time, the outer layer of the cable may be worn due to frequent friction, resulting in a deviation between the angle parameters of the segment and the angle parameters in the new state. By comparing the angle parameters of adjacent line segments, the system can detect this deviation and monitor it through judgment factors.

[0045] The angle parameter essentially describes the angle at which the cable drum rotates, reflecting the changes in the cable during the actual measurement process. When the system detects an abnormal deviation in the angle parameter of a certain line segment, it means that the cable of the line segment may have been worn, elastic, or other factors that affect the accuracy. When the change in the angle parameter exceeds the preset range, the judgment factor will determine that the cable segment has changed significantly, which means that the performance of the cable can no longer meet the accuracy requirements of the system. Therefore, the judgment factor can provide users with accurate judgment of the cable life and help users to perform maintenance or replacement in a timely manner.

[0046] In any of the above embodiments, the wireless pull-wire displacement sensor system also includes a clock module for obtaining time data when the angle parameter changes; the calculation module generates the angle parameter corresponding to each line segment through the time data and the linear distance, and the time parameter includes the point information of the time mark and multiple segments of information of the time period, so as to estimate the number and position of the line segments used in the current motion detection when the mobile terminal is in a uniform speed state.

[0047] In this embodiment, in a uniform state, the clock module and the calculation module work together to help the system estimate the number and position of the line segments used in a certain motion detection. The uniform state usually refers to the constant speed change of the pull line throughout the measurement process. The system can estimate the range of different line segments covered by the pull line during the motion process by analyzing the angle change and displacement change of each time period. When the system is in a uniform motion state, the relationship between time and displacement is relatively simple, and the number of pull line segments used in each time period can be calculated by time data and linear distance. For example, the calculation module can estimate the number of line segments covered by the pull line in the time period based on the displacement change per unit time. Accurate control of the measurement accuracy of the pull line in a uniform state is achieved. The clock module obtains the time data at each angle change and generates the angle parameters of each line segment in combination with the linear distance, thereby providing an accurate basis for subsequent displacement estimation. Through in-depth analysis and calculation of time data, the system can not only accurately estimate the displacement of the pull line, but also maintain high-precision measurement during long-term use, especially in complex uniform motion detection, ensuring accurate monitoring of each line segment.

[0048] In any of the above embodiments, the clock module starts to obtain time data when the mobile end approaches the winding end. Since the mobile end is usually in the operating output state of the device when it is far away from the fixed object, the movement state is prone to variable movement speeds. However, when the mobile end approaches the fixed object, it is in the reset state of the device, and a stable movement state will appear at this time. Therefore, it is easy to obtain an accurate relationship by corresponding the line segment and the angle parameter under the reset state. The n value after segmentation is rounded down, and the wire pulling part corresponding to the non-integer value is removed in the current calibration calculation.

[0049] In this embodiment, the start of the clock module and the acquisition of time data are determined based on the changes in the operating state and reset working condition of the device. Under the reset working condition, the clock module will start and start recording accurate time data for subsequent calculations. In this process, the clock module is responsible for tracking the time changes during the movement process, and passing these data to the calculation module to help the calculation module generate the angle parameters corresponding to each line segment in combination with the linear distance. When the device enters the reset working condition, the movement speed of the mobile end tends to be stable, which means that it is very easy to obtain an accurate relationship between the angle parameters and the line segments at this stage. Under the reset working condition, the mobile end is close to the winding end, and the telescopic characteristics and angle changes of the cable can be measured at almost a constant speed, thereby improving the accuracy between the angle and the displacement. This stable state makes the combination of time data and linear distance more accurate, and the relationship between the calculated angle parameters and the actual displacement has almost no error. On the automated production line, when the device performs the reset operation, the movement speed of the robot arm is usually slow and predictable. At this time, the clock module can accurately record the changes at each time point, and combine it with the length change of the cable to ensure the accurate calculation of the angle parameters.

[0050] When the device is reset, the expansion and contraction of the cable is relatively controllable, and the relative movement between the moving end and the winding end is relatively slow and constant. At this time, the relationship between the angle change and the length of the cable is consistent, and the time data recorded by the clock module can accurately correspond to the angle change of each line segment. Therefore, by combining the time data obtained by the clock module with the linear distance, the angle parameters of each line segment can be calculated more accurately, thereby ensuring the accuracy of the measurement.

[0051] In any of the above embodiments, whether the pull line is qualified is determined by the following rules: When the absolute value of at least one judgment factor is greater than the preset threshold, it indicates that there is measurement unevenness between at least one section of the wire rope and other sections. When the same movement is performed on the mobile end and the wire rope is measured at different positions, there will be a large deviation. This is an uncorrectable structural damage, defect or abnormality, and the wire rope is judged to be unqualified.

[0052] When the absolute values ​​of all judgment factors are less than or equal to the preset threshold, the measurement scales between all segments of the surface wire drawing are relatively uniform and the conversion of the angle parameters is relatively smooth, and the wire drawing is judged to be qualified.

[0053] In this embodiment, when the absolute value of at least one judgment factor is greater than a preset threshold, the system determines that the cable is unqualified. This situation indicates that the cable has a large measurement unevenness at at least one position, that is, when the same movement is performed at different cable positions, the measurement result will have a large deviation. This deviation may be due to uncorrectable structural damage, defects or abnormalities in a certain section of the cable, which cannot be eliminated by adjusting the subsequent correction factor, so it is necessary to judge the cable as unqualified. The judgment factor reflects the angle conversion and measurement unevenness between different sections of the cable. When the absolute value of the judgment factor is large, it means that the measurement difference between a certain part of the cable and other parts is large, which may be caused by factors such as local wear of the cable, mechanical damage or material problems. This unevenness will cause the angle parameters of different positions of the cable to change inconsistently under the same movement, thereby generating errors. At this time, even if the errors of other parts are adjusted by correction factors, local damage or defects cannot be solved.

[0054] When the absolute values ​​of all judgment factors are less than or equal to the preset threshold, it means that the measurement scales between all segments of the cable are relatively uniform, and the conversion process of the angle parameters is relatively smooth and linear. At this time, the cable is judged to be qualified, indicating that its scalability and performance between each segment are consistent, and it can provide accurate displacement measurement. When the absolute values ​​of all judgment factors are less than or equal to the preset threshold, it means that there is no significant difference in the measurement scale of the cable between different positions, and the conversion relationship between the angle parameter and the displacement is relatively smooth. The system compensates for the slight changes in the cable through the correction factor, so that the angle parameter of each line segment can be consistent with the displacement change, ensuring that the system can provide accurate displacement data. If the measurement results of the cable at each position are relatively uniform and the conversion of the angle parameter is relatively smooth, it means that the performance of the cable is not affected by local damage or external factors. In this case, the correction factor can effectively correct the slight error of the cable and ensure the high accuracy of the displacement calculation. At this time, the entire system can maintain consistent measurement accuracy during long-term operation to ensure the reliability and accuracy of the cable.

[0055] By introducing the design of judgment factors and preset thresholds, the present invention provides an accurate cable health monitoring mechanism for the wireless cable displacement sensor system. The judgment factor can not only help the system to timely detect local damage, defects or abnormalities of the cable during operation, but also judge whether the cable meets the accuracy requirements of the system based on the measurement uniformity of the cable.

[0056] Specifically, if the system design requires a measurement accuracy of 1 mm, the preset threshold may need to be controlled within 0.1 mm; in a high-precision system, the preset threshold may need to be controlled within a smaller range, such as 0.01 mm.

[0057] In any of the above embodiments, the wireless pull-wire displacement sensor system also includes a wireless module for transmitting a second linear parameter so that the remote end can obtain the movement distance status of the mobile end in real time; when the pull-wire is judged to be unqualified, the wireless module sends an alarm message to the remote end so that the remote end can know that the service life of the pull-wire has expired or there is irresistible foreign matter contamination or structural jamming without field detection.

[0058] In this embodiment, the role of the wireless module in the system is to transmit the motion data of the mobile terminal in real time. The system transmits the second linear parameter, that is, the displacement or movement distance of the device, to the remote device in real time through wireless communication technology. The remote control system, monitoring platform or operator can grasp the displacement status of the equipment in real time according to the received data, and conduct monitoring, analysis and decision-making. Remote monitoring becomes more flexible and efficient, and staff can obtain the status of the equipment without going to the site to check in person. Secondly, through wireless transmission, multiple wire sensors can be remotely monitored at the same time, which is convenient for large-scale, multi-point real-time monitoring and data integration. Whether in application scenarios such as industrial automation, building monitoring or bridge health monitoring, the ability to obtain motion data in real time can greatly improve the response speed and efficiency of the monitoring system.

[0059] In addition to transmitting motion data, the wireless module also assumes the key alarm function. When the cable is judged to be unqualified, the system will send an alarm message to the remote end through the wireless module. The alarm system can promptly inform the remote staff that the cable has reached its service life or that the cable cannot continue to work normally due to external foreign matter contamination, structural damage and other factors, thereby avoiding routine inspections and manual inspections by on-site personnel. The alarm mechanism provides significant advantages for the system. First, the system can feedback to the remote end as soon as a problem occurs, ensuring that the remote staff knows the status of the equipment at the first time and takes timely measures to replace, repair or adjust it. Secondly, the wireless module can provide the convenience of remote maintenance, so that the health status of the system can be monitored anytime and anywhere, greatly reducing the risk of equipment failure. The combination of remote monitoring and alarm functions is realized. Staff do not need to go to the site regularly to check the cable status. The system can effectively inform whether the equipment has a fault through real-time data transmission and alarm functions, ensuring timely response when the equipment has a problem. This not only reduces the workload of manual inspection, but also reduces maintenance delays or system shutdowns caused by the failure to detect problems in time. In smart building monitoring, if the wiring becomes contaminated or damaged due to temperature changes, long-term use or external interference, traditional systems may require on-site inspection to discover the problem. The wireless module of the present invention can automatically transmit alarm information to remote personnel, avoiding the need for frequent on-site manual inspections.

[0060] In any of the above embodiments, the second signal module and the first signal module arranged at the winding end form a normally closed switch circuit. When the normally closed switch circuit is in an open state, an electrical signal is generated, and only the first and last of a series of electrical signals are recorded. On the one hand, it can be known that the moving end has moved away from the winding end, and on the other hand, one end of the initial line segment of the pulling wire can be calibrated.

[0061] In this embodiment, the normally closed switch circuit is designed so that the circuit is usually in a closed state, and only when the contact between the second signal module and the first signal module is broken, the circuit will enter an open circuit state, thereby triggering the generation of an electrical signal. In short, when the pull line of the mobile end undergoes a certain displacement, causing the second signal module to be separated from the winding end (i.e., disconnected from the first signal module), the normally closed switch circuit will switch to an open circuit state and generate an electrical signal. Through this process, the system can not only record the separation between the mobile end and the winding end, but also ensure that every change in displacement can be traced. When the second signal module disconnects from the first signal module and generates an electrical signal, the system can sense the separation state of the mobile end and the winding end in real time. This operation can be regarded as a landmark event, meaning that the pull line of the mobile end has moved or a certain state change has occurred. In practical applications, it can accurately mark the beginning of the device to enter the working state or end the working state, helping the system to record key events and trigger subsequent measurement and control operations.

[0062] The normally closed switch circuit also serves to calibrate the end of the initial segment of the cable. When the circuit is in an open state, the system can use the electrical signal generated at this time to calibrate the initial position of the cable. This calibration process provides an accurate starting point for subsequent displacement measurement, so that each displacement change can be calculated based on this, ensuring the accuracy and consistency of the system measurement.

[0063] In any of the above embodiments, the second signal module and the first signal module set on the fixed object form a normally open switch circuit, and when the normally open switch circuit is in a closed state, an electrical signal is generated, which can calibrate the other end of the initial line segment of the pull wire to record the linear distance corresponding to the correction factor.

[0064] In this embodiment, the design feature of the normally open switch circuit is that the circuit remains open under normal conditions, and the generation of an electrical signal is triggered only when the state of the circuit changes, that is, when it is in a closed state. The second signal module works together with the first signal module, and when a specific action occurs at the initial end of the pull line (one end of the fixed object), the circuit is closed and an electrical signal is generated. At this time, the system can record the linear distance related to the end in real time, providing a key basis for the calculation of the correction factor and the accuracy of subsequent displacement data. When the second signal module contacts the first signal module and closes the circuit, the system generates an electrical signal, marking the calibration of the other end of the initial line segment. This calibration is not only an important reference point for the state of the pull line, but also the end point for the calculation of the correction factor, ensuring that the system can accurately calculate the corresponding linear distance of the correction factor through the calibration of this end during the entire measurement process.

[0065] The design of the normally open switch circuit combined with its corresponding correction factor calibration function improves the accuracy and reliability of the system. By accurately calibrating the initial end and generating an electrical signal, the system can ensure that the relationship between the correction factor and the linear distance is accurate, avoiding errors caused by the influence of the external environment on the wire. This calibration mechanism helps the system maintain high-precision displacement measurement capabilities during long-term use of the equipment and in complex environments.

[0066] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0067] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A wireless pull-wire displacement sensor system, characterized in that: include: A moving end mounted on the object to be measured and a winding end mounted on the fixed object, wherein the moving end and the winding end are connected by a pull line, and the pull line is used to convert a first linear parameter of the moving end into an angular parameter of the winding end; A calculation module, which calculates the second linear parameter of the object under test according to the angle parameter through a calculation model included therein, and sends the second linear parameter to a remote end through wireless transmission; The first signal modules are arranged on the winding end and the fixed object respectively; the calculation module is also provided with a correction factor for correcting the angle parameter at each moment, and the correction factor is calibrated according to the linear distance between the two first signal modules; A second signal module is arranged at the mobile terminal; when the second signal module interacts with the first signal module, the first signal module generates an electrical signal and transmits it to the calculation module; the calculation module updates the correction factor according to the linear distance and the corresponding angle parameter under the current electrical signal.

2. The wireless pull-wire displacement sensor system according to claim 1, characterized in that: It also includes a calibration module for updating the measuring range of the wire according to the correction factor at each moment.

3. The wireless pull-wire displacement sensor system according to claim 2, characterized in that: The calibration module is also used to divide the measuring range into n line segments according to the linear distance, and generate a judgment factor between adjacent line segments for judging whether the wire drawing is qualified.

4. The wireless pull-wire displacement sensor system according to claim 3, characterized in that: The judgment factor is generated by angle parameters corresponding to adjacent line segments.

5. The wireless pull-wire displacement sensor system according to claim 4, characterized in that: It also includes a clock module for acquiring time data when the angle parameter changes; the calculation module generates the angle parameter corresponding to each line segment through the time data and the linear distance.

6. The wireless pull-wire displacement sensor system according to claim 5, characterized in that: The clock module starts to acquire the time data when the mobile end approaches the winding end.

7. The wireless pull-wire displacement sensor system according to claim 3, characterized in that: Whether the pull line is qualified is determined by the following rules: When the absolute value of at least one of the judgment factors is greater than a preset threshold, the wire drawing is judged as unqualified; When the absolute values ​​of all the judgment factors are less than or equal to the preset threshold, the wire drawing is judged to be qualified.

8. The wireless pull-wire displacement sensor system according to claim 7, characterized in that: It also includes a wireless module for transmitting the second linear parameter; when the pull line is judged to be unqualified, the wireless module sends an alarm message to a remote end.

9. The wireless pull-wire displacement sensor system according to claim 1, characterized in that: The second signal module and the first signal module arranged at the winding end form a normally closed switch circuit, and an electrical signal is generated when the normally closed switch circuit is in an open state.

10. The wireless pull-wire displacement sensor system according to claim 1, characterized in that: The second signal module and the first signal module arranged on the fixed object form a normally open switch circuit, and an electrical signal is generated when the normally open switch circuit is in a closed state.

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