IMU detection device capable of monitoring bridge closure

Abstract

The invention discloses an IMU (Inertial Measurement Unit) detection device capable of monitoring bridge closure, relates to the field of attitude monitoring, and solves the problem that the attitude of a to-be-closed section of a bridge deflects when the to-be-closed section of the bridge is pushed out from two sides in the current bridge closure process. Comprising a 5V power supply module, a 3.3 V power supply module, a central control module, an IMU (Inertial Measurement Unit) processing module, an OLED (Organic Light Emitting Diode) display screen and a multifunctional key module, wherein the 5V power supply module can provide stable working voltage for the IMU processing module; the 3.3 V power supply module can provide stable working voltage for the central control module, the OLED display screen, the Bluetooth module and the multifunctional key module; through the application of the device, in the closure process of the bridge, if posture changes occur, the posture changes can be immediately found and corrected, and finally accurate closure of the bridge can be completed.

Description

Technical Field

[0001] The invention belongs to the field of posture monitoring, and in particular relates to an IMU detection device capable of monitoring bridge closure. Background Art

[0002] The bridge closure detection device is used to detect the posture of the two bridges during the closure process, ensuring that the two bridges can ultimately align accurately. Currently, the laser displacement sensors used in bridge closures experience reduced laser intensity in strong light conditions, preventing the sensors from receiving the laser point. This results in positional deviations when the two bridges are aligned. This is due to angular deflection during the movement of the bridges, which is then continuously advanced, leading to cumulative errors and ultimately preventing the bridges from aligning accurately. Summary of the Invention

[0003] The purpose of the present invention is to address the above-mentioned problems existing in the prior art and to provide an IMU detection device that can monitor the closure of a bridge, which can accurately measure the posture changes during the closure movement of the bridge and ensure accurate closure of the bridge.

[0004] The technical solution adopted by the present invention is:

[0005] The 5V power module provides independent power supply for the IMU processing module;

[0006] The 3.3V power module provides 3.3V operating voltage for the central control module, OLED display and multi-function button module;

[0007] The IMU processing module collects the acceleration data and angular velocity data of the current carrier;

[0008] The acceleration data and angular velocity data are used to obtain the quaternion, which is then converted into Euler angles to obtain the current carrier's posture in the world coordinate system.

[0009] Acceleration data and angular velocity data are accumulated per unit time to obtain the posture change of the current bridge in the initial position coordinate system;

[0010] Using the OLED display, the bridge's posture changes during the current bridge movement and the current IMU working status can be viewed in real time;

[0011] The multi-function button module is used to switch the modes of different IMU data processing methods.

[0012] In the above-mentioned IMU detection device capable of monitoring bridge closure, the 5V power supply module independently supplies power to the IMU processing module to ensure that the IMU processing module can operate stably.

[0013] In the above-mentioned IMU detection device capable of monitoring bridge closure, the 3.3V power supply module provides a stable 3.3V operating voltage to the central control module, OLED display and multi-function button module, ensuring that all modules except the IMU processing module can operate stably.

[0014] In the above-mentioned IMU detection device capable of monitoring bridge closure, the data is divided into x, y, z three-axis acceleration data and three angle data of pitch angle, roll angle and yaw angle. Each acquired acceleration data or angle data is used for attitude measurement calculation.

[0015] In the aforementioned IMU detection device for monitoring bridge closures, the IMU's acceleration and angular velocity data are converted into Euler angles, and the initial posture of the current carrier is memorized. By comparing the bridge's posture during motion with the initially memorized posture, the angle difference is determined, ultimately revealing the bridge's posture changes during motion. This provides detailed feedback data for the control system in practical application scenarios, facilitating the control device's correction of the bridge's posture.

[0016] In the aforementioned IMU monitoring device for bridge closures, the data is accumulated to determine the bridge's attitude change in the initial coordinate system. Initially, a three-dimensional coordinate system is established with the bridge as the carrier, with data in all three directions being zero. Within a unit of time, IMU data on the changes in pitch, roll, and yaw angles is obtained. This data is accumulated to determine the bridge's attitude change in each direction, thereby determining how the bridge's attitude in the current state has changed compared to its initial state.

[0017] In the aforementioned IMU detection device for monitoring bridge closures, the OLED display and multi-function button module utilize the OLED display to visually monitor the bridge's posture changes during movement in real time, displaying the current IMU data processing status. Combined with the multi-function button module, the IMU data processing status can be modified to achieve human-computer interaction. Choosing Euler angles yields low-error, high-precision posture information, making it suitable for integration with sensors in other world coordinate systems. Choosing the data accumulation method provides more intuitive information about the current carrier's posture, making it suitable for carriers experiencing one-time motion changes.

[0018] On the basis of the above technical solution, compared with the existing technology, the advantages of the present invention are: it is not affected by light intensity, has high accuracy in posture information detection, more intuitive data display, and more convenient human-computer interaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 This is a design block diagram of an IMU detection device capable of monitoring bridge closure according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of the principle of the 5V voltage conversion circuit of the present invention;

[0022] Figure 3 This is a schematic diagram of the principle of the 3.3V voltage conversion circuit of the present invention; DETAILED DESCRIPTION

[0023] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0024] The embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0025] The embodiment basis is as follows Figure 1 As shown:

[0026] Including 5V power module, 3.3V power module, central control module, IMU processing module, OLED display and multi-function button module,

[0027] The IMU detection device is installed on the central axis of the bridge. When the posture of the bridge changes during movement, the data of the IMU detection device will change with the change of the bridge's posture.

[0028] The 5V power supply module provides a stable operating voltage to the IMU processing module, ensuring that the IMU processing module works normally and the data will not be affected by power supply voltage fluctuations.

[0029] The 3.3V power module provides stable operating voltage to the central control module, multi-function button module and OLED display, ensuring stable operation of all modules except the IMU processing module.

[0030] The central control module receives and processes IMU data through the serial port, identifies the status of the multi-function button module through a separate I / O port, and displays the processed data on the OLED display.

[0031] like Figure 2 As shown, this embodiment provides a 5V voltage conversion circuit including a 5V voltage stabilizing element URB2405YMD-10WR3 (U3), an electrolytic capacitor C1, and an electrolytic capacitor C2. Pin 1 of the URB2405YMD-10WR3 element is connected to pin 5, the negative terminal of capacitor C1, and the negative terminal of capacitor C2 and is connected to the ground wire. Pin 2 of the URB2405YMD-10WR3 element is connected to the positive terminal of capacitor C1 for power input. Pin 3 of the URB2405YMD-10WR3 element is connected to the positive terminal of capacitor C2 for outputting a 5V voltage.

[0032] The URB2405YMD-10WR3 is an isolated power module. It operates by accepting a 9-16V DC input voltage and converting it into a stable low-voltage output through internal voltage regulation circuitry. It also integrates input undervoltage, output short-circuit, overcurrent, and overvoltage protection, and features low output ripple. This minimizes output voltage fluctuations, preventing voltage interference from affecting the data processed by the IMU processing module.

[0033] like Figure 3 As shown, this embodiment further provides a 3.3V voltage conversion circuit including a chip AMS1117-3.3V (U4), a capacitor C3, and a capacitor C4. Pin 1 of the chip AMS1117-3.3V is connected to one end of capacitor 3, one end of capacitor 4, and the circuit ground end. Pin 3 of the AMS1117-3.3V and the other end of capacitor 3 are connected to the power input. Pin 2 of the AMS1117-3.3V and pin 4 and the other end of capacitor 4 are connected to the power output 3.3V voltage.

[0034] The AMS1117-3.3V chip is a positive low-dropout voltage regulator. It operates by converting a high-voltage input into a stable low-voltage output through internal voltage regulation circuitry. It also integrates overtemperature protection and current limiting circuitry. When a high-voltage input enters the chip, its internal circuitry filters the input voltage ripple and steps it down to a stable operating voltage. The chip's internal voltage reference and error amplifier then compare the stable operating voltage with the reference voltage and control the output voltage to maintain a stable 3.3V output.

[0035] The IMU detection device starts by connecting a battery pack consisting of three 18650 lithium batteries connected in series through the reserved power inlet. Each 18650 lithium battery has a voltage of 3.7V, so that the circuit obtains a voltage of 11.1V.

[0036] First, the input voltage is stepped down by the URB2405YMD-10WR3 component to obtain a stable 5V voltage which is provided to the IMU processing module.

[0037] The input voltage is connected to the input terminal of AMS1117-3.3V. After the chip steps down the voltage, a stable 3.3V voltage is obtained and provided to the central control module, OLED display and multi-function button module.

[0038] After all components are connected to the rated voltage, the central control module initializes the settings of various modules.

[0039] After initialization is completed, the central control module receives data from the IMU processing module through the serial port.

[0040] Convert each set of data into floating-point data through the floating-point conversion program.

[0041] The acceleration data and angular velocity data are converted into Euler angles through quaternions to obtain the current posture of the bridge in the world coordinate system.

[0042] After the data processing is completed, the multi-function button is judged. If the button is not pressed, the OLED display screen shows the current posture of the bridge in the world coordinate system and the current data processing mode is the world coordinate system mode.

[0043] If the button is pressed, the central control module reprocesses the data and calculates the posture change of the current bridge in the initialization coordinate system by accumulating the data.

[0044] The OLED display screen displays the current bridge posture changes in the initialization coordinate system and the current data processing mode is the carrier coordinate system mode.

[0045] When the accumulation method is currently in calculation mode, pressing the multi-function button again will convert the data into acceleration data and angular velocity data into Euler angles through quaternions.

[0046] That is, the data calculation method can be switched repeatedly during the operation of the IMU detection device. Moreover, the actual value on the OLED display will also change with the change of mode, displaying the data in the corresponding mode in real time, ensuring that users can use this device conveniently and understand the data intuitively.

[0047] Finally, the data is transmitted wirelessly through the Bluetooth module, and the obtained bridge posture changes are transmitted to the host computer, so that the monitor can monitor remotely.

[0048] The above is only an example of the present invention. Common knowledge such as the known specific structures and characteristics in the scheme is not described in detail here. Ordinary technicians in the relevant field are aware of all the common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all the existing technologies in the field, and have the ability to apply conventional experimental means before that date. Ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the inspiration given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. An IMU detection device capable of monitoring bridge closure, characterized in that: The following steps are involved: The 5V power module and the 3.3V power module provide power to various modules; Use the IMU processing module to collect the acceleration data and angular velocity data of the current carrier; The acceleration data and angular velocity data are used to obtain the quaternion, which is then converted into Euler angles to obtain the current carrier's posture in the world coordinate system. Acceleration data and angular velocity data are accumulated per unit time to obtain the current bridge posture in the initial position coordinate system; Using the OLED display, the bridge's posture changes during the current bridge movement and the current IMU data solution mode can be viewed in real time; The multi-function button module is used to switch the modes of different processing methods for IMU data.

2. The IMU detection device capable of monitoring bridge closure according to claim 1, characterized in that: The 5V power supply module provides independent power to the IMU processing module to ensure stable operation of the IMU processing module.

3. The IMU detection device capable of monitoring bridge closure according to claim 1, characterized in that: The 3.3V power supply module provides a stable operating voltage to the central control module, OLED display, Bluetooth module and multi-function button module, ensuring the stable operation of various modules except the IMU processing module.

4. The IMU detection device capable of monitoring bridge closure according to claim 1, characterized in that: The data are divided into x, y, z three-axis acceleration data and pitch angle, roll angle, yaw angle three angular velocity data, each acquired acceleration data or angular velocity data is used for attitude measurement calculation.

5. The IMU detection device capable of monitoring bridge closure according to claim 1, characterized in that: The angle data is calculated by obtaining the acceleration data and angular velocity data of the IMU. The angle difference is obtained by comparing the posture of the bridge during movement with the posture of the initial position in the same coordinate system. Finally, the posture change of the bridge during movement is obtained, providing detailed feedback data for the control system in actual application scenarios, making it easier for the control device to correct the bridge posture.

6. The IMU detection device capable of monitoring bridge closure according to claim 1, characterized in that: Initially, a three-dimensional coordinate system is established with the bridge as the carrier, and the data in the three directions are all zero. The data of the pitch angle, roll angle, and yaw angle changes of the IMU are obtained in unit time. The data are accumulated to obtain the posture change of the bridge in each direction, and the change of the bridge posture in the current state compared with the initial bridge posture is judged.

7. The IMU detection device capable of monitoring bridge closure according to claim 1, characterized in that: The OLED display screen can be used to monitor the posture changes of the bridge in real time and intuitively during movement, and display the processing status of the current IMU data. Combined with the multi-function button module, the Euler angle calculation method and the accumulation method can be selected to determine the method of processing the IMU data. If the Euler angle calculation method is selected, the posture information obtained has small error and high accuracy, which is suitable for combination with sensors in other world coordinate systems. If the accumulation method is selected, the current carrier posture information obtained is more intuitive, which is suitable for carriers with one-time motion changes.

8. The IMU detection device capable of monitoring bridge closure according to claim 1, characterized in that: The Bluetooth module can be used to transmit the measured current posture changes of the bridge to the host computer, and the monitor can remotely view the changes in the bridge posture through the host computer.

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