Inclination angle type static leveling instrument with abbe error correction function

Abstract

The invention discloses an inclination angle type static leveling instrument with Abbe error correction, which comprises a shell, a rotating shaft is rotatably arranged in the shell, a connecting rod is fixed on the rotating shaft, a floating ball is fixed at the front end of the connecting rod, an inclinometer is mounted on the connecting rod, and the inclinometer is used for obtaining a pitch angle alpha and a roll angle beta of the connecting rod. The measured height delta H of the dip angle type static leveling instrument with abbe error correction is calculated by a formula (1). Compared with the prior art, the liquid level change drives the floating ball to cause the dip angle change of the connecting rod, the angle encoder collects the rotation angle p, meanwhile, the inclinometer collects the pitch angle alpha and the roll angle beta of the connecting rod, and then the abbe error is corrected according to a preset algorithm to calculate the absolute height variation. Through the structural design, the pose requirement of the level gauge is reduced, so that the level gauge can adapt to more complex measurement scenes. And secondly, relative height variation measurement is converted into absolute height variation measurement, so that the data reliability is improved.

Description

Technical Field

[0001] This invention relates to the field of hydrostatic level manufacturing technology, and in particular to an inclination hydrostatic level with Abbe error correction. Background Technology

[0002] Inclinometer hydrostatic levels are precision instruments used to monitor the relative settlement of foundations and structures, and are widely used in settlement monitoring in projects such as large storage tanks, dams, nuclear power plants, high-rise buildings, foundation pits, tunnels, bridges, and subways. However, due to limitations in their design principles, these levels only read the mechanical inclination angle of the connecting rod through an angle encoder or inclinometer, and calculate the change in liquid level height accordingly. This method does not consider the Abbe error introduced by the misalignment of the measuring axis and the reference axis, meaning this error cannot be corrected in the measurement results. Therefore, the instrument's measurement accuracy is easily affected by its orientation, making it difficult to accurately measure the absolute change in height. This also places high demands on the installation and placement of the instrument during practical use. Summary of the Invention

[0003] (a) Technical problems to be solved

[0004] Based on this, the present invention proposes an inclinometer with Abbe error correction to solve the problem that existing inclinometers cannot correct Abbe errors.

[0005] (II) Technical Solution

[0006] To overcome or at least partially solve the above problems, this invention provides an inclinometer with Abbe error correction, comprising a housing, a rotating shaft rotatably disposed within the housing, a connecting rod fixed on the rotating shaft, a float fixed to the front end of the connecting rod, and an inclinometer mounted on the connecting rod. The inclinometer is used to obtain the pitch angle α and roll angle β of the connecting rod. The measurement height ΔH of the inclinometer with Abbe error correction is calculated by formula (1):

[0007] (1)

[0008] Where L is the length of the link, and I is the identity matrix. Let be the rotation matrix for the pitch angle α. Let be the rotation matrix for the roll angle β. Let p be the rotation matrix of the rotation angle p of the axis of rotation.

[0009] Preferably, rotation matrix The result is obtained by formula (2):

[0010] (2).

[0011] Preferably, rotation matrix The result is obtained by formula (3):

[0012] (3).

[0013] Preferably, an angle encoder and a rotation matrix are connected to the rotating shaft. The result is obtained by formula (4):

[0014] (4)

[0015] The rotation angle P is obtained by an angle encoder.

[0016] Preferably, formula (3) is obtained through the following steps:

[0017] The measurement direction of the connecting rod is the same as the Z-axis direction of the global coordinate system {G}. In the global coordinate system {G}, the initial direction vector of the float displacement is defined. ;

[0018] When the link only has a pitch angle α, the direction of motion of the link is tilted in the plane containing the X and Z axes of the global coordinate system {G}, and the direction of motion of the link after tilting is V. a V a It is calculated by the following formula:

[0019]

[0020] When both the pitch angle α and roll angle β of the connecting rod exist, the axis of rotation is defined. Then, using the Rodriguez formula, we can obtain:

[0021] (5)

[0022] in yes The cross product matrix:

[0023] (6)

[0024] Substituting formula (6) into formula (5) yields:

[0025]

[0026] Preferably, formula (4) is obtained through the following steps:

[0027] Calculate the initial attitude vector V of the link. initial :

[0028] Replace the rotation axis u with ainitial :

[0029] (7)

[0030] Then the rotation matrix R p for:

[0031] (8)

[0032] Substituting formula (7) into formula (8) yields:

[0033]

[0034] Preferably, formula (1) is obtained through the following steps:

[0035] The final attitude vector V of the link final for:

[0036]

[0037] ΔH is the difference between the final attitude vector and the initial attitude vector of the link in the Z-axis component of the global coordinate system {G}. Therefore, ΔH is:

[0038]

[0039] Preferably, the shaft and connecting rod are arranged in a T-shape.

[0040] Preferably, both ends of the rotating shaft are connected to the housing via bearings.

[0041] Preferably, the connecting rod is fixed with a mounting base, and the inclinometer is fixed inside the mounting base.

[0042] (III) Beneficial Effects

[0043] Compared with existing technologies, in this invention, changes in the liquid level drive the float, causing a change in the linkage's tilt angle. An angle encoder collects the rotation angle 'p', while an inclinometer collects the linkage's pitch angle 'α' and roll angle 'β'. Then, a microcontroller calculates the absolute height change based on a preset algorithm to correct for Abbe error, significantly improving the automation level of data acquisition and processing. This structural design reduces the level instrument's posture requirements, enabling it to adapt to more complex measurement scenarios. By introducing an inclinometer and the Abbe error correction algorithm, the measurement of relative height change is converted into the measurement of absolute height change, improving data reliability. Attached Figure Description

[0044] The features and advantages of the invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the invention in any way. In the drawings:

[0045] Figure 1 This is a schematic diagram of the structure of the present invention;

[0046] Figure 2 This is a schematic diagram of the tool coordinate system of the present invention;

[0047] Figure 3 This is a schematic diagram of the global coordinate system of the present invention;

[0048] Figure 4 This is a schematic diagram of the simulation measurement of the present invention.

[0049] Explanation of reference numerals in the attached figures:

[0050] 1. Housing, 2. Shaft, 3. Connecting rod, 4. Float, 5. Mounting base, 6. Inclinometer. Detailed Implementation

[0051] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0052] See attached document Figure 1 This embodiment provides an inclinometer with Abbe error correction, comprising a housing 1, a rotating shaft 2 rotatably mounted inside the housing 1, a connecting rod fixed on the rotating shaft 2, a float 4 fixed at the front end of the connecting rod, a liquid inside the housing 1, and the float 4 sensing changes in the liquid level. An inclinometer 6 is mounted on the connecting rod, the inclinometer 6 being used to obtain the pitch angle α and roll angle β of the connecting rod. The measured height ΔH of the inclinometer with Abbe error correction is calculated by formula (1):

[0053] (1)

[0054] Where L is the length of the link, and I is the identity matrix. Let be the rotation matrix for the pitch angle α. Let be the rotation matrix for the roll angle β. Let be the rotation matrix of the rotation angle p of axis 2.

[0055] In this invention, the tilt angle data of the level is collected in real time during the installation process by the tilt meter 6, and the Abbe error is automatically compensated for the measurement result of the change in liquid level height by formula (1). This design effectively reduces the positional requirements of the level when it is used and improves the adaptability and reliability of the measurement.

[0056] As another embodiment of the present invention: since the diameter of the float 4 has a negligible effect on the measurement results, the float 4 is approximately a line segment, as shown in the attached figure. Figure 3 The link rotates about the Y-axis in the global coordinate system {G}, and the rotation axis of the pitch angle α is the Y-axis of the global coordinate system {G}. When only the pitch angle α exists, the rotation matrix corresponding to the pitch angle α is... The result is obtained by formula (2):

[0057] (2).

[0058] As another embodiment of the present invention: refer to the appendix Figure 2 In the tool coordinate system {T}, probe is the X' axis and probe pivot is the Y' axis. That is, the direction of the connecting rod is the X' axis, and the direction of rotation axis 2 is the Y' axis. The connecting rod rotates around the X' axis in the tool coordinate system {T}, and the rotation axis of the pitch angle β is the X' axis of the tool coordinate system {T}. The rotation matrix corresponding to the pitch angle β... The result is obtained by formula (3):

[0059] (3).

[0060] In another embodiment of the present invention: an angle encoder and a rotation matrix are connected to the rotating shaft 2. The result is obtained by formula (4):

[0061] (4)

[0062] The rotation angle P is obtained by an angle encoder.

[0063] This invention uses an inclinometer 6 to collect the pitch angle α and roll angle β in real time during the measurement process, and combines it with an angle encoder to obtain the rotation angle P of the rotating shaft 2, thus constructing a dual closed-loop data synchronous acquisition system to ensure the real-time and synchronous nature of multi-source sensor data.

[0064] As another embodiment of the present invention: the formula (3) is obtained through the following steps:

[0065] See attached document Figure 3 The direction of the linkage height measurement is the same as the Z-axis direction of the global coordinate system {G}. In the global coordinate system {G}, the initial direction vector of the displacement of the float 4 is defined. ;

[0066] The linkage's motion direction is inclined within the plane containing the X and Z axes of the global coordinate system {G}, and the direction of motion after the linkage is inclined is V. a V a It is calculated by the following formula:

[0067]

[0068] When both the pitch angle α and roll angle β of the connecting rod exist, the axis of rotation is defined. (Normalized), link 3 rotates about the rotation axis u, and then we can obtain the following using Rodriguez's formula:

[0069] (5)

[0070] in yes The cross product matrix:

[0071] (6)

[0072] Substituting formula (6) into formula (5) yields:

[0073]

[0074] As another embodiment of the present invention: the formula (4) is obtained by the following steps:

[0075] Calculate the initial attitude vector V of the link. initial :

[0076] Replace the rotation axis u with a initial :

[0077] (7)

[0078] Link 3 rotates around axis a initial If we rotate, then the rotation matrix R p for:

[0079] (8)

[0080] Substituting formula (7) into formula (8) yields:

[0081]

[0082] As another embodiment of the present invention: the formula (1) is obtained through the following steps:

[0083] Considering the effects of pitch angle α, roll angle β, and rotation angle p, the actual attitude of the link can be characterized by a composite rotation matrix:

[0084]

[0085] V initial Formula and V a Substituting the formula into the above equation, we get:

[0086]

[0087] See attached document Figure 4 The initial position of link 3 is 1c, and the initial position of link 3 is 2c. The actual change in liquid level height ΔH inside shell 1 is obtained by projecting the attitude vector of the link. The height measurement sensitive direction of the level is usually the Z-axis direction of the global coordinate system {G}, which is perpendicular to the horizontal plane. The corrected absolute displacement ΔH is the difference between the final attitude vector and the initial attitude vector of the link in the Z-axis component of the global coordinate system {G}. Therefore, ΔH is the distance between the initial and final attitude vectors of link 3 and the final position of link 3 in the Z-axis component of the link. Figure 4 The height of position 2c minus the height of link 3 Figure 4 The height of position 1c:

[0088]

[0089] In another embodiment of the present invention: the rotating shaft 2 and the connecting rod are arranged in a T-shape, and the connecting rod is fixed in the middle of the rotating shaft 2.

[0090] In another embodiment of the present invention, both ends of the rotating shaft 2 are connected to the housing 1 via bearings. This structural design allows for sensitive feedback even with minute changes in the liquid level. Specifically, the bearings are ball bearings.

[0091] In another embodiment of the present invention: the connecting rod is fixed with a mounting base 5, and the inclinometer 6 (high-precision inclinometer sensor) is fixed inside the mounting base 5. The inclinometer 6 measures the inclinometer angle of the connecting rod and monitors the overall position and attitude of the level.

[0092] Specifically, mounting base 5 is sealed and waterproofed using UV-cured adhesive.

[0093] As another embodiment of the present invention: one end of the shell is provided with an inlet and outlet water pipe, which controls the liquid level through the principle of communicating vessels, and the other end is provided with a cable, which outputs data to the host computer via RS485 / USB.

[0094] The housing 1 is compatible with the mounting flange and signal interface of traditional hydrostatic level instruments, which facilitates direct replacement and rapid deployment in existing monitoring systems, and has good engineering applicability and promotion value.

[0095] Finally, the method described in this application is merely a preferred embodiment and is not intended to limit the scope of protection of this invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the scope of protection of this invention.

[0096] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. An inclined hydrostatic level with Abbe error correction, characterized in that, The instrument includes a housing, within which a rotating shaft is rotatably mounted. A connecting rod is fixed to the rotating shaft, and a float is fixed to the front end of the connecting rod. An inclinometer is mounted on the connecting rod, and the inclinometer is used to obtain the pitch angle α and roll angle β of the connecting rod. The measurement height ΔH of the inclinometer with Abbe error correction is calculated by formula (1): （1） Where L is the length of the link, and I is the identity matrix. Let be the rotation matrix for the pitch angle α. Let be the rotation matrix for the roll angle β. Let p be the rotation matrix of the rotation angle p of the axis of rotation.

2. The tilting hydrostatic level with Abbe error correction according to claim 1, characterized in that, Rotation matrix The result is obtained by formula (2): （2）。 3. The tilting hydrostatic level with Abbe error correction according to claim 2, characterized in that, Rotation matrix The result is obtained by formula (3): （3）。 4. The tilting hydrostatic level with Abbe error correction according to claim 3, characterized in that, An angle encoder and a rotation matrix are connected to the rotating shaft. The result is obtained by formula (4): （4） The rotation angle P is obtained by an angle encoder.

5. The tilting hydrostatic level with Abbe error correction according to claim 4, characterized in that, Formula (3) is obtained through the following steps: The measurement direction of the connecting rod is the same as the Z-axis direction of the global coordinate system {G}. In the global coordinate system {G}, the initial direction vector of the float displacement is defined. ; When the link only has a pitch angle α, the direction of motion of the link is tilted in the plane containing the X and Z axes of the global coordinate system {G}, and the direction of motion of the link after tilting is V. a V a It is calculated by the following formula: When both the pitch angle α and roll angle β of the connecting rod exist, the axis of rotation is defined. Then, using the Rodriguez formula, we can obtain: （5） in yes The cross product matrix: （6） Substituting formula (6) into formula (5) yields:

6. The tilting hydrostatic level with Abbe error correction according to claim 5, characterized in that, Formula (4) is obtained through the following steps: Calculate the initial attitude vector V of the link. initial : Replace the rotation axis u with a initial : （7） Then the rotation matrix R p for: （8） Substituting formula (7) into formula (8) yields:

7. The tilting hydrostatic level with Abbe error correction according to claim 6, characterized in that, Formula (1) is obtained through the following steps: The final attitude vector V of the link final for: ΔH is the difference between the final attitude vector and the initial attitude vector of the link in the Z-axis component of the global coordinate system {G}. Therefore, ΔH is: 。 8. The tilting hydrostatic level with Abbe error correction according to claim 1, characterized in that, The shaft and connecting rod are arranged in a T-shape.

9. The tilting hydrostatic level with Abbe error correction according to claim 8, characterized in that, Both ends of the rotating shaft are connected to the housing via bearings.

10. The tilting hydrostatic level with Abbe error correction according to claim 9, characterized in that, The connecting rod is fixed to a mounting base, and the inclinometer is fixed inside the mounting base.

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