CN104375190A - Power line position information measuring device and method - Google Patents
Power line position information measuring device and method Download PDFInfo
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- CN104375190A CN104375190A CN201410696213.2A CN201410696213A CN104375190A CN 104375190 A CN104375190 A CN 104375190A CN 201410696213 A CN201410696213 A CN 201410696213A CN 104375190 A CN104375190 A CN 104375190A
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Abstract
The invention discloses a power line position information measuring device and method. The power line position information measuring device comprises a sensor array, a receiver unit, a master control computing unit, a communication interface unit and an excitation modulation signal generation unit. The excitation modulation signal generation unit generates sine excitation signals with the frequency of fex for the sensor array, the sensor array obtains signals after the sine excitation signals and an external excitation magnetic field are overlapped, the receiver unit modulates and samples the signals output by the sensor array and then transmits sampling data to the master control computing unit to finish the work of back calculation of the electromagnetic field, the sampling data are finally transmitted to the communication interface unit, and the power line position information is sent out. The power line position information measuring device and method can obtain the accurate power line three-dimensional position information through electromagnetic field model inversion, have the advantages of being high in accuracy and convenient to install and maintain, can better prevent large mechanical equipment from causing external damage to a power line, and reduce the accidents of tripping, casualties and damage to the equipment, thereby guaranteeing the power supply reliability of the power line.
Description
Technical field
The invention belongs to field of measuring technique, relate to a kind of position-measurement device and method, particularly relate to the measurement mechanism and the method that are obtained line of electric force particular location around by engineering construction machinery, the device and avoiding more specifically for obtaining range information between the large-scale construction equipment such as line of electric force and crane be less than between construction machinery and line of electric force safe distance warning device.
Background technology
In electric power, communication, oil field, mine engineering, often use heavy construction construction machinery, such as high-altitude operation vehicle, vehicle-mountedly bury bar comprehensive operation vehicle, hoisting machinery (wheeled, crawler belt, truck-mounted crane etc.), tower crane, crane, pump truck etc.These heavy construction equipments are around the transmission lines of electricity such as high-voltage power line during construction operation; be very easy to due to equipment arm exhibition longer (height) and touch line of electric force by mistake; thus jeopardize the life security of workmen and the property safety of construction machinery; simultaneously due to the transmission line of electricity trip protection that this accident often triggers, the safe and stable operation of transmission line of electricity can be had a strong impact on.Therefore, when using construction machinery, the positional information of Real-time Obtaining power circuit, and remind operating personnel to make between construction machinery and power circuit minimally safe distance is the important method guaranteeing engineering construction safety and power circuit safety, reliability service.
The power cord position alarm adopted in engineering construction is at present all the approximate distance information obtaining line of electric force and probe by measuring electric field intensity, but this traditional measuring method exists a lot of not enough.First, for same line of electric force, owing to being subject to many impacts such as load, voltage effective value wherein and strength of current non-constant value, but irregular change, this causes current warning device to be difficult to obtain the accurate location information of line of electric force.Secondly, not enough just because of the first, when construction machinery is when different line of electric force, the environment of 1000V line of electric force is such as transformed into from 220V line of electric force, the necessary handover measurement gear of workmen, but workmen accurately may not know rated voltage and the size of current of power line transmission, thus causes complicated operation and very easily make mistakes.Again, owing to being subject to traditional measurement method restriction, conventional powerline location alarm only can obtain the vertical range of probe to line of electric force, can not provide the three-dimensional coordinate information of line of electric force.Finally, just because of above deficiency, cause the sensitivity of traditional position warning device lower, can only the rough location information that line of electric force be provided of segmentation, such as 10 meters, 15 meters etc.In sum, traditional power cord position warning device has the deficiencies such as precision is lower, sensitivity is lower, complicated operation, poor accuracy.
Therefore, the present invention, first in the deficiency overcoming traditional measurement method and conventional electric power line position warning device, achieves that to have precision high, self-adaptive electric power line characteristic, the advantage that easy to operate, installation and maintenance are easy.
Summary of the invention
The object of the present invention is to provide and a kind of there is measurement mechanism and the method that self-adaptation accurately obtains power cord position information, this measuring method and device are by setting up 3 D electromagnetic field model around line of electric force, sensor array is utilized to obtain the electromagnetic intensity information of multiple spot, the three dimensional local information of line of electric force is obtained according to inversion algorithm, avoid the impact that change in voltage is brought, and achieve the change of self-adaptive electric power line current intensity, thus obtain accurate positional information, this measuring method and device is made to have versatility good, highly sensitive, can self-adaptive electric power line characteristic, easy to operate, the advantage that installation and maintenance are easy, improve the reliability in work progress.
The technical scheme that device of the present invention adopts is: a kind of power cord position information measurement apparatus, is characterized in that: comprise sensor array, receiver unit, hosting computing unit, communication interface unit, excitation modulation signal generation unit; Described excitation modulation signal generation unit is described sensor array generation frequency is f
exsinusoidal excitation modulation signal, described sensor array obtains signal by after described sinusoidal excitation modulation signal and dynamic excitation magnetic field superposition, after described receiver unit is nursed one's health the signal that described sensor array exports and is sampled, hosting computing unit described in sampled data being sent into completes the work of electromagnetic field Inversion Calculation, and power cord position information is sent by the communication interface unit described in final feeding.
As preferably, described sensor array is made up of the one or three axis fluxgate sensor, the two or three axis fluxgate sensor, the three or three axis fluxgate sensor and the four or three axis fluxgate sensor; Described the one or three axis fluxgate sensor, the two or three axis fluxgate sensor, the three or three axis fluxgate sensor and the four or three axis fluxgate sensor are arranged on the mechanical arm of preparation of construction, and the one or three wherein said axis fluxgate sensor is installed in the top of described mechanical arm.
As preferably, described the one or three axis fluxgate sensor, the two or three axis fluxgate sensor, the three or three axis fluxgate sensor and the four or three axis fluxgate sensor are installed successively in a linear fashion, the air line distance Δ L between the one or three described axis fluxgate sensor and the two or three axis fluxgate sensor
1, the air line distance Δ L between the two or three axis fluxgate sensor and the three or three axis fluxgate sensor
2, the air line distance Δ L between the three or three axis fluxgate sensor and the four or three axis fluxgate sensor
3, and Δ L
1> Δ L
2> Δ L
3.
As preferably, described receiver unit comprises the first multiway analog switch, pre-amplification circuit, bandwidth-limited circuit, adc circuit, the first isolated drive circuit; Control signal is outputted to the first described multiway analog switch by the first described isolated drive circuit by described hosting computing unit, realize the work that different sensors signal is switched, then utilize described pre-amplification circuit to carry out conditioning work to the output signal of described sensor array, and adopt centre frequency to be 2 times of f
exbandwidth-limited circuit take out 2 order harmonic components of sensor array output signal, then realize digital signal samples work through described adc circuit, the sampled signal obtained outputs to described hosting computing unit by the first described isolated drive circuit.
As preferably, described f
exbe set to 10kHz, the passband width of bandwidth-limited circuit is 2kHz, and its signal to noise ratio (S/N ratio) is 60dB, and the first described multiway analog switch adopts the ADG1604 multiway analog switch of ADI company.
As preferably, described hosting computing unit is the control core of measurement mechanism, and complete digital phase sensitivity detection, fft algorithm, Inversion Calculation work based on least square, described hosting computing unit comprise as control core FPGA circuit and realize the DSP circuit of electromagnetic field Inversion Calculation; Order data is sent to FPGA circuit by described DSP circuit, is decoded by FPGA circuit, and FPGA circuit adjusts according to the Control timing sequence of steering order to described receiver unit and excitation modulation signal generation unit; The mode of data bus and address bus is adopted to carry out data interaction between described DSP circuit and FPGA circuit.
As preferably, the fpga chip built in digital phase-sensitive detector (PSD) in described FPGA circuit and frequency are 2f
ex, amplitude is the standard sine signal list of 1V, realizes digital phase sensitivity detection by carrying out related operation with sampled data.
As preferably, described communication interface unit for sending result of calculation, and sends the control command from operator to described hosting computing unit, thus realizes the control of operator to power cord position information measurement apparatus; Described communication interface unit comprises CAN circuit, WIFI circuit and FLASH memory; The mode that the DSP circuit arranged in described hosting computing unit sets according to operator, sends data by CAN circuit or WIFI circuit; Described FLASH memory preserves the parameters of Current communications, and operator according to the car-mounted device parameter of practice of construction machinery, can be modified by the data of CAN circuit to FLASH memory, changes communications parameter; Wherein, described FLASH memory preserves the parameters of Current communications, and its parameter comprises the baud rate of CAN, device identification ID, transmitting side marking ID, equipment local IP address, take over party IP address.
As preferably, described excitation modulation signal generation unit is used under the control of described hosting computing unit, for described the one or three axis fluxgate sensor, the two or three axis fluxgate sensor, the three or three axis fluxgate sensor and the four or three axis fluxgate sensor produce suitable excitation modulation signal, thus make described sensor array can the electromagnetic field of the induced electricity line of force; Described excitation modulation signal generation unit comprises the second isolated drive circuit, DDS circuit, low-pass filter, power amplification circuit, impedance matching circuit and the second multiway analog switch; Control signal is outputted to the second described multiway analog switch by the second described isolated drive circuit by described hosting computing unit, removes digital circuit to the impact of mimic channel; It is f that DDS circuit described in described excitation modulation signal generation unit utilizes produces frequency
exsine wave signal, and through described low-pass filter circuit and power amplification circuit output power be P
ex, frequency is f
exexcitation modulation signal, then utilize described impedance matching circuit realize described in sensor array in three axis fluxgate sensors and the impedance coupler of exciting circuit, and by the second described multiway analog switch, sinusoidal excitation modulation signal is outputted to the one or three axis fluxgate sensor, the two or three axis fluxgate sensor, the three or three axis fluxgate sensor, the four or three axis fluxgate sensor respectively under control of the control signal.
The technical scheme that method of the present invention adopts is: a kind of power cord position information measuring method, it is characterized in that: sensor array comprises at least four three axis fluxgate sensors, wherein the one or three axis fluxgate sensor is arranged on the top of preparation of construction mechanical arm, and the air line distance between the one or three axis fluxgate sensor and the two or three axis fluxgate sensor is Δ L
1, the air line distance between the two or three axis fluxgate sensor and the three or three axis fluxgate sensor is Δ L
2, the air line distance between the three or three axis fluxgate sensor and the four or three axis fluxgate sensor is Δ L
3, Δ L
1, Δ L
2with Δ L
3be known, and Δ L
1> Δ L
2> Δ L
3, the principle that the one or three axis fluxgate sensor, the two or three axis fluxgate sensor, spacing between the three or three axis fluxgate sensor and the four or three axis fluxgate sensor are decayed according to electromagnetic field gradient is put;
The voltage strength that one or three axis fluxgate sensor, the two or three axis fluxgate sensor, the three or three axis fluxgate sensor and the four or three axis fluxgate sensor export all can be expressed as:
Wherein, W
2fluxgate coil turn and cross-sectional area unshakable in one's determination with S,
for external drive field intensity, i is overtone order, μ
2irepresent the magnetic permeability of even-order harmonic, t is the time, and n is that harmonic progression can for infinitely great.
The voltage strength that the DSP circuit arranged in hosting computing unit is exported by the one or three axis fluxgate sensor, the two or three axis fluxgate sensor, the three or three axis fluxgate sensor and the four or the three axis fluxgate sensor obtained calculates external drive field intensity
and then adopt the method for Least squares inversion to calculate the distance l of preparation of construction mechanical arm and line of electric force according to electromagnetic field forward model.
The present invention achieves following technique effect:
(1) achieve the self-adapting detecting to line of electric force electrical condition, namely under the situation in the face of power line current intensity instability, electromagnetic nature can be utilized to ignore voltage magnitude change, thus obtain more accurate distance parameter;
(2) adopt multiple isomorphism sensor to compare to obtain identical parameters, effectively can improve the reliability of measurement;
(3) utilize sensor to obtain the axial vector data of XYZ tri-, more efficientlyly can determine the position relation between line of electric force and construction equipment;
(4) because the present invention can overcome the uncertain factor of line of electric force electrical condition, therefore the precision of the actual metrical information obtained will far above prior art;
(5) another advantage that present invention utilizes the inversion method of least square is: effectively can reduce the measuring error because the inconsistency of sensor causes, thus improves redundancy and the reliability of measurement mechanism manufacture and installation.
(6) owing to employing Study on Digital Phase Sensitive Detection, improve the anti-interference of electronic circuit in device, and reduce the cost adopting simulation phase-sensitive detection circuit.
Accompanying drawing explanation
Fig. 1: be the circuit theory diagrams of the embodiment of the present invention;
Fig. 2: be the sensor scheme of installation of the embodiment of the present invention.
In figure: 101-sensor array, 102-receiver unit, 103-hosting computing unit, 104-communication interface unit, 105-encourages modulation signal generation unit, 106-line of electric force, 107-mechanical arm, 1-the three or three axis fluxgate sensor, 2-the two or three axis fluxgate sensor, 3-the one or three axis fluxgate sensor, 4-first multiway analog switch, 5-pre-amplification circuit, 6-bandwidth-limited circuit, 7-ADC circuit, 8-first isolated drive circuit, 9-FPGA circuit, 10-DSP circuit, 11-CAN bus circuit, 12-WIFI circuit, 13-second isolated drive circuit, 14-DDS circuit, 15-low-pass filter, 16-power amplification circuit, 17-impedance matching circuit, 18-second multiway analog switch, 19-the four or three axis fluxgate sensor.
Embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, below in conjunction with drawings and Examples, the present invention is described in further detail, should be appreciated that exemplifying embodiment described herein is only for instruction and explanation of the present invention, is not intended to limit the present invention.
Ask for an interview Fig. 1, Fig. 2, the technical solution adopted in the present invention is: a kind of power cord position information measurement apparatus, comprises sensor array 101, receiver unit 102, hosting computing unit 103, communication interface unit 104, excitation modulation signal generation unit 105; Excitation modulation signal generation unit 105 is f for sensor array 101 produces frequency
exsinusoidal excitation modulation signal, sensor array 101 obtains signal by after sinusoidal excitation modulation signal and dynamic excitation magnetic field superposition, after the signal that the receiver unit 102 pairs of sensor arraies 101 export is nursed one's health and is sampled, sampled data is sent into the work that hosting computing unit 103 completes electromagnetic field Inversion Calculation, and power cord position information is sent by final communication interface unit 104 of sending into.
Wherein, sensor array 101 is made up of the one or three axis fluxgate sensor the 3, the 23 axis fluxgate sensor the 2, the 33 axis fluxgate sensor the 1, the 43 axis fluxgate sensor 19.Four fluxgate sensors in sensor array element 101 are according to being installed on the mechanical arm 107 of preparation of construction shown in Fig. 2, and four fluxgate sensors are installed successively in a linear fashion, and wherein the one or three axis fluxgate sensor 3 is installed in the top of the mechanical arm 107 of preparation of construction.Air line distance Δ L between one or three axis fluxgate sensor the 3 and the 23 axis fluxgate sensor 2
1, the air line distance Δ L between the two or three axis fluxgate sensor the 2 and the 33 axis fluxgate sensor 1
2, and the air line distance Δ L between the three or three axis fluxgate sensor the 1 and the 43 axis fluxgate sensor 19
3be known.Spacing between four sensors is set to difference, and Δ L
1> Δ L
2> Δ L
3.When after line of electric force 106 proximity sensor arrays unit 101, four fluxgate sensors sense different electromagnetic intensities by because distance is different.
Thus, adoptable following measuring principle obtains the spatial relationship between straight line residing for four fluxgate sensors and line of electric force: the electromagnetic field utilizing four three axis fluxgate sensors to sense and digital signal processing algorithm (digital phase sensitive detection, FFT etc.) obtain line of electric force produce 3 D electromagnetic field field intensity vector, then according to the spatial relation of line of electric force electromagnetic field model and four three axis fluxgate sensors, in the future the trivector matrix of sensor array and mutual alignment adopt and carry out reverse simulation based on the method for least square to Electromagnetic inverse, thus obtain power cord position information.
Specifically, according to Theory of Electromagnetic Field, under sensor array (101) is placed in electromagnetic field environment, each sensor all can sense external electromagnetic field strength.When arbitrary three axis fluxgate sensors in sensor array (101) are positioned at line of electric force elect magnetic field point, the electromagnetic intensity H sensed is by voltage V (t) in line of electric force and strength of current I (t) impact, t is the time, and when the distance l of test point and line of electric force changes, electromagnetic intensity H also changes thereupon.In addition, electromagnetic intensity same electric field intensity is different, only affects by strength of current, and has nothing to do with voltage.In view of above theory, the equation of electromagnetic intensity can be summarised as:
Another advantage of this mode is, can ignore in the face of the voltage range of line of electric force, and only pay close attention to size of current.Due to electromagnetic intensity
be a trivector, therefore use three axis fluxgate sensors can obtain the X-axis component H of present position electromagnetic field respectively
x, Y-axis component H
y, Z axis component H
z.But on the other hand, fluxgate sensor also can sense extraneous static magnetic field strength
such as geomagnetic field.Therefore electromagnetic intensity equation can be expressed as:
Wherein
for the electromagnetic intensity that line of electric force causes.Therefore the component of electromagnetic intensity on X, Y, Z tri-axles that any one three axis fluxgate sensor senses can be expressed as formula:
Wherein H
lx, H
ly, H
lzbe respectively
component on X, Y, Z tri-axles, H
sx, H
sy, H
szbe respectively
component on X, Y, Z tri-axles.According to formula (3), though obviously voltage V (t) and distance l constant, but irregular change may be presented in time due to strength of current I (t), not electromagnetic intensity in the same time still can be caused to change.
For the purpose of simple declaration, be placed on mechanical arm 107 in alignment for four three axis fluxgate sensors in the present invention, and suppose that the distance between the one or three axis fluxgate sensor the 3 and the 23 axis fluxgate sensor 2 is Δ L
1, the distance between the two or three axis fluxgate sensor the 2 and the 33 axis fluxgate sensor 1 is Δ L
2, the distance between the three or three axis fluxgate sensor the 1 and the 43 axis fluxgate sensor 19 is Δ L
3.Four fluxgate sensors are all subject to the electromagnetic field excitation from line of electric force 106.Suppose that residing for four fluxgate sensors, straight line is coplanar with line of electric force and vertical, so the electromagnetic intensity of four fluxgate sensor positions has following relation
Due to Δ L
1, Δ L
2, Δ L
3for known quantity,
be respectively the measured value of four three axis fluxgate sensors, so according to Theory of Electromagnetic Field, at a time three fluxgate sensors faced by electric current I (t) equal, again due to
equal, so the relation that formula (4) sets up three axis fluxgate measurement value sensors and line of electric force distance l can be passed through.From numerical evaluation angle, least square method can be utilized to calculate the corresponding relation of three axis fluxgate measurement value sensors and line of electric force distance l according to electromagnetic intensity gradient distribution relation.
Although formula (4) gives the principle of fundamental measurement ideally, when constructing, mechanical arm 107 and ground certainly exist angle theta, thus make the two or three axis fluxgate sensor 2 be not l+ Δ L to the bee-line of line of electric force
1, but l+ Δ L
1× sin θ.On the other hand, mechanical arm 107 and the line of electric force angle α between the projection on ground is not probably 90 degree.That is, the two or three axis fluxgate sensor 2 also should at l+ Δ L to the bee-line of line of electric force
1basis is processing × sin θ, i.e. (l+ Δ L
1× sin θ) × sin α.In like manner, the three or three axis fluxgate sensor 1 is as the same.Therefore formula 4 should be converted to
In formula (5), variable θ can utilize existing gradient sensor to obtain numerical value, and therefore formula (5) is only containing 3 variablees, I (t), l, α.So we can utilize least square method to solve this overdetermined equation.Certainly, we are also passable utilizes the 5th fluxgate sensor to replace gradient sensor, then utilizes least square method to carry out inverting to overdetermined equation and solves.Formula (6) describes the integrated equation utilizing four fluxgate sensors to carry out range information acquisition and describes:
After determining measuring method, then need the corresponding surveying instrument of designing and making.In order to measure
, excitation modulation signal generation unit 105, under the control of hosting computing unit 103, for fluxgate sensor produces suitable excitation modulation signal, thus makes sensor array 101 can the electromagnetic field of the induced electricity line of force.Excitation modulation signal generation unit 105 comprises the second isolated drive circuit 13, DDS circuit 14, low-pass filter 15, power amplification circuit 16, impedance matching circuit 17, second multiway analog switch 18; Control signal is outputted to the second multiway analog switch 18 by the second isolated drive circuit 13 by hosting computing unit 103, removes digital circuit to the impact of mimic channel; Excitation modulation signal generation unit 105 utilizes DDS circuit 14 to produce frequency for f
exsine wave signal, and through low-pass filter circuit 15 and power amplification circuit 16 output power be P
ex, frequency is f
exexcitation modulation signal.This excitation modulation signal utilizes impedance matching circuit 17 to realize the impedance coupler of three axis fluxgate sensors in sensor array 101 and exciting circuit, and by the second multiway analog switch 18, sinusoidal excitation modulation signal is outputted to the one or three axis fluxgate sensor the 3, the 23 axis fluxgate sensor the 2, the 33 axis fluxgate sensor the 1, the 43 axis fluxgate sensor 19 respectively under control of the control signal.Low-pass filter 15 adopts 7 rank Low-pass Elliptic Filters.
According to the measuring principle of fluxgate, the relation between the signal of the pumping signal of three axis fluxgate sensors, extraneous field intensity, output etc. can be expressed from the next
The wherein voltage strength that exports for fluxgate of e (t); W
2be fluxgate coil turn and cross-sectional area unshakable in one's determination with S, be the particular factor of fluxgate; μ
2irepresenting the magnetic permeability of even-order harmonic, is also the particular factor of fluxgate sensor.Obvious output voltage e (t) by multiple with f
exfor the even-order harmonic of fundamental frequency forms, and all with external magnetic field intensity
proportional.In addition, in view of the intensity of 2 subharmonic is much larger than other even-order harmonics, so in order to reduce calculated amount under the requirement meeting measuring accuracy, measuring method of the present invention is only analyzed this 2 subharmonic.
Receiver unit 102 in the present invention, for completing conditioning to sensor output signal and sampling work, is responsible for sampling to the output information of sensor array 101 and being sent to hosting computing unit 103.Receiver unit 102 comprises the first multiway analog switch 4, pre-amplification circuit 5, bandwidth-limited circuit 6, adc circuit 7, first isolated drive circuit 8.As shown in Figure 1, control signal is outputted to the first multiway analog switch 4 of receiver unit 102 by hosting computing unit 103 by the first isolated drive circuit 8, realize the work switched different sensors signal.Then receiver unit 102 utilizes pre-amplification circuit 5 pairs of sensor output signals to carry out conditioning work, and adopts centre frequency to be 2 times of f
exbandpass filter 6 take out 2 order harmonic components of sensor array output signal, then realize digital signal samples work through adc circuit 7, the sampled signal obtained outputs to hosting computing unit 103 by isolated drive circuit 8.
For ensureing the filter effect of signal conditioning circuit, therefore the frequency f of excitation modulation signal
exbe set to 10kHz, filter transmission band width is 2kHz, and its signal to noise ratio (S/N ratio) is 60dB.Preferably, the multiway analog switch in the present invention adopts the ADG1604 of ADI company to realize.
Hosting computing unit 103 is control cores of system, and complete digital phase sensitivity detection, fft algorithm, the work such as Inversion Calculation based on least square, hosting computing unit 103 comprise as control core FPGA circuit 9 and realize the DSP circuit 10 of electromagnetic field Inversion Calculation; Wherein, order data is sent to FPGA circuit 9 by DSP circuit 10, is decoded by FPGA circuit 9, and FPGA circuit 9 adjusts according to the Control timing sequence of steering order to receiver unit 103 and excitation modulation signal generation unit 105.The mode of data bus and address bus is adopted to carry out data interaction between DSP circuit 10 and FPGA circuit 9.As shown in Figure 1, FPGA circuit 9 control DDS circuit 14 makes the frequency of sinusoidal excitation modulation signal, phase place and amplitude adjustable, FPGA circuit 9 is according to Control timing sequence, and control signal is outputted to the second multiway analog switch 18 through the second isolated drive circuit 13, complete the excitation modulation selecting certain sensor; Master control FPGA circuit 9 by the first isolated drive circuit 8 achieve a butt joint receipts machine unit 102 control and read sample information, comprising: provide channel selecting signal to the first multiway analog switch 4, three bus signals of chip selection signal, changeover control signal, sampling clock, SPI interface etc. are provided to adc circuit 7.A built-in digital phase-sensitive detector in fpga chip.Due to the twice that known signal frequency is excitation modulating frequency, i.e. 2f
ex, be therefore 2f with a frequency in digital phase sensitivity detection
ex, amplitude is the standard sine signal list of 1V, the data in this table and sampled data are carried out related operation and then can realize digital phase sensitivity detection method.Then sampled voltage signal can be obtained by built-in low-pass filter circuit.When being stored in after FPGA circuit 9 gets sample information from adc circuit 7 in the built-in FIFO of FPGA, and the inner phase-sensitive detection circuit set up is utilized to obtain 2f
exsignal, read for DSP circuit 10.After FPGA completes sampling and phase sensitive detection process, then trigger an external interrupt to DSP circuit 10.Then DSP circuit 10 reads the interrupt status register information in FPGA by address bus and data bus, and FIFO information.The information of voltage read is calculated external drive field intensity according to the mode of formula (7) by DSP circuit 10
, and then adopt the method for Least squares inversion to solve the distance l of test point and line of electric force according to the electromagnetic field forward model that formula (4) describes.
Communication interface unit 104 is for sending result of calculation, and send the control command from operator to hosting computing unit 103, thus realizing the control of operator to this warning device, communication interface unit 104 comprises CAN circuit 11, WIFI circuit 12 and FLASH memory; Particularly, the mode that the DSP circuit 10 in hosting computing unit 103 sets according to user, sends data by CAN circuit 11 or WIFI circuit 12.FLASH memory in communication interface unit 104 saves the parameters of Current communications, the content such as baud rate, device identification ID, transmitting side marking ID, equipment local IP address, take over party IP address of such as CAN.Operator according to the car-mounted device parameter of practice of construction machinery, can be modified by the data of CAN to FLASH memory, thus can change communications parameter.
Owing to all needing to ensure that the mechanical arm of construction machinery is as far as possible away from line of electric force in Practical Project work progress, and and safe distance minimally between electric power, therefore by least one the three axis fluxgate sensor in sensor array 101 are arranged on mechanical arm far-end, the distance l between mechanical arm end and line of electric force is obtained by its measured value, thus judge that the distance of mechanical arm far-end and line of electric force is whether outside minimum safe distance, ensures construction safety.The three axis fluxgate sensors of more than three can be adopted as required in sensor array 101, except at least one three axis fluxgate sensor is set at mechanical arm far-end, at least one three axis fluxgate sensor is also set at each joint of mechanical arm simultaneously, thus the construction safety of the mechanical arm with one or more joint can be ensured.Can also multiple three axis fluxgate sensors are set meet the demand of closely constructing near line of electric force in interval on the robotic arm.
Although this instructions more employs sensor array 101, receiver unit 102, hosting computing unit 103, communication interface unit 104, excitation modulation signal generation unit 105, line of electric force 106, mechanical arm 107, three or three axis fluxgate sensor 1, two or three axis fluxgate sensor 2, one or three axis fluxgate sensor 3, first multiway analog switch 4, pre-amplification circuit 5, bandwidth-limited circuit 6, adc circuit 7, first isolated drive circuit 8, FPGA circuit 9, DSP circuit 10, CAN circuit 11, WIFI circuit 12, second isolated drive circuit 13, DDS circuit 14, low-pass filter 15, power amplification circuit 16, impedance matching circuit 17, second multiway analog switch 18, four or three term such as axis fluxgate sensor 19 grade, but do not get rid of the possibility using other terms.Use these terms to be only used to describe essence of the present invention more easily, the restriction that they are construed to any one additional is all contrary with spirit of the present invention.
Should be understood that, the part that this instructions does not elaborate all belongs to prior art.
Should be understood that; the above-mentioned description for preferred embodiment is comparatively detailed; therefore the restriction to scope of patent protection of the present invention can not be thought; those of ordinary skill in the art is under enlightenment of the present invention; do not departing under the ambit that the claims in the present invention protect; can also make and replacing or distortion, all fall within protection scope of the present invention, request protection domain of the present invention should be as the criterion with claims.
Claims (10)
1. a power cord position information measurement apparatus, is characterized in that: comprise sensor array (101), receiver unit (102), hosting computing unit (103), communication interface unit (104), excitation modulation signal generation unit (105); Described excitation modulation signal generation unit (105) is f for described sensor array (101) produces frequency
exsinusoidal excitation modulation signal, described sensor array (101) obtains signal by after described sinusoidal excitation modulation signal and dynamic excitation magnetic field superposition, after described receiver unit (102) is nursed one's health the signal that described sensor array (101) exports and is sampled, hosting computing unit (103) described in sampled data being sent into completes the work of electromagnetic field Inversion Calculation, and power cord position information is sent by the communication interface unit (104) described in final feeding.
2. power cord position information measurement apparatus according to claim 1, is characterized in that: described sensor array (101) is made up of the one or three axis fluxgate sensor (3), the two or three axis fluxgate sensor (2), the three or three axis fluxgate sensor (1) and the four or three axis fluxgate sensor (19); Described the one or three axis fluxgate sensor (3), the two or three axis fluxgate sensor (2), the three or three axis fluxgate sensor (1) and the four or three axis fluxgate sensor (19) are arranged on the mechanical arm (107) of preparation of construction, and the one or three wherein said axis fluxgate sensor (3) is installed in the top of described mechanical arm (107).
3. power cord position information measurement apparatus according to claim 2, it is characterized in that: described the one or three axis fluxgate sensor (3), the two or three axis fluxgate sensor (2), the three or three axis fluxgate sensor (1) and the four or three axis fluxgate sensor (19) are installed successively in a linear fashion, the air line distance Δ L between the one or three described axis fluxgate sensor (3) and the two or three axis fluxgate sensor (2)
1, the air line distance Δ L between the two or three axis fluxgate sensor (2) and the three or three axis fluxgate sensor (1)
2, the air line distance Δ L between the three or three axis fluxgate sensor (1) and the four or three axis fluxgate sensor (19)
3, and Δ L
1> Δ L
2> Δ L
3.
4. power cord position information measurement apparatus according to claim 1, is characterized in that: described receiver unit (102) comprises the first multiway analog switch (4), pre-amplification circuit (5), bandwidth-limited circuit (6), adc circuit (7), the first isolated drive circuit (8); Control signal is outputted to described the first multiway analog switch (4) by described the first isolated drive circuit (8) by described hosting computing unit (103), realize the work that different sensors signal is switched, then utilize the output signal of described pre-amplification circuit (5) to described sensor array (101) to carry out conditioning work, and adopt centre frequency to be 2 times of f
exbandwidth-limited circuit (6) take out sensor array output signal 2 order harmonic components, pass through described adc circuit (7) again and realize digital signal samples work, the sampled signal obtained outputs to described hosting computing unit (103) by described the first isolated drive circuit (8).
5. power cord position information measurement apparatus according to claim 4, is characterized in that: described f
exbe set to 10kHz, the passband width of bandwidth-limited circuit (6) is 2kHz, and its signal to noise ratio (S/N ratio) is 60dB, and described the first multiway analog switch (4) adopts the ADG1604 multiway analog switch of ADI company.
6. power cord position information measurement apparatus according to claim 1, it is characterized in that: described hosting computing unit (103) is the control core of measurement mechanism, and complete digital phase sensitivity detection, fft algorithm, Inversion Calculation work based on least square, described hosting computing unit (103) comprise as control core FPGA circuit (9) and realize the DSP circuit (10) of electromagnetic field Inversion Calculation; Order data is sent to FPGA circuit (9) by described DSP circuit (10), decoded by FPGA circuit (9), FPGA circuit (9) adjusts according to the Control timing sequence of steering order to described receiver unit (102) and excitation modulation signal generation unit (105); The mode of data bus and address bus is adopted to carry out data interaction between described DSP circuit (10) and FPGA circuit (9).
7. power cord position information measurement apparatus according to claim 6, is characterized in that: the fpga chip built in digital phase-sensitive detector (PSD) in described FPGA circuit (9) and frequency are 2f
ex, amplitude is the standard sine signal list of 1V, realizes digital phase sensitivity detection by carrying out related operation with sampled data.
8. power cord position information measurement apparatus according to claim 1, it is characterized in that: described communication interface unit (104) is for sending result of calculation, and send the control command from operator to described hosting computing unit (103), thus realize the control of operator to power cord position information measurement apparatus; Described communication interface unit (104) comprises CAN circuit (11), WIFI circuit (12) and FLASH memory; The mode that the DSP circuit (10) arranged in described hosting computing unit (103) sets according to operator, sends data by CAN circuit (11) or WIFI circuit (12); Described FLASH memory preserves the parameters of Current communications, and operator according to the car-mounted device parameter of practice of construction machinery, can be modified by CAN circuit (11) data to FLASH memory, changes communications parameter; Wherein said FLASH memory preserves the parameters of Current communications, and its parameter comprises the baud rate of CAN, device identification ID, transmitting side marking ID, equipment local IP address, take over party IP address.
9. power cord position information measurement apparatus according to claim 1, it is characterized in that: described excitation modulation signal generation unit (105) is under the control of described hosting computing unit (103), for described the one or three axis fluxgate sensor (3), the two or three axis fluxgate sensor (2), the three or three axis fluxgate sensor (1) and the four or three axis fluxgate sensor (19) produce suitable excitation modulation signal, thus make described sensor array (101) can the electromagnetic field of the induced electricity line of force; Described excitation modulation signal generation unit (105) comprises the second isolated drive circuit (13), DDS circuit (14), low-pass filter (15), power amplification circuit (16), impedance matching circuit (17) and the second multiway analog switch (18); Control signal is outputted to described the second multiway analog switch (18) by described the second isolated drive circuit (13) by described hosting computing unit (103), removes digital circuit to the impact of mimic channel; It is f that DDS circuit (14) described in described excitation modulation signal generation unit (105) utilizes produces frequency
exsine wave signal, and through described low-pass filter circuit (15) and power amplification circuit (16) output power be P
ex, frequency is f
exexcitation modulation signal, then utilize described impedance matching circuit (17) realize described in sensor array (101) in the impedance coupler of three axis fluxgate sensors and exciting circuit, and pass through described the second multiway analog switch (18) under control of the control signal sinusoidal excitation modulation signal outputted to the one or three axis fluxgate sensor (3), the two or three axis fluxgate sensor (2), the three or three axis fluxgate sensor (1), the four or three axis fluxgate sensor (19) respectively.
10. a power cord position information measuring method, it is characterized in that: sensor array comprises at least four three axis fluxgate sensors, wherein the one or three axis fluxgate sensor (3) is arranged on the top of preparation of construction mechanical arm, and the air line distance between the one or three axis fluxgate sensor (3) and the two or three axis fluxgate sensor (2) is Δ L
1, the air line distance between the two or three axis fluxgate sensor (2) and the three or three axis fluxgate sensor (1) is Δ L
2, the air line distance between the three or three axis fluxgate sensor (1) and the four or three axis fluxgate sensor (19) is Δ L
3, Δ L
1, Δ L
2with Δ L
3be known, and Δ L
1> Δ L
2> Δ L
3, the principle that the one or three described axis fluxgate sensor (3), the two or three axis fluxgate sensor (2), spacing between the three or three axis fluxgate sensor (1) and the four or three axis fluxgate sensor (19) are decayed according to electromagnetic field gradient is put;
The voltage strength that described the one or three axis fluxgate sensor (3), the two or three axis fluxgate sensor (2), the three or three axis fluxgate sensor (1) and the four or three axis fluxgate sensor (19) export all can be expressed as:
Wherein, W
2fluxgate coil turn and cross-sectional area unshakable in one's determination with S,
for external drive field intensity, i is overtone order, μ
2irepresent the magnetic permeability of even-order harmonic, t is the time, and n is harmonic progression;
The voltage strength that the DSP circuit (10) arranged in described hosting computing unit (104) is exported by described the one or three axis fluxgate sensor (3), the two or three axis fluxgate sensor (2), the three or three axis fluxgate sensor (1) and the four or the three axis fluxgate sensor (19) obtained calculates external drive field intensity
and then adopt the method for Least squares inversion to calculate the distance l of preparation of construction mechanical arm (107) and line of electric force (106) according to electromagnetic field forward model.
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