CN104794841A - Ground wave micro vibration direction servo tracking and monitoring device and control system thereof - Google Patents
Ground wave micro vibration direction servo tracking and monitoring device and control system thereof Download PDFInfo
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- CN104794841A CN104794841A CN201510246646.2A CN201510246646A CN104794841A CN 104794841 A CN104794841 A CN 104794841A CN 201510246646 A CN201510246646 A CN 201510246646A CN 104794841 A CN104794841 A CN 104794841A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/16—Actuation by interference with mechanical vibrations in air or other fluid
- G08B13/1654—Actuation by interference with mechanical vibrations in air or other fluid using passive vibration detection systems
- G08B13/1663—Actuation by interference with mechanical vibrations in air or other fluid using passive vibration detection systems using seismic sensing means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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Abstract
The invention discloses a ground wave micro vibration direction servo tracking and monitoring device and a control system thereof. The monitoring device comprises a base, a motor bracket, a motor, a U-shaped bracket and a camera; the control system comprises a micro vibration monitoring sensor, a single chip microcomputer, a chip drive module, the motor, U-shaped bracket and the camera. According to the ground wave micro vibration direction servo tracking and monitoring device and the control system thereof disclosed by the invention, a vibration detection perimeter intrusion alarm system is realized by utilization of an MEMS (Micro electro mechanical system) chip sensing technology; meanwhile, the features of an underground micro vibration source direction can be judged by utilization of a vector ground wave sensor, and an existing ground video monitoring camera can be subjected to servo tracking; compared with the same type of monitoring equipment, the ground wave micro vibration direction servo tracking and monitoring device has the advantages of being reliable in action, novel in structure, wide in work vision (free from monitoring dead angle) and high in response speed.
Description
Technical field
The present invention's life security alarm field, refers in particular to a kind of earthwave microseismic activity direction servo follow-up tracing supervising device and control system thereof.
Background technology
In recent years along with the continuous progress of security alarm technology, the various structural electronic perimeter detection system of solid protective that depends on constantly is weeded out the old and bring forth the new, active infrared detection technology from, electronic impulse electric discharge Detection Techniques, go so far as and have now various specific perimeter defense system for different application demand, this wherein just comprises the vibration-detection system depended on metal volume flower or welding wire purse seine.Circumference intrusion system based on vibration detection has a variety of: vibrations cable, fiber optic interferometric, inertial oscillation etc.Video monitoring at present for Outdoor Historical Relics with manually operating video monitoring The Cloud Terrace, need rotate video monitoring The Cloud Terrace to the monitoring of object.The deficiency that existing supervisory system exists, can only carry out the fixing shooting of one direction, operation flexibility is not enough and there is the problems such as monitoring dead angle.
Summary of the invention
The technical problem to be solved in the present invention is for above-mentioned the deficiencies in the prior art, provides a kind of earthwave microseismic activity direction servo follow-up tracing supervising device and control system thereof.
The technical scheme that the present invention takes is as follows: a kind of earthwave microseismic activity direction servo follow-up tracing supervising device, comprise base, electric machine support, motor, U-shaped support and camera, wherein, above-mentioned electric machine support comprises the first electric machine support and the second electric machine support, motor comprises the first motor and the second motor, and U-shaped support comprises the first U-shaped support and the second U-shaped support; Above-mentioned first electric machine support is arranged on base, is provided with the first motor in the first electric machine support, and the first U-shaped support is connected on the output shaft of the first electric machine support and the first motor, and the first motor drives before and after the first U-shaped support and rotates; Above-mentioned second electric machine support is fixed on the first U-shaped support, and with the first U-shaped holder pivots, be provided with the second motor in second electric machine support, the second U-shaped support is connected on the output shaft of the second motor of the second electric machine support, and the second motor drives the second U-shaped support to rotate up and down; Above-mentioned camera is arranged on the top of the second U-shaped support, and the second U-shaped support drives camera to rotate, so that tracing and monitoring vibration.
Preferably, the first described electric machine support is arranged on the right side of base, and extends to the right, and form supporting body structure, above-mentioned first motor is arranged on this supporting body structure, and the output shaft of the first motor upwards extends.
Preferably, described first U-shaped support 4 is U-shaped structure, the opening of this U-shaped structure is towards right side, the lower end of U-shaped structure is connected on the first electric machine support, the upper end of U-shaped structure is connected on the output shaft of the first motor, and the first motor drives the first U-shaped support to rotate before and after the first electric machine support.
Preferably, the second described electric machine support is fixed on the top of the first U-shaped support, and rotates with the second electric machine support, the both sides of the second electric machine support upwards extend, form two back up pads, above-mentioned second motor is arranged between two back up pads, and the output shaft of the second motor extends to the right.
Preferably, described second U-shaped support is U-shaped structure, the opening of this U-shaped structure is towards downside, and the two ends of U-shaped structure are connected on the output shaft of the second electric machine support and the second motor, and the second motor drives the second U-shaped support to rotate up and down around the second electric machine support; Above-mentioned camera is arranged on the second U-shaped support, and rotates, so that tracing and monitoring with the second U-shaped support.
The control system of a kind of earthwave microseismic activity direction servo follow-up tracing supervising device, comprise microseismic activity monitoring inductor, single-chip microcomputer, chip drives module, motor, U-shaped support and camera, wherein, above-mentioned microseismic activity monitoring inductor is earthwave induction installation, earthwave induction installation is arranged on and is embedded in underground, so that induction monitor microseismic signals, and microseismic signals is converted into current signal; Above-mentioned single-chip microcomputer connects microseismic activity monitoring inductor, current signal is passed in single-chip microcomputer by microseismic activity monitoring inductor, single-chip microcomputer connects computing machine and chip drives module respectively, single-chip microcomputer converts current signal to digital signal, and by this digital signal transfers to chip drives module, chip drives module controls electric machine rotation, the U-shaped support of driven by motor rotates, accurately to control camera, camera is made to aim at microquake sources place.
Preferably, described microseismic activity monitoring inductor comprises MEMS chip, X-axis output analogue value module, Y-axis exports analogue value module, Z axis exports analogue value module, chip dormancy control module, freely falling body detection module, chip selftest and initialization module, range rotary module and power interface, X-axis, Y-axis and Z axis voltage signal that microseismic activity monitoring inductor will detect, and voltage signal is passed to zone controller main frame and calculates orientation angles by main frame and export to motor drive module, to control electric machine rotation, adjustment camera position.
Beneficial effect of the present invention is:
The present invention be directed to a kind of innovative design of prior art, the vibration detecting circumference intrusion alarm system that the present invention utilizes MEMS chip sensing technology to realize.Microelectromechanical systems (Micro-Electro Mechanical Systems, MEMS) be the gordian technique solving sensor microminiaturization, in simple terms, its principle of work is external environment condition physics, chemistry and the signal such as biological input, convert electric signal to by microsensor, after signal transacting (simulating signal or digital signal), performed an action by microactrator, reach the function with external environment condition " interaction ", it is Internet of Things core technology place.Earthwave vibrative sensor is based on 3 axle acceleration sensor chips, external environment condition input (vibration) causes MEMS chip XYZ axle acceleration value to change, sensing processor chip on vibration transducer collects acceleration change information, filter out interference through polyalgorithm, warning information is passed by digital communication components.Because MEMS chip can provide 3 axles continual and steady vibration data reliably, we can be analyzed by various dimensions algorithm synthesis, judge that hand digging is robbed a tomb, the place of explosive blasting grave-robbery and direction, for operator on duty can not be too tired to deal with for the wrong report that " wolf has come " is such.Simultaneously, utilize vector ground wave sensor can judge that the characteristic of the direction of earthquake source of underground microseismic activity can carry out servo follow-up tracing to existing ground video monitoring camera, compared with watch-dog of the same type, there is the advantage of reliable in action, novel structure, the work visual field large (without monitoring dead angle), fast response time.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention.
Fig. 2 is square frame principle schematic diagram of the present invention.
Fig. 3 is the circuit theory diagrams of motor drive module in Fig. 1.
Fig. 4 is the schematic diagram of gravity sensing device in Fig. 1.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described:
As shown in Figures 1 to 4, the technical scheme that the present invention takes is as follows: a kind of earthwave microseismic activity direction servo follow-up tracing supervising device, comprise base 1, electric machine support, motor, U-shaped support and camera 8, wherein, above-mentioned electric machine support comprises the first electric machine support 2 and the second electric machine support 3, motor comprises the first motor 5 and the second motor 7, and U-shaped support comprises the first U-shaped support 4 and the second U-shaped support 6; Above-mentioned first electric machine support 2 is arranged on base 1, is provided with the U-shaped support 4 of the first motor 5, first and is connected on the output shaft of the first electric machine support 2 and the first motor 5 in the first electric machine support 2, and the first motor 5 drives before and after the first U-shaped support 4 and rotates; Above-mentioned second electric machine support 3 is fixed on the first U-shaped support 4, and rotate with the first U-shaped support 4, the second motor 7 is provided with in second electric machine support 3, second U-shaped support 6 is connected on the output shaft of the second motor 7 of the second electric machine support 3, and the second motor 7 drives the second U-shaped support about 6 to rotate; Above-mentioned camera 8 is arranged on the top of the second U-shaped support 6, and the second U-shaped support 6 drives camera 8 to rotate, so that tracing and monitoring vibration.
First electric machine support 2 is arranged on the right side of base 1, and extends to the right, and form supporting body structure, above-mentioned first motor 5 is arranged on this supporting body structure, and the output shaft of the first motor 5 upwards extends.
First U-shaped support 4 is U-shaped structure, the opening of this U-shaped structure is towards right side, the lower end of U-shaped structure is connected on the first electric machine support 2, and the upper end of U-shaped structure is connected on the output shaft of the first motor 5, and the first motor 5 drives the first U-shaped support 4 to rotate before and after the first electric machine support 2.
Second electric machine support 3 is fixed on the top of the first U-shaped support 4, and rotate with the second electric machine support 3, the both sides of the second electric machine support 3 upwards extend, and form two back up pads, above-mentioned second motor 7 is arranged between two back up pads, and the output shaft of the second motor 7 extends to the right.
Second U-shaped support 6 is U-shaped structure, the opening of this U-shaped structure is towards downside, the two ends of U-shaped structure are connected on the output shaft of the second electric machine support 3 and the second motor 7, and the second motor 7 drives the second U-shaped support 6 to rotate around the second electric machine support about 3; Above-mentioned camera 8 is arranged on the second U-shaped support 6, and rotates, so that tracing and monitoring with the second U-shaped support 6.
The control system of a kind of earthwave microseismic activity direction servo follow-up tracing supervising device, it is characterized in that: comprise microseismic activity monitoring inductor, single-chip microcomputer, chip drives module, motor, U-shaped support and camera, wherein, above-mentioned microseismic activity monitoring inductor is earthwave induction installation, earthwave induction installation is arranged on and is embedded in underground, so that induction monitor microseismic signals, and microseismic signals is converted into current signal; Above-mentioned single-chip microcomputer connects microseismic activity monitoring inductor, current signal is passed in single-chip microcomputer by microseismic activity monitoring inductor, single-chip microcomputer connects computing machine and chip drives module respectively, single-chip microcomputer converts current signal to digital signal, and by this digital signal transfers to chip drives module, chip drives module controls electric machine rotation, the U-shaped support of driven by motor rotates, accurately to control camera, camera is made to aim at microquake sources place.
Microseismic activity monitoring inductor comprises MEMS chip, X-axis exports analogue value module, Y-axis exports analogue value module, Z axis exports analogue value module, chip dormancy control module, freely falling body detection module, chip selftest and initialization module, range rotary module and power interface, the microseismic signals detected is converted to X-axis, Y-axis and Z axis current signal by microseismic activity monitoring inductor respectively, and by signal transmission to motor drive module, to control electric machine rotation, adjustment camera position.
Further, analysis of design scheme of the present invention considers that mine working or explosion at night etc. rob ancient tomb activity by earthquake-wave-exciting, utilize the feature that microseismic can realize seismic signal Real-Time Monitoring in certain area, propose herein and utilize the thinking and countermeasure of microseismic to carry out the technique study of the anti-theft protection to field cultural relic such as ancient tombs. namely in protection zone on effective supervisory system basis reasonable in design, by the collection to underground vibration signal, transmission, analyze and differentiate, determine whether to have the activity of robbing, reach the object to field cultural relic protections such as ancient tombs.The selection of hardware: this servo follow-up tracing system mainly to the microquake sources (as manually dug a hole, explosion is dug a hole) of underground different directions, therefore needs the earthwave induction system that high-accuracy.When orientation, underground has people to dig a hole and the appearance of explosion microquake sources, direction of earthquake source can be responded to flexibly, and synchronously accurately forward camera the orientation of focus to, so need servomotor.Because this ground wave sensor can convert current signal to by after the judgement of the microseismic signals of measurement, before the system of delivering to carries out data processing, need simulating signal to change into digital signal.Electric machine speed regulation control module: drag, so need single chip machine controlling circuit owing to adopting servomotor.Coordinate Single-chip Controlling servomotor with earthwave induction system, reach accurate adjustment motor speed and turn to.Because this circuit working is under the saturated cut-off mode of servomotor, so efficiency is very high; H type circuit ensure that the control that can realize rotating speed and direction easily; PWM speed governing [2] working method: adopt unipolarity duty, unipolarity duty is that Single-chip Controlling mouth one end sets low level, other end output pwm signal, in the design, have employed PWM technology to control motor, the calculating of the output switching by two mouthfuls and the dutycycle to PWM, reaches the object of accurate speed governing.
Further, the present invention is according to the overall control requirement of system, and native system adopts single-chip microcomputer to be the control structure of core, comprises power module, camera, motor drive module, earthwave sensor sensing system, power conversion structure and one and PC communication module.Closed-loop control is realized and stabilized speed by earthwave inductive pick-up module; The hardware components detailed diagram of General layout Plan as shown in Figure 2.Earthwave gravity sensing system (three axle acceleration sensors), as shown in Figure 4, have employed signal condition, single-stage low-pass filter and technique for temperature compensation, and provide 2 sensitivity measurement range selection interfaces and park mode interface, it has low-pass filtering and has done zero g compensation.Small volume, lightweight, the actions such as inclination angle, motion, attitude detection interaction can be completed.GS exports low and high level by the I/O mouth of single-chip microcomputer and controls.0 is low level, and 1 is high level.If the unsettled interface of GS is defaulted as 0, now the 1.5g of measurement range selection.Native system adopts+5V Power supply, connects+5V and GND two pin.SL is unsettled is defaulted as 1, and upper some X, Y, Z just has output.0G is that freely falling body detects, and is normally 0, exports 1 when freely dropping, can trigger pip taking alarm.SL is unsettled is defaulted as 1, powers on and namely works, and can connect single-chip microcomputer I, O mouth, to dormancy during 0 signal, reduces power consumption.
Further, job step of the present invention: the earthwave sensor monitoring network being first embedded in underground is after perceiving and having micro-vibration signal according to certain orientation of this sensor, information transmission is carried out intellectual analysis to master system and judgement provides X-direction control signal, after first motor receives signal, response runs, drive the first U-shaped support left rotation and right rotation, complete camera left rotation and right rotation task; Then turn signal in the vertical direction sent at receiving control system, after second motor receives signal, response runs, drive the second U-shaped support to face upward motion of bowing, camera can realize two degree of freedom and rotate (both direction respectively rotates 180 °, two unmatched rear requirements of motion process).
Embodiments of the invention just introduce its embodiment, do not lie in and limit its protection domain.The technician of the industry can make some amendment under the inspiration of the present embodiment, therefore all equivalences done according to the scope of the claims of the present invention change or modify, and all belong within the scope of Patent right requirement of the present invention.
Claims (7)
1. an earthwave microseismic activity direction servo follow-up tracing supervising device, it is characterized in that: comprise base (1), electric machine support, motor, U-shaped support and camera (8), wherein, above-mentioned electric machine support comprises the first electric machine support (2) and the second electric machine support (3), motor comprises the first motor (5) and the second motor (7), and U-shaped support comprises the first U-shaped support (4) and the second U-shaped support (6); Above-mentioned first electric machine support (2) is arranged on base (1), the first motor (5) is provided with in first electric machine support (2), first U-shaped support (4) is connected on the output shaft of the first electric machine support (2) and the first motor (5), and the first motor (5) drives before and after the first U-shaped support (4) and rotates; Above-mentioned second electric machine support (3) is fixed on the first U-shaped support (4), and rotate with the first U-shaped support (4), the second motor (7) is provided with in second electric machine support (3), second U-shaped support (6) is connected on the output shaft of the second motor (7) of the second electric machine support (3), and the second motor (7) drives the second U-shaped support (6) to rotate up and down; Above-mentioned camera (8) is arranged on the top of the second U-shaped support (6), and the second U-shaped support (6) drives camera (8) to rotate, so that tracing and monitoring vibration.
2. a kind of earthwave microseismic activity direction according to claim 1 servo follow-up tracing supervising device, it is characterized in that: described the first electric machine support (2) is arranged on the right side of base (1), and extend to the right, form supporting body structure, above-mentioned first motor (5) is arranged on this supporting body structure, and the output shaft of the first motor (5) upwards extends.
3. a kind of earthwave microseismic activity direction according to claim 2 servo follow-up tracing supervising device, it is characterized in that: the described first U-shaped support (4) is U-shaped structure, the opening of this U-shaped structure is towards right side, the lower end of U-shaped structure is connected on the first electric machine support (2), the upper end of U-shaped structure is connected on the output shaft of the first motor (5), and the first motor (5) drives the first U-shaped support (4) to rotate before and after the first electric machine support (2).
4. a kind of earthwave microseismic activity direction according to claim 3 servo follow-up tracing supervising device, it is characterized in that: described the second electric machine support (3) is fixed on the top of the first U-shaped support (4), and rotate with the second electric machine support (3), the both sides of the second electric machine support (3) upwards extend, form two back up pads, above-mentioned second motor (7) is arranged between two back up pads, and the output shaft of the second motor (7) extends to the right.
5. a kind of earthwave microseismic activity direction according to claim 4 servo follow-up tracing supervising device, it is characterized in that: the described second U-shaped support (6) is U-shaped structure, the opening of this U-shaped structure is towards downside, the two ends of U-shaped structure are connected on the output shaft of the second electric machine support (3) and the second motor (7), and the second motor (7) drives the second U-shaped support (6) to rotate up and down around the second electric machine support (3); Above-mentioned camera (8) is arranged on the second U-shaped support (6), and rotates, so that tracing and monitoring with the second U-shaped support (6).
6. the control system of an earthwave microseismic activity direction as claimed in claim 1 servo follow-up tracing supervising device, it is characterized in that: comprise microseismic activity monitoring inductor, single-chip microcomputer, chip drives module, motor, U-shaped support and camera, wherein, above-mentioned microseismic activity monitoring inductor is earthwave induction installation, earthwave induction installation is arranged on and is embedded in underground, so that induction monitor microseismic signals, and microseismic signals is converted into current signal; Above-mentioned single-chip microcomputer connects microseismic activity monitoring inductor, current signal is passed in single-chip microcomputer by microseismic activity monitoring inductor, single-chip microcomputer connects computing machine and chip drives module respectively, single-chip microcomputer converts current signal to digital signal, and by this digital signal transfers to chip drives module, chip drives module controls electric machine rotation, the U-shaped support of driven by motor rotates, accurately to control camera, camera is made to aim at microquake sources place.
7. the control system of a kind of earthwave microseismic activity direction according to claim 6 servo follow-up tracing supervising device, it is characterized in that: described microseismic activity monitoring inductor comprises MEMS chip, X-axis exports analogue value module, Y-axis exports analogue value module, Z axis exports analogue value module, chip dormancy control module, freely falling body detection module, chip selftest and initialization module, range rotary module and power interface, the X-axis that microseismic activity monitoring inductor will detect, Y-axis and Z axis voltage signal, and voltage signal is passed to zone controller main frame and calculates orientation angles by main frame and export to motor drive module, to control electric machine rotation, adjustment camera position.
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