CN110455442B - Attitude self-adjusting pressure sensor device and pressure sensor drift correction method - Google Patents
Attitude self-adjusting pressure sensor device and pressure sensor drift correction method Download PDFInfo
- Publication number
- CN110455442B CN110455442B CN201910781791.9A CN201910781791A CN110455442B CN 110455442 B CN110455442 B CN 110455442B CN 201910781791 A CN201910781791 A CN 201910781791A CN 110455442 B CN110455442 B CN 110455442B
- Authority
- CN
- China
- Prior art keywords
- pressure sensor
- sealed cabin
- adjusting
- control unit
- micro control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/10—Measuring force or stress, in general by measuring variations of frequency of stressed vibrating elements, e.g. of stressed strings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L27/00—Testing or calibrating of apparatus for measuring fluid pressure
- G01L27/002—Calibrating, i.e. establishing true relation between transducer output value and value to be measured, zeroing, linearising or span error determination
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L9/00—Measuring steady of quasi-steady pressure of fluid or fluent solid material by electric or magnetic pressure-sensitive elements; Transmitting or indicating the displacement of mechanical pressure-sensitive elements, used to measure the steady or quasi-steady pressure of a fluid or fluent solid material, by electric or magnetic means
- G01L9/0001—Transmitting or indicating the displacement of elastically deformable gauges by electric, electro-mechanical, magnetic or electro-magnetic means
- G01L9/0008—Transmitting or indicating the displacement of elastically deformable gauges by electric, electro-mechanical, magnetic or electro-magnetic means using vibrations
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measuring Fluid Pressure (AREA)
Abstract
The invention relates to a posture self-adjusting pressure sensor device and a pressure sensor drift correction method, which comprise a sealed cabin, a micro control unit, a battery pack, a pressure sensor and an adjusting mechanism, wherein the micro control unit, the battery pack and the pressure sensor are positioned in the sealed cabin, the adjusting mechanism is used for adjusting the posture of the pressure sensor, the sealed cabin is provided with a flexible joint which is communicated with the outside and is fixed with the sealed cabin in a sealing way, the pressure sensor is connected with the flexible joint through a measuring pipe of the pressure sensor and is hoisted in the sealed cabin, the pressure sensor is connected with a three-axis acceleration sensor through the adjusting mechanism, and the pressure sensor, the. The invention can realize the self-adjustment of the attitude of the pressure sensor during the observation of the seabed, can realize the measurement of the long-term drift value and improves the accuracy of the data.
Description
Technical Field
The invention relates to the technical field of ocean observation, in particular to a posture self-adjusting pressure sensor device and a pressure sensor drift correction method.
Background
The quartz resonance type pressure sensor has been widely used in the field of marine observation, including seabed deformation observation, tsunami observation, and the like, due to its advantages of high precision, strong stability, and the like. At present, a quartz resonance type pressure sensor which is applied more uses a quartz resonance beam as a force sensitive element, senses pressure through a Bourdon tube, converts the pressure into force to act on the resonance beam, changes the vibration frequency of the resonance beam, and can obtain the change of the external pressure according to the relation between the vibration frequency and the pressure.
Due to the gravity of the earth, the vibration frequency of the resonant beam changes along with the change of the attitude of the sensor even if the external pressure does not change. In practical application, the pressure sensor and other instruments are usually fixed on the observation platform, and the observation platform is laid on the surface of the seabed, so that the posture of the pressure sensor is changed by the deformation of the seabed, and the accuracy of the observed data is reduced. Therefore, the sensor is ensured to always keep the same posture in the observation process, and the deviation of data can be reduced.
In addition, sensor drift is also a significant source of error affecting the accuracy of the data. The seafloor observation is usually a long term observation and the sensors drift irregularly. At present, the drift value of the sensor is calculated by adopting an empirical formula, and then the drift value is subtracted from the observed data, but whether the calculated value is really consistent with the actual value cannot be determined.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the attitude self-adjusting pressure sensor device and the pressure sensor drift correction method, which can realize the attitude self-adjustment of the pressure sensor during seawater observation, reduce the measurement error and realize the drift correction of the measured value during the observation.
The invention is realized by the following technical scheme:
provides a posture self-adjusting pressure sensor device, which comprises a sealed cabin, a micro control unit, a battery pack, a pressure sensor and an adjusting mechanism, wherein the micro control unit, the battery pack and the pressure sensor are positioned in the sealed cabin, the adjusting mechanism is used for adjusting the posture of the pressure sensor,
the sealed cabin is provided with a flexible joint which is communicated with the outside and is fixed with the sealed cabin in a sealing way, the pressure sensor is connected with the flexible joint through a measuring pipe and is hoisted in the sealed cabin, the pressure sensor is connected with the three-axis acceleration sensor through an adjusting mechanism,
wherein: the pressure sensor, the three-axis acceleration sensor and the adjusting mechanism are electrically connected with the micro control unit.
According to the scheme, the three-axis acceleration sensor is used for measuring the displacement and the angle of the pressure sensor, the displacement and the angle after the change can be calculated after the position of the pressure sensor is changed, the micro control unit is matched to calculate the motion parameters of the adjusting mechanism when the pressure sensor is adjusted to the initial position, and the adjusting mechanism is controlled to adjust the posture of the pressure sensor, so that the pressure sensor can keep the same posture during measurement to measure, and the measurement error is reduced.
Further, guiding mechanism include the backup pad fixed with pressure sensor to and be located the backup pad below and fix the brace table in the sealed cabin, be provided with three electric putter not in the coplanar between backup pad and the brace table, every electric putter's both ends rotate with backup pad and brace table respectively and are connected, correspond on the brace table wherein two electric putter's tip and install two driving motor that are used for adjusting electric putter turned angle respectively, and two driving motor's drive shaft sets up perpendicularly, driving motor and electric putter all are connected with little the control unit electricity.
Furthermore, survey be connected with on the buret and be used for surveying the branch pipe of surveying buret and seal chamber intercommunication, survey and install first solenoid valve on the branch pipe, survey and install the second solenoid valve on the buret, first solenoid valve and second solenoid valve all are connected with little the control unit electricity.
The first electromagnetic valve is controlled to be opened, the second electromagnetic valve is controlled to be closed, the pressure sensor can be used for measuring the air pressure in the sealed cabin, the second electromagnetic valve is opened, after the first electromagnetic valve is closed, the pressure sensor can continue to measure the pressure of the external seawater, and measurement switching of different pressures can be achieved.
Furthermore, a barometer which is controlled by the micro control unit to start pressure measurement on the sealed cabin is installed in the sealed cabin, and when the first electromagnetic valve is opened, the pressure sensor and the barometer respectively measure the pressure in the sealed cabin and feed back the measurement result to the micro control unit for storage.
The air pressure meter determines the measured data of the sealed cabin as a standard value, the measured data of the pressure sensor to the sealed cabin is a measured value through valve control, and the drift value can be calculated by subtracting the standard value from the measured value.
Furthermore, the outside of the sealed cabin is also connected with a watertight connector, the watertight connector comprises a female head and a male head, the female head is connected with a control circuit in the sealed cabin and opens the control circuit, and the male head can be spliced with the female head and is connected with the control circuit.
The control circuit is provided with an open circuit at the female head, the male head and the female head are connected in a plugging matching way to realize power supply of the whole device, the male head of the watertight connector is equivalent to a short circuit, and the circuit can be connected after the male head and the female head are connected in a plugging way.
Preferably, the flexible joint is also connected with a spiral coil outside the sealed cabin, and the spiral coil and the measuring pipe are filled with silicone oil.
The spiral coil can increase the length of the measuring pipe and contain more hydraulic oil for measurement, and therefore seawater is prevented from entering the pressure sensor due to excessive seawater pressure, and equipment damage is prevented.
Preferably, the sealed cabin is provided with a protective sleeve which is fixed outside the spiral coil pipe and has a height not less than the length of the spiral coil pipe, and a filter screen is fixed at one end of the protective sleeve far away from the sealed cabin.
The effect of protective sleeve is in order to protect the spiral coil pipe not collided in the transportation, guarantees simultaneously when the seabed is used that the spiral coil pipe can remain motionless throughout, does not take place to rock because of effects such as rivers to influence measuring accuracy.
Preferably, a filter screen is fixed at the end part of the protective sleeve far away from the sealed cabin.
The filter screen is used for preventing seabed silt from entering the pressure sensor along the spiral coil pipe in the observation process.
A pressure sensor drift correction method in an attitude self-adjusting pressure sensor device comprises the following steps:
the method comprises the following steps that firstly, during the measurement of a pressure sensor, a micro control unit opens a first electromagnetic valve and closes a second electromagnetic valve at intervals of the same time period, and the pressure sensor and an air pressure meter simultaneously measure the pressure in a sealed cabin and feed back the measurement result to the micro control unit;
secondly, calculating the absolute value of the difference between the measured value of the pressure sensor and the measured value of the barometer as the drift value of the pressure sensor;
thirdly, respectively taking the time and the drift value as coordinate axes to make a drift curve of the pressure sensor during measurement; and respectively taking the time and the measured value of the seawater in the pressure sensor as coordinate axes to make a measured value curve of the pressure sensor, wherein the real value measured by each time point of the pressure sensor is equal to the measured value of the time point minus the drift value of the time point.
The invention has the beneficial effects that:
the three-axis acceleration sensor, the micro control unit and the adjusting mechanism are matched with each other, so that the posture of the pressure sensor can be adjusted, the pressure sensor in the sealed cabin can be kept stable when the sealed cabin deviates along with the observation platform, and the measuring error is reduced.
And secondly, controlling the opening and closing of the first electromagnetic valve and the second electromagnetic valve, respectively measuring the air pressure of the sealed cabin by using the pressure sensor and the air pressure meter to obtain a drift value of the pressure sensor, and subtracting the offset value from the measured value of the seawater pressure by using the pressure sensor to obtain a real pressure value of the seawater, so that the measurement precision is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged schematic view of A in FIG. 1;
FIG. 3 is a schematic circuit diagram of the components of FIG. 1;
FIG. 4 is a schematic view of the internal structure of the pressure sensor assembly of the present invention just prior to contact with the sea floor;
FIG. 5 is a schematic view of the stabilized internal structure of the pressure sensor apparatus of FIG. 4;
FIG. 6 is a schematic diagram of the internal structure of the pressure sensor of the present invention after position adjustment;
fig. 7 is an angle schematic view of each electric putter of fig. 6.
Shown in the figure:
1. the sealed cabin, 2, pressure sensor, 3, little the control unit, 4, the group battery, 5, the draw-in groove, 6, flexible joint, 7, survey buret, 8, spiral coil pipe, 9, the protective sleeve, 10, the filter screen, 11, the backup pad, 12, the brace table, 13, the barometer, 14, driving motor, 15, electric putter, 16, freely movable joint, 17, the female head of grafting, 18, the public head of grafting, 19, triaxial acceleration sensor, 20, second solenoid valve, 21, first solenoid valve, 22, measurement branch pipe.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.
A self-adjusting pressure sensor device for the posture comprises a sealed cabin 1, a micro control unit 3, a battery pack 4, a pressure sensor 2 and an adjusting mechanism, wherein the micro control unit 3, the battery pack 4, the pressure sensor 2 and the adjusting mechanism are located in the sealed cabin 1.
The adjusting mechanism comprises a supporting plate 11 fixed with the pressure sensor 2 and a supporting table 12 located below the supporting plate 11 and fixed in the sealed cabin 1, three electric push rods 15 which are not located on the same plane are arranged between the supporting plate 11 and the supporting table 12, specifically, three points at the connection positions of the three electric push rods 15 and the supporting table 12 are located on three vertexes of the same triangle, and the triangle is preferably selected to be an equilateral triangle. Both ends of every electric putter 15 rotate with backup pad 11 and brace table 12 respectively and be connected, wherein, electric putter 15's expansion end is the push rod end and passes through freely movable joint 16 and be connected with backup pad 11 rotation, electric putter 15's stiff end passes through freely movable joint 16 and is connected with brace table 12 rotation, two driving motor 14 that are used for adjusting electric putter 15 turned angle are installed respectively to the tip that corresponds wherein two electric putter 15 on the brace table 12, and two driving motor 14's drive shaft sets up perpendicularly, driving motor 14's drive shaft can drive the freely movable joint 16 rotation of electric putter 15 fixed end department, realize electric putter 15's rotation. The driving motor 14 and the electric push rod 15 are electrically connected with the micro control unit 3.
In this embodiment, the driving motor 14 is a servo motor, and controls the movable joint 16 to rotate around the X-axis and Y-axis directions of the pressure sensor, respectively, and the electric push rod 15 can adjust its length, so that when the posture of the pressure sensor 2 changes, the three-axis acceleration sensor 19 sends the change information to the micro control unit 3, and the micro control unit 3 sends the adjustment instruction to the servo motor and the electric push rod 15 to adjust the posture.
The outside of the sealed cabin 1 is provided with a clamping groove 5, the sealed cabin 1 and the observation platform are sunk into the seabed together for measurement, and the clamping groove 5 outside the sealed cabin 1 is fixedly installed with the observation platform.
Be equipped with on the sealed cabin 1 with external intercommunication and with the sealed fixed flexible joint 6 of sealed cabin 1, pressure sensor 2 is connected and hoisted in sealed cabin 1 through its survey buret 7 and flexible joint 6, and flexible joint 6 all keeps sealed with sealed cabin 1 contact department, prevents to leak.
The measuring pipe 7 is a part of the Bourdon tube inside the pressure sensor 2 extending out of the pressure sensor 2, the part is also connected with a spiral coil 8 outside the sealed cabin 1 through a flexible joint 6, as shown in fig. 1, the spiral coil 8 and the measuring pipe 7 are consistent, and the spiral coil 8 and the measuring pipe 7 are filled with silicone oil. The sealed cabin 1 is provided with a protective sleeve 9 which is fixedly sleeved outside the spiral coil 8 and has a height not less than the length of the spiral coil 8. A filter screen 10 is fixed at one end of the protective sleeve 9 far away from the sealed cabin 1, so as to prevent mud and sand or other large-particle substances suspended on the seabed from entering the sensor in the observation process.
As shown in fig. 1, the pressure sensor 2 measures the external seawater pressure, at this time, the second electromagnetic valve 20 is opened, and the first electromagnetic valve 21 is closed; after a period of time, the second electromagnetic valve 20 is closed, the first electromagnetic valve 21 is opened, and the pressure sensor 2 and the pressure gauge 13 measure the air pressure in the cabin; after that, the second electromagnetic valve 20 is opened, the first electromagnetic valve 21 is closed, and the seawater pressure is continuously measured. The micro control unit 3 compares the air pressure measured by the sensor with the air pressure measured by the barometer 13, can calculate the drift value, make the drift curve during observation, and subtract the drift value from the original data to obtain the true value.
The pressure sensor 2 can always keep the same posture during working, and the implementation method comprises the following steps:
assuming that the distance between the two movable joints 16 of the support plate 11 is 10cm, the initial length of the electric push rod 15 is 10cm, the initial state of the pressure sensor 2 is 30 ° to the left, and the posture is changed to the vertical direction, and assuming that the three electric push rods 15 are arranged in an equilateral triangle.
The pressure sensor 2 is adjusted to an initial position, the three-axis acceleration sensor 19 sends the measured position change to the micro control unit 3, the micro control unit 3 sends an adjusting instruction to the two servo motors and the three electric push rods 15, the servo motors and the electric push rods 15 work simultaneously, the servo motors (middle) control the electric push rods to rotate 31.98 degrees, the left electric push rod extends for 6.04cm, the middle electric push rod extends for 4.16cm, the right electric push rod extends for 2.54cm, and the left electric push rod and the right electric push rod rotate in a driven mode. After the posture is adjusted, as shown in fig. 7, 16.04, 14.16 and 12.54 in the figure respectively represent the lengths of the three adjusted electric push rods, and 25.21 °, 31.98 ° and 40.67 ° respectively represent the angles of the adjusted electric push rods.
As shown in fig. 6, the micro control unit 3, the pressure sensor 2, the driving motor 14, the electric push rod 15, the first electromagnetic valve 21, the second electromagnetic valve 20 and the barometer 13 in the device are all connected with the power management module and powered by the battery pack 4, and a closed loop is formed between the two through a control circuit.
The sealed cabin 1 is also connected with the watertight connector outside, the watertight connector includes the female head 17 of grafting and the public head 18 of grafting, the female head 17 of grafting is connected with the circuit in the sealed cabin 1 and is formed the circuit and open circuit, the public head 18 of grafting can be pegged graft with the female head 17 of grafting and is switched on the circuit.
The circuit is provided with an open circuit, two ends of the open circuit are respectively connected with two contacts on the female plug-in head 17 of the watertight connector, the male plug-in head 18 is connected with a section of closed conducting wire, and the open circuit can be connected by combining the male plug-in head 18 with the contacts of the female plug-in head 17 after the male plug-in head 18 is inserted into the female plug-in head 17. The watertight connector has the following functions: charging a lithium battery, setting acquisition parameters, reading data and supplying power; when the device is working, the battery can start working by inserting the inserting male head 18 into the inserting female head 17. The principle is shown in fig. 3: the control circuit has an open circuit, the male plug 18 of the watertight connector is equivalent to a short circuit, and when the female plug 17 is connected with the male plug 18, the device forms a loop so as to work normally.
A pressure sensor drift correction method in an attitude self-adjusting pressure sensor device comprises the following steps:
firstly, during the measurement of a pressure sensor, the micro control unit 3 opens the first electromagnetic valve 21 and closes the second electromagnetic valve 20 at intervals of the same time period, and the pressure sensor 2 and the barometer 13 simultaneously measure the pressure in the sealed cabin 1 and feed back the measurement result to the micro control unit 3;
secondly, the absolute value of the difference between the measured value of the pressure sensor 2 and the measured value of the barometer 13 is the drift value of the pressure sensor;
thirdly, respectively taking the time and the drift value as coordinate axes to make a drift curve of the pressure sensor 2 during measurement; and respectively taking the time and the measured value of the seawater in the pressure sensor 2 as coordinate axes to make a measured value curve of the pressure sensor 2, wherein the real value measured by each time point of the pressure sensor 2 is equal to the measured value of the time point minus the drift value of the time point.
Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be implemented by or using the prior art, and will not be described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present invention and not for limiting the present invention, and the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and shall also fall within the scope of the claims of the present invention.
Claims (9)
1. An attitude self-adjusting pressure sensor device, characterized in that: comprises a sealed cabin, a micro-control unit, a battery pack, a pressure sensor and an adjusting mechanism for adjusting the posture of the pressure sensor, wherein the micro-control unit, the battery pack and the pressure sensor are positioned in the sealed cabin,
the sealed cabin is provided with a flexible joint which is communicated with the outside and is fixedly sealed with the sealed cabin, the pressure sensor is connected with the flexible joint through a measuring pipe of the pressure sensor and is hoisted in the sealed cabin, the pressure sensor is connected with the three-axis acceleration sensor through an adjusting mechanism, and the pressure sensor, the three-axis acceleration sensor and the adjusting mechanism are all electrically connected with the micro control unit;
wherein: the three-axis acceleration sensor is used for measuring three axial displacements and angles of the initial position of the pressure sensor and sending the changed displacements and angles in the x, y and z axial directions to the micro control unit after the position of the pressure sensor is changed; the micro control unit is used for calculating the motion parameters of the adjusting mechanism when the pressure sensor is adjusted to the initial position, and controlling the adjusting mechanism to restore the pressure sensor to the initial posture.
2. The attitude self-adjusting pressure sensor device according to claim 1, characterized in that: the guiding mechanism include the backup pad fixed with pressure sensor to and be located the backup pad below and fix the brace table in the sealed cabin, be provided with three electric putter not in the coplanar between backup pad and the brace table, every electric putter's both ends rotate with backup pad and brace table respectively and are connected, the tip that corresponds two electric putter wherein on the brace table installs two driving motor that are used for adjusting electric putter turned angle respectively, and two driving motor's drive shaft sets up perpendicularly, driving motor and electric putter all are connected with little the control unit electricity.
3. The attitude self-adjusting pressure sensor device according to claim 1 or 2, characterized in that: survey be connected with on the buret and be used for surveying the branch pipe of buret and sealed cabin intercommunication, survey and install first solenoid valve on the branch pipe, survey and install the second solenoid valve on the buret, first solenoid valve and second solenoid valve all are connected with little the control unit electricity.
4. The attitude self-adjusting pressure sensor device according to claim 3, characterized in that: and a barometer which is controlled by the micro control unit to start pressure measurement on the sealed cabin is arranged in the sealed cabin, and when the first electromagnetic valve is opened, the pressure sensor and the barometer respectively measure the pressure in the sealed cabin and feed back the measurement result to the micro control unit for storage.
5. The attitude self-adjusting pressure sensor device according to claim 1, characterized in that: the sealed cabin still be connected with the watertight connector outward, the watertight connector includes grafting female head and grafting male head, the female head of grafting is connected and is opened circuit formation with the circuit in the sealed cabin, the male head of grafting is pegged graft with grafting female head and is switched on the circuit.
6. The attitude self-adjusting pressure sensor device according to claim 1, characterized in that: the flexible joint is also connected with a spiral coil outside the sealed cabin, and the spiral coil and the measuring pipe are filled with silicone oil.
7. The attitude self-adjusting pressure sensor device according to claim 6, characterized in that: the sealed cabin is provided with a protective sleeve which is fixed outside the spiral coil pipe and has a height not less than the length of the spiral coil pipe.
8. The attitude self-adjusting pressure sensor device according to claim 7, characterized in that: and a filter screen is fixed at one end of the protective sleeve far away from the sealed cabin.
9. The method for correcting drift of a pressure sensor in an attitude self-adjusting pressure sensor device according to claim 4, characterized in that: the method comprises the following steps:
the method comprises the following steps that firstly, during the measurement of a pressure sensor, a micro control unit opens a first electromagnetic valve and closes a second electromagnetic valve at intervals of the same time period, and the pressure sensor and an air pressure meter simultaneously measure the pressure in a sealed cabin and feed back the measurement result to the micro control unit;
secondly, calculating the absolute value of the difference between the measured value of the pressure sensor and the measured value of the barometer as the drift value of the pressure sensor;
thirdly, respectively taking the time and the drift value as coordinate axes to make a drift curve of the pressure sensor during measurement; and respectively taking the time and the measured value of the seawater in the pressure sensor as coordinate axes to make a measured value curve of the pressure sensor, wherein the real value measured by each time point of the pressure sensor is equal to the measured value of the time point minus the drift value of the time point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910781791.9A CN110455442B (en) | 2019-08-23 | 2019-08-23 | Attitude self-adjusting pressure sensor device and pressure sensor drift correction method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910781791.9A CN110455442B (en) | 2019-08-23 | 2019-08-23 | Attitude self-adjusting pressure sensor device and pressure sensor drift correction method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110455442A CN110455442A (en) | 2019-11-15 |
| CN110455442B true CN110455442B (en) | 2020-03-31 |
Family
ID=68488632
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910781791.9A Active CN110455442B (en) | 2019-08-23 | 2019-08-23 | Attitude self-adjusting pressure sensor device and pressure sensor drift correction method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110455442B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111457220B (en) * | 2020-04-30 | 2021-05-11 | 水利部交通运输部国家能源局南京水利科学研究院 | Device and method for monitoring and correcting displacement of indoor micro model measuring equipment in real time |
| CN116150917B (en) * | 2023-04-18 | 2023-06-20 | 华北理工大学 | Flexible pressure sensing sleeping posture data processing method and device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202229764U (en) * | 2011-08-02 | 2012-05-23 | 王靖微 | Triaxial rotary table with dynamic stabilizing function |
| CN102910274A (en) * | 2012-10-18 | 2013-02-06 | 中国船舶重工集团公司第七一〇研究所 | Device and method for automatically adjusting depth and gesture of submerged floating platform |
| CN203084554U (en) * | 2013-01-28 | 2013-07-24 | 美钻石油钻采***(上海)有限公司 | Automatic adjusting device for attitude of remote operated vehicle |
| JP2016064798A (en) * | 2014-09-26 | 2016-04-28 | 株式会社Ihi | Attitude controller for underwater equipment |
| CN107966242A (en) * | 2017-11-22 | 2018-04-27 | 国家***第海洋研究所 | Suitable for the one-touch baroceptor field calibration system and method for deep ocean buoy |
| CN108674619A (en) * | 2018-04-27 | 2018-10-19 | 江苏泰姆仕机器人科技有限公司 | A kind of regulating device and method of underwater robot operation posture |
| KR20190019336A (en) * | 2017-08-17 | 2019-02-27 | 대우조선해양 주식회사 | Measurement and control device of ship water line |
| CN208614792U (en) * | 2018-06-25 | 2019-03-19 | 武汉交通职业学院 | A kind of Intelligent Underwater Robot control system |
-
2019
- 2019-08-23 CN CN201910781791.9A patent/CN110455442B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202229764U (en) * | 2011-08-02 | 2012-05-23 | 王靖微 | Triaxial rotary table with dynamic stabilizing function |
| CN102910274A (en) * | 2012-10-18 | 2013-02-06 | 中国船舶重工集团公司第七一〇研究所 | Device and method for automatically adjusting depth and gesture of submerged floating platform |
| CN203084554U (en) * | 2013-01-28 | 2013-07-24 | 美钻石油钻采***(上海)有限公司 | Automatic adjusting device for attitude of remote operated vehicle |
| JP2016064798A (en) * | 2014-09-26 | 2016-04-28 | 株式会社Ihi | Attitude controller for underwater equipment |
| KR20190019336A (en) * | 2017-08-17 | 2019-02-27 | 대우조선해양 주식회사 | Measurement and control device of ship water line |
| CN107966242A (en) * | 2017-11-22 | 2018-04-27 | 国家***第海洋研究所 | Suitable for the one-touch baroceptor field calibration system and method for deep ocean buoy |
| CN108674619A (en) * | 2018-04-27 | 2018-10-19 | 江苏泰姆仕机器人科技有限公司 | A kind of regulating device and method of underwater robot operation posture |
| CN208614792U (en) * | 2018-06-25 | 2019-03-19 | 武汉交通职业学院 | A kind of Intelligent Underwater Robot control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110455442A (en) | 2019-11-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110455442B (en) | Attitude self-adjusting pressure sensor device and pressure sensor drift correction method | |
| US4537067A (en) | Inertial borehole survey system | |
| CA2591691C (en) | Centralizer-based survey and navigation device and method | |
| US4454756A (en) | Inertial borehole survey system | |
| EP2256291B1 (en) | Method and apparatus for initialization of a wellbore survey tool | |
| CN102140913B (en) | Small-diameter directional gyro inclinometer for drilling | |
| CN105696540A (en) | Measuring method and device for foundation pit deep horizontal displacement and underground water level | |
| WO2011020096A1 (en) | Device, program product and computer implemented method for touchless metrology using an inertial navigation system and laser | |
| US20100258321A1 (en) | Active positioning of downhole devices using spherical motors | |
| EP1173699B1 (en) | System for subsea diverless metrology and hard-pipe connection of pipelines | |
| EA036173B1 (en) | Self-calibrating and autonomous magnetic observatory | |
| CN101655364A (en) | Device for accurately measuring posture of pipelines in deep sea | |
| CN114325849A (en) | Method, system, equipment and storage medium for positioning submarine metal equipment | |
| CN110230487A (en) | A kind of vertical shaft posture detection device and a kind of vertical shaft excavating equipment | |
| JP2014041117A (en) | Method for measuring position of underground excavation, device for measuring position of underground excavation, and excavation system for non-open-cut method | |
| CN115898272A (en) | Closed loop track control device for flexible power drilling tool | |
| CN112284326A (en) | Seabed deformation monitoring device and method for ocean engineering | |
| CN113279688A (en) | Horizontal directional drilling steering system and positioning method thereof | |
| JP4536500B2 (en) | Horizontal drilling tip position measurement system | |
| Nishida et al. | Level Adjustor of mobile pressure calibrator for ocean bottom pressure gauge | |
| CN113187446B (en) | Sand control screen pipe capable of measuring compaction settlement stress in hydrate pilot production process | |
| CN212300881U (en) | Measuring system for rigid body parameters | |
| CN114295091B (en) | Flexible inclinometry sensor and azimuth marking method | |
| CN219319421U (en) | Laser direction indicator capable of displaying and monitoring azimuth angle and inclination angle in real time | |
| CN110094235A (en) | The method of float-type tunnel shuttle platform and monitoring device and monitoring foreign bodies |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |