CN110500946A - A kind of rotary part rotation radian detection method based on three axle magnetometer - Google Patents
A kind of rotary part rotation radian detection method based on three axle magnetometer Download PDFInfo
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- CN110500946A CN110500946A CN201910844611.7A CN201910844611A CN110500946A CN 110500946 A CN110500946 A CN 110500946A CN 201910844611 A CN201910844611 A CN 201910844611A CN 110500946 A CN110500946 A CN 110500946A
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- magnetic field
- rotary part
- field strength
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- microprocessor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention discloses a kind of, and the rotary part based on three axle magnetometer rotates radian detection method, permanent magnet is fixed on the end face of the rotary part, the sensor of built-in three axle magnetometer is fixed in the rack of the rotary part installation by supporting element, the permanent magnet is with the rotary part rotation period close to the sensor, the magnetic field strength of the sensor detection permanent magnet generation and the microprocessor for being sent to sensor, the rotation time of the magnetic field strength and rotary part meets sinusoidal function, when magnetic field strength reaches extreme value for the first time and reaches extreme value second, microprocessor determines sinusoidal crest location and wave trough position and parses the sine transform process of magnetic field strength by changing rule of the magnetic field strength within this time, then the radian of the calculated rotary part rotation.The present invention with rotary part without being connected, and sensor is also without rotating part, long service life, and testing result is accurate and reliable.
Description
Technical field
The invention belongs to Internet of things system fields, and in particular to a kind of rotary part arc of rotation based on three axle magnetometer
Spend detection method.
Background technique
When detecting the rotation status of rotary part the prior art mainly adopts angular transducer, angular transducer is extensive
It applies in fields such as industrial and agricultural production, meteorology, environmental protection, national defence, scientific research, space flight, the main angle rotated to part that rises is examined
It surveys and is transferred to control system to have the function that realize functional mapping.But angular transducer needs the axis with rotatable parts
It is mutually connected in many scenes and is not available at the heart.For example the shaft end of rotary part is equipped with other component and cannot be directly connected to sense
Device or dust clast are more, are easy to cause to wear to the spindle portion on angular transducer, influence detection accuracy.Therefore existing
It is needing a kind of new detection method to detect with the rotation status to rotary part, is avoiding sensor and rotary part
It is directly connected to, prevents from influencing detection accuracy and sensor life-time since sensor moving part moves abrasion.
Summary of the invention
The purpose of the present invention is to provide a kind of, and the rotary part based on three axle magnetometer rotates radian detection method, with
Installation connection caused by needing to connect with rotatable parts due to sensor in the prior art is solved to limit vulnerable to apparatus structure, with
And the rotating part of sensor rotates be prone to wear for a long time, and then the problem of influence sensor detection accuracy and service life.
A kind of rotary part based on three axle magnetometer rotates radian detection method, the end of the rotary part
Permanent magnet is fixed on face, the sensor of built-in three axle magnetometer is fixed on the machine of the rotary part installation by supporting element
On frame, against the direction of the permanent magnet, the permanent magnet connects with the rotary part rotation period for the test side of sensor
The nearly sensor, the magnetic field strength of the sensor detection permanent magnet generation and the microprocessor for being sent to sensor, it is described
The rotation time of magnetic field strength and rotary part meets sinusoidal function, when magnetic field strength reaches extreme value and second for the first time
When secondary arrival extreme value, microprocessor determines sinusoidal crest location and wave trough position and by magnetic field strength at this section
Interior changing rule parses the sine transform process of magnetic field strength, thus according to the sine transform process and initial shape
The magnetic field strength that state measures calculates the first phase of sine transform process, when further according to currently measuring magnetic field strength and calculate current
The radian of the rotary part rotation is carved, the radian that the calculated rotary part rotates is passed through number by the microprocessor
Extraneous network is sent to according to communication unit.
Preferably, magnetic field strength meets one sinusoidal half from the process that an extreme value variation is next extreme value
A period, each magnetic field strength are next extreme value from an extreme value variation, and the microprocessor can all be existed by magnetic field strength
Changing rule in this time parses new sine transform process replacement and parses obtained sine transform process before, described
Microprocessor calculates rotating part described in current time with magnetic field strength is measured according to the sine transform process that last parsing obtains
The radian of part rotation.
Preferably, the resolving of sine transform process are as follows: it is next pole that each magnetic field strength changes from an extreme value
It is worth, one is maximum magnetic field strength H in the extreme valuemaxAnd another is minimum-B configuration intensity Hmin, the microprocessor calculating
Sinusoidal amplitude A=H outmax-HminWith offset distance k=(Hmin+Hmax)/2, the sine transform that microprocessor parses
Cheng WeiIt is describedFor the first phase of sinusoidal conversion process, the magnetic field strength measured according to original stateIt calculates,For the radian of rotary part rotation.
Preferably, the sensor is 3 axis MEMS magnetometer sensor, and the sensor is located at below rotary part,
Using the z-component in magnetic field as detection target, the end face of the rotary part is parallel to z-component.
Preferably, it is additionally provided with alarm module in the microprocessor, when the testing result of magnetic field strength in detection process is long
Time does not change or the variation tendency of field detection result does not meet sinusoidal function, the microprocessor starting
Alarm module, the alarm module send warning message into network by data communication unit.
Preferably, the magnetic field strength that the microprocessor detects the sensor passes through at filtering again after sampling
Reason reduces the fluctuation and interference of testing result.
The present invention has the advantage that
1, the present invention detects the magnetic field strength that permanent magnet generates, magnetic field strength by the sensor of built-in three axle magnetometer
The relationship of variation tendency and time, meets sinusoidal function, by parsing just during rotary part uniform rotation
String functionω is angular speed, and t is the time, the radian of the rotary part rotationTherefore it senses
Microprocessor in device can parse rotary part rotation radian and magnetic field strength between sine transform process beIt can be according to the magnetic field strength detected, real-time detection to rotation by the sine transform process this method
The radian of component rotationWithout being connected with rotary part, sensor also without rotating part, solves sensor in this method
The technical issues of proposing before, long service life, testing result are accurate and reliable.
2, this programme uses 3 axis MEMS magnetometer sensor, only the maximum component of changes of magnetic field is selected to be detected, and leads to
The variation for crossing the magnetic field strength for reaching threshold value can be measured more accurately as a result, so reaction is more sensitive and accurate, reduce the external world
Influence of the magnetic field to this detection method.
3, the changes of magnetic field trend generated when microprocessor has magnetic field in permanent magnet normal rotation, if rotating part
Part runs generation problem, leads to that permanent magnet cannot move or change in location can also be found the problem extremely with this programme, logical in time
Cross network advertisement server end.
Even if 4, rotary part is speed change rotation in this method, as long as it is less than in the acceleration rotated in half week
Certain threshold value can regard the rotation approximation in half week as uniform rotation, in this way can be according to half period, that is, rotating part
The testing result of part rotation half-turn process parses sine transform process, and calculates the reality of current time rotary part accordingly
When rotary state.To calculate the real-time rotary state of rotary part, i.e., every half period parses new sine transform process again
So that rotary part is made speed change rotation, can also detect relatively accurate rotation status.
Specific embodiment
Below by the description to embodiment, the specific embodiment of the invention is described in further detail, to help
Those skilled in the art has more complete, accurate and deep understanding to inventive concept of the invention, technical solution.
Embodiment 1:
The present invention provides a kind of, and the rotary part based on three axle magnetometer rotates radian detection method, the rotating part
Permanent magnet is fixed on the end face of part, the sensor of built-in three axle magnetometer, which is fixed on the rotary part by supporting element, pacifies
In the rack of dress, against the direction of the permanent magnet, the permanent magnet rotates week with the rotary part for the test side of sensor
For phase property close to the sensor, the sensor detects the magnetic field strength that permanent magnet generates and the micro process for being sent to sensor
The rotation time of device, the magnetic field strength and rotary part meets sinusoidal function, when magnetic field strength reaches extreme value for the first time
When reaching extreme value with second, microprocessor determines sinusoidal crest location and wave trough position and is existed by magnetic field strength
Changing rule in this time parses the sine transform process of magnetic field strength, thus according to the sine transform process and
The magnetic field strength that original state measures calculates the first phase of sine transform process, calculates further according to currently magnetic field strength is measured
The radian of the rotation of rotary part described in current time, the radian that the microprocessor rotates the calculated rotary part
Extraneous network is sent to by data communication unit.
The sensor is 3 axis MEMS magnetometer sensor, and the sensor is located at below rotary part, with magnetic field
For z-component as detection target, the end face of the rotary part is parallel to z-component.The microprocessor is to the sensor
The magnetic field strength of detection reduces the fluctuation and interference of testing result by filtering processing again after being sampled.
Be additionally provided with alarm module in the microprocessor, when in detection process magnetic field strength testing result for a long time not
It changes or the variation tendency of field detection result does not meet sinusoidal function, the microprocessor starting alarm mould
Block, the alarm module send warning message into network by data communication unit.
Even if rotary part is speed change rotation in this method, as long as it is rotating the acceleration in half week less than one
The rotation approximation in half week can be regarded as uniform rotation by determining threshold value, in this way can be according to half period, that is, rotary part
The testing result of rotation half-turn process parses sine transform process, and calculates the real-time of current time rotary part accordingly
Rotary state.Every half period parses new sine transform process again to calculate the real-time rotary state of rotary part, even if
Rotary part makees speed change rotation, can also detect relatively accurate rotation status.
Magnetic field strength meets a sinusoidal half period from the process that an extreme value variation is next extreme value,
Each magnetic field strength is next extreme value from an extreme value variation, and the microprocessor all can be by magnetic field strength at this section
Interior changing rule parses new sine transform process replacement and parses obtained sine transform process, the micro process before
Device calculates the rotation of rotary part described in current time with magnetic field strength is measured according to the sine transform process that last parsing obtains
Radian.
The resolving of sine transform process are as follows: it is next extreme value that each magnetic field strength changes from an extreme value, described
One is maximum magnetic field strength H in extreme valuemaxAnd another is minimum-B configuration intensity Hmin, the microprocessor calculates sine
Amplitude A=H of curvemax-HminWith offset distance k=(Hmin+Hmax)/2, the sine transform process that microprocessor parses areIt is describedFor the first phase of sinusoidal conversion process, the magnetic field strength measured according to original stateIt calculates,For the radian of rotary part rotation.
Under the principle of the present invention:
Sensor can detect the variation of the magnetic field strength of permanent magnet generation, and the permanent magnet is rotated with the rotary part
Periodically close to the sensor, the magnetic field strength measured meets one from the process that an extreme value variation is next extreme value
Sinusoidal half period, each magnetic field strength from the variation of extreme value be next extreme value, in the extreme value one for most
Big magnetic field strength HmaxAnd another is minimum-B configuration intensity Hmin, the microprocessor calculate sinusoidal amplitude A=
Hmax-HminWith offset distance k=(Hmin+Hmax)/2, the sine transform process that microprocessor parses are
It is describedFor the first phase of sinusoidal conversion process.It is obtained during first extreme value of magnetic field strength is to second extreme value
During first sine transformNot necessarily 0, first phaseThe magnetic field strength measured according to original stateIt calculates,Radian for rotary part rotation can be calculated according to above-mentioned sine transform process
Come.
Even if rotary part is speed change rotation in this method, as long as it is rotating the acceleration in half week less than one
The rotation approximation in half week can be regarded as uniform rotation by determining threshold value, in this way can be according to half period, that is, rotary part
The testing result of rotation half-turn process parses sine transform process, and calculates the real-time of current time rotary part accordingly
Rotary state.Every half period parses new sine transform process again to calculate the real-time rotary state of rotary part, even if
Rotary part makees speed change rotation, can also detect relatively accurate rotation status.The resolving of each sine transform process with
Preceding method is consistent, during continuous detectionIt is constant.
After this method, for sensor without being connected with rotary part, sensor also without rotating part, solves it
The technical issues of preceding proposition, long service life, testing result are accurate and reliable.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation "
Equal terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside part.It for the ordinary skill in the art, can be according to tool
Body situation understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature
But fisrt feature is directly above or diagonally above the second feature above the second feature " above ", " above " and " above ", or only table
Show that first feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
Fisrt feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, this field
Technical staff can carry out the feature of different embodiments or examples described in this specification and different embodiments or examples
Combination and combination.
The present invention is exemplarily described above, it is clear that present invention specific implementation is not subject to the restrictions described above,
As long as using the improvement of the various unsubstantialities of inventive concept of the invention and technical solution progress, or not improved by this
Inventive concept and technical solution directly apply to other occasions, within that scope of the present invention.
Claims (6)
1. a kind of rotary part based on three axle magnetometer rotates radian detection method, it is characterised in that: the rotary part
Permanent magnet is fixed on end face, the sensor of built-in three axle magnetometer is fixed on the machine of the rotary part installation by supporting element
On frame, against the direction of the permanent magnet, the permanent magnet connects with the rotary part rotation period for the test side of sensor
The nearly sensor, the magnetic field strength of the sensor detection permanent magnet generation and the microprocessor for being sent to sensor, it is described
The rotation time of magnetic field strength and rotary part meets sinusoidal function, when magnetic field strength reaches extreme value and second for the first time
When reaching extreme value, microprocessor determines sinusoidal crest location and wave trough position and by magnetic field strength within this time
Changing rule parse the sine transform process of magnetic field strength, to be measured according to the sine transform process and original state
Magnetic field strength calculate the first phase of sine transform process, further according to currently measuring magnetic field strength calculates rotation described in current time
The radian that the calculated rotary part rotates is passed through data communication unit by the radian of rotation member rotation, the microprocessor
It is sent to extraneous network.
2. a kind of rotary part based on three axle magnetometer according to claim 1 rotates radian detection method, feature
Be: magnetic field strength meets a sinusoidal half period from the process that an extreme value variation is next extreme value, every time
Magnetic field strength is next extreme value from an extreme value variation, and the microprocessor all can be by magnetic field strength within this time
Changing rule parses new sine transform process replacement and parses obtained sine transform process before, and the microprocessor is according to upper
The sine transform process and measure the radian that magnetic field strength calculates the rotation of rotary part described in current time that one parsing obtains.
3. a kind of rotary part based on three axle magnetometer according to claim 1 rotates radian detection method, feature
It is: the resolving of sine transform process are as follows: it is next extreme value, the extreme value that each magnetic field strength changes from an extreme value
In one be maximum magnetic field strength HmaxAnd another is minimum-B configuration intensity Hmin, the microprocessor calculates sinusoidal
Amplitude A=Hmax-HminWith offset distance k=(Hmin+Hmax)/2, the sine transform process that microprocessor parses areIt is describedFor the first phase of sinusoidal conversion process, the magnetic field strength measured according to original stateIt calculates,For the radian of rotary part rotation.
4. a kind of rotary part based on three axle magnetometer according to claim 1 to 3 rotates radian detection side
Method, it is characterised in that: the sensor is 3 axis MEMS magnetometer sensor, and the sensor is located at below rotary part, with
For the z-component in magnetic field as detection target, the end face of the rotary part is parallel to z-component.
5. a kind of rotary part based on three axle magnetometer according to claim 4 rotates radian detection method, feature
It is: is additionally provided with alarm module in the microprocessor, when the testing result of magnetic field strength in detection process does not occur for a long time
The variation tendency of variation or field detection result does not meet sinusoidal function, and the microprocessor starts alarm module, institute
It states alarm module and warning message is sent into network by data communication unit.
6. a kind of rotary part based on three axle magnetometer according to claim 5 rotates radian detection method, feature
Be: the magnetic field strength that the microprocessor detects the sensor reduces detection knot by filtering processing again after sampling
The fluctuation and interference of fruit.
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| CN201910844611.7A CN110500946A (en) | 2019-09-06 | 2019-09-06 | A kind of rotary part rotation radian detection method based on three axle magnetometer |
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| CN201910844611.7A CN110500946A (en) | 2019-09-06 | 2019-09-06 | A kind of rotary part rotation radian detection method based on three axle magnetometer |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111238338A (en) * | 2020-03-02 | 2020-06-05 | 安徽中科智能感知产业技术研究院有限责任公司 | Real-time online detection system for bundling quantity and bundling length of square straw bundle bundling machine |
| CN111226616A (en) * | 2020-03-02 | 2020-06-05 | 安徽中科智能感知产业技术研究院有限责任公司 | Real-time online detection method for bundling quantity of bundling machine based on magnetic sensor |
| CN111226615A (en) * | 2020-03-02 | 2020-06-05 | 安徽中科智能感知产业技术研究院有限责任公司 | Real-time online detection method for bundling length of square straw bundle bundling machine based on magnetic sensor |
| CN111226617A (en) * | 2020-03-02 | 2020-06-05 | 安徽中科智能感知产业技术研究院有限责任公司 | Real-time online detection method for bundling average bundling length of bundling machine based on magnetic sensor |
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Application publication date: 20191126 |