CN111609785A - Automatic calibration device and calibration method for inclinometer - Google Patents
Automatic calibration device and calibration method for inclinometer Download PDFInfo
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- CN111609785A CN111609785A CN202010441567.8A CN202010441567A CN111609785A CN 111609785 A CN111609785 A CN 111609785A CN 202010441567 A CN202010441567 A CN 202010441567A CN 111609785 A CN111609785 A CN 111609785A
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- inclinometer
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- servo motor
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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
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/24—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B5/243—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes for measuring chamfer
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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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
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/24—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B5/245—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes for testing perpendicularity
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- Details Of Measuring And Other Instruments (AREA)
Abstract
The invention discloses an automatic calibration device and a calibration method for an inclinometer, wherein the device comprises a horizontal plane calibration unit and a vertical plane calibration unit; the horizontal plane calibration unit comprises a horizontal rotary table and a vertical shaft driving servo motor for driving the horizontal rotary table to rotate in a horizontal plane; the vertical surface calibration unit is arranged on the horizontal turntable and rotates along with the rotation of the horizontal turntable, and comprises an inclinometer fixing rotating wheel and a horizontal shaft driving servo motor for driving the inclinometer fixing rotating wheel to rotate in a vertical surface, wherein an inclinometer rod fixing hole for installing an inclinometer rod is formed in the inclinometer fixing rotating wheel; the axis of the horizontal turntable, the axis of the inclinometer fixed rotating wheel and the axis of the inclinometer rod are always intersected at one point, and automatic calibration is realized by controlling the two servo motors to advance and retreat at a certain angle and measuring the output of the inclinometer. The invention can realize the automatic calibration of the whole posture, the whole range and the whole performance index of the inclinometer, the calibration device is reliable, and the calibration method is simple, accurate and efficient.
Description
Technical Field
The invention belongs to the technical field of calibration devices, and particularly relates to an automatic calibration device and method for an inclinometer.
Background
The inclinometer is one of the main instruments for measuring the structural deformation, and has been widely applied to projects such as high slopes, dams and the like, but the calibration problem of the inclinometer is difficult to solve. The existing calibration method is obtained by utilizing a cuboid block and adopting a caliper manual positioning calculation mode, mutual influence of X, Y directions is difficult to consider, influence of axis torsion of an inclinometer on output cannot be detected, artificial error is large, calibration accuracy is low, and operation is complicated.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an automatic calibration device and a calibration method for an inclinometer.
The invention provides the following technical scheme:
an automatic calibration device of an inclinometer comprises a horizontal plane calibration unit and a vertical plane calibration unit;
the horizontal plane calibration unit comprises a horizontal rotary table and a vertical shaft driving servo motor for driving the horizontal rotary table to rotate in a horizontal plane;
the vertical surface calibration unit is arranged on the horizontal turntable and rotates along with the rotation of the horizontal turntable, the vertical surface calibration unit comprises an inclinometer fixing rotating wheel and a horizontal shaft driving servo motor for driving the inclinometer fixing rotating wheel to rotate in a vertical surface, and an inclinometer rod fixing hole for installing an inclinometer rod is formed in the inclinometer fixing rotating wheel;
the axis of the horizontal turntable, the axis of the inclinometer fixed rotating wheel and the axis of the inclinometer rod are always intersected at one point.
Preferably, the horizontal plane calibration unit further comprises a first transmission shaft fixedly connected with the horizontal rotary table, the first transmission shaft is connected with a vertical shaft driving servo motor, and the vertical shaft driving servo motor can drive the first transmission shaft to rotate in the horizontal plane.
Preferably, the vertical surface axis calibration unit further comprises a second transmission shaft fixedly connected with the inclinometer fixed rotating wheel, the second transmission shaft is connected with a horizontal shaft driving servo motor, and the horizontal shaft driving servo motor can drive the second transmission shaft to rotate in the vertical surface.
Preferably, the second transmission shaft is connected with the horizontal turntable through a support frame.
Preferably, the horizontal rotating disc is provided with horizontal air bubbles.
Preferably, the device further comprises a controller, and the controller is respectively connected with the horizontal shaft driving servo motor, the vertical shaft driving servo motor and the reading device of the inclinometer.
An automatic calibration method for an inclinometer comprises the following steps:
installing an inclinometer rod to be calibrated in an inclinometer rod fixing hole, and ensuring that the axis of a horizontal turntable, the axis of an inclinometer fixing rotating wheel and the axis of the inclinometer rod are intersected at one point;
a reading device of the inclinometer, a horizontal shaft driving servo motor and a vertical shaft driving servo motor are respectively connected with a computer, and the computer realizes synchronous control and reading;
starting a horizontal shaft driving servo motor and a vertical shaft driving servo motor, determining a stepping angle according to the precision requirement of the inclinometer, recording the accumulated rotation angle of the two motors and the corresponding reading of the inclinometer, calculating the theoretical measurement angle of the inclinometer according to the rotation angles of the two servo motors, and stopping the servo motors when the theoretical measurement angle of the inclinometer reaches the range twice as large as the inclinometer;
controlling the horizontal shaft driving servo motor and the vertical shaft driving servo motor to reversely rotate at a stepping angle until the horizontal shaft driving servo motor and the vertical shaft driving servo motor are reset to the initial position;
the computer automatically calculates the maximum error of the inclinometer or parameters such as linearity, stability and hysteresis of the inclinometer, and realizes automatic calibration of the inclinometer.
Preferably, the stepping angle of the horizontal axis driving servo motor and the vertical axis driving servo motor when the motors advance or retreat is 1/10 degrees of the inclinometer precision.
Preferably, the formula for calculating the theoretical measurement angle of the inclinometer through the rotation angles of the two servo motors is as follows:
wherein α and β are rotation angles of a vertical axis drive servomotor and a horizontal axis drive servomotor, θ and β, respectively
The theoretical measurement angles of the inclinometer in the horizontal plane and the vertical plane are respectively.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the automatic calibration device for the inclinometer, the servo motor is driven by the horizontal shaft to drive the inclinometer fixing rotating wheel to rotate in the vertical plane, the servo motor is driven by the vertical shaft to drive the horizontal rotating disc to rotate in the horizontal plane, the axis of the horizontal rotating disc, the axis of the inclinometer fixing rotating wheel and the axis of the inclinometer rod are always intersected at one point, so that the inclinometer rod can move in the horizontal plane and the vertical plane, the rotating angles of the two servo motors and the real measurement value of the inclinometer are obtained, and after the rotating angles of the two servo motors are converted into the theoretical measurement angle of the inclinometer, the performance indexes of the inclinometer, such as precision, stability and hysteresis, can be calibrated;
(2) the automatic calibration device of the inclinometer provided by the invention can realize the automatic calibration of the whole attitude, the whole range and the whole performance index of the inclinometer through a computer, thereby reducing the personal error, and the calibration device is reliable and the calibration method is simple, accurate and efficient;
(3) when the axis of the inclinometer rod is kept vertical and only the horizontal turntable rotates, the torsion rotation functions of the inclinometer and the measuring instrument can be tested and calibrated through an instrument of a manufacturer matched with the inclinometer;
(4) the array type displacement meter is also formed by connecting rod type movable inclinometers in series, so the automatic calibration device and the calibration method of the inclinometer provided by the invention are also suitable for calibrating the array type displacement meter.
Drawings
FIG. 1 is a schematic diagram of the construction of an inclinometer automatic calibration device;
FIG. 2 is a schematic view of the axial positions of the inclinometer fixed rotating wheel, the inclinometer rod, and the horizontal turntable;
FIG. 3 is a schematic structural diagram of a horizontal shaft driving servo motor transmission gear and a transmission gear of a second transmission shaft;
FIG. 4 is a schematic diagram of the inclinometer auto-calibration;
labeled as: 1. a horizontal shaft drives a servo motor; 2. a second drive shaft; 3. the inclinometer fixes the rotating wheel; 4. inclinometer pole fixing holes; 5. a support frame; 6. a horizontal turntable; 7. a vertical shaft driving servo motor; 8. a first drive shaft; 9. the inclinometer fixes the axis of the rotating wheel; 10. an axis of the inclinometer shaft; 11. the intersection of the three axes; 12. an axis of the horizontal turntable; 13. the horizontal shaft drives a servo motor transmission gear; 14. and the transmission gear of the second transmission shaft.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1 and 2, an inclinometer automatic calibration device comprises a horizontal plane calibration unit and a vertical plane calibration unit; the horizontal plane calibration unit comprises a horizontal rotary table 6 and a vertical shaft driving servo motor 7 for driving the horizontal rotary table 6 to rotate in the horizontal plane; the vertical surface calibration unit is arranged on the horizontal rotary table 6 and rotates along with the rotation of the horizontal rotary table 6, the vertical surface calibration unit comprises an inclinometer fixing rotary wheel 3 and a horizontal shaft driving servo motor 1 for driving the inclinometer fixing rotary wheel 3 to rotate in a vertical surface, and an inclinometer rod fixing hole 4 for installing an inclinometer rod is formed in the inclinometer fixing rotary wheel 3; the axis 12 of the horizontal turntable, the axis 9 of the inclinometer fixed wheel and the axis 10 of the inclinometer rod are always intersected at one point (intersection 11 of the three axes).
As shown in fig. 1, the horizontal plane calibration unit further includes a first transmission shaft 8 fixedly connected to the horizontal rotary table 6, the first transmission shaft 8 is connected to the vertical shaft driving servo motor 7, and the vertical shaft driving servo motor 7 can drive the first transmission shaft 8 to rotate in the horizontal plane. The horizontal rotary table 6 is provided with a horizontal bubble, so that the horizontal rotary table 6 is kept horizontal, and the axis 12 of the horizontal rotary table, the axis 9 of the inclinometer fixed rotary wheel and the axis 10 of the inclinometer rod are always intersected at one point.
As shown in fig. 1, the vertical surface calibration unit further includes a second transmission shaft 2 fixedly connected with the inclinometer fixed rotating wheel 3, the second transmission shaft 2 is connected with a horizontal shaft driving servo motor 1, and the horizontal shaft driving servo motor 1 can drive the second transmission shaft 2 to rotate in the vertical surface. The second transmission shaft 2 is connected with a horizontal turntable 6 through a support frame 5.
The automatic calibration device of the inclinometer further comprises a controller, wherein the controller is respectively connected with the vertical shaft driving servo motor 7, the horizontal shaft driving servo motor 1 and a reading device of the inclinometer.
As shown in fig. 3, to improve the calibration accuracy, it is possible to increase the diameter difference between the horizontal axis drive servo motor gear 13 and the gear teeth 14 of the second drive shaft and between the vertical axis drive servo motor gear and the gear teeth of the first drive shaft.
As shown in FIG. 4, line OA represents the inclinometer bar obtained by rotation, and line OD and OF are projections OF OA on the Y-O-Z plane and the X-O-Z plane, respectively, α and β are rotation angles OF the vertical axis drive servomotor 7 and the horizontal axis drive servomotor 1, respectively, and θ and β are rotation angles OF the axis drive servomotor 7 and the axis drive servomotor 1, respectively
Respectively, the included angle between the projection OD on the Y-O-Z plane and the Y axis, and the included angle between the projection OF on the X-Z plane and the X axis, and the relationship OF formula (1):
because the servo motors can control the angle of each step, the total rotating angles α and β can be obtained by accumulating the number of steps, and the total rotating angles of the two servo motors and the reading theta and theta of the inclinometer can be obtained by the calculation formula (1)
The relationship (2) of (c).
Because the hydraulic geotechnical engineering obtains small-angle deformation, the angles are all in
In the interval, therefore, formula (2) holds:
the angle value obtained by calculation in the formula (2) is used as the theoretical measurement angle of the inclinometer, so that the performance indexes of the inclinometer such as precision, repeatability and the like can be calibrated.
An automatic calibration method for an inclinometer comprises the following steps:
s1, adjusting the vertical axis drive servomotor 7 and the horizontal axis drive servomotor 1 so that the initial values of α and β become α (0) to 0 and β (0) to 0;
s2, installing the inclinometer rod to be calibrated in the inclinometer rod fixing hole 4, and ensuring that the axis 12 of the horizontal turntable, the axis 9 of the inclinometer fixing rotating wheel and the axis 10 of the inclinometer rod are intersected at one point;
s3, respectively connecting a reading device of the inclinometer, the horizontal axis drive servo motor 1 and the vertical axis drive servo motor 7 with a computer, and realizing synchronous control and reading by the computer;
s4, starting the vertical shaft driving servo motor 7 and the horizontal shaft driving servo motor 1, determining a stepping angle according to the precision requirement of the inclinometer, recording the accumulated angle of the two servo motors when the stepping angle is 1/10 degrees of the precision of the inclinometer in each stepThe rotation angles α (t) and β (t) of the inclinometer and readings α '(t) and β' (t) corresponding to the inclinometer are calculated according to the formula (2) to obtain the theoretical measurement angles theta (t) and theta (t) of the inclinometer
When theta (t) and
when the double measuring range of the inclinometer is reached, the servo motor stops advancing;
s5, controlling the vertical shaft driving servo motor 7 and the horizontal shaft driving servo motor 1 to rotate reversely, and retreating for 1/10 degrees of the precision of the inclinometer every time until the servo motors are reset to the initial position;
s6, according to the formula max α' (t) -theta (t) | and
the maximum error of the inclinometer is calculated, or parameters such as linearity, stability and hysteresis of the inclinometer are obtained according to the minimum-multiplication, and the calculation is carried out through a computer program, so that the automatic calibration of the inclinometer is realized.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. An automatic calibration device of an inclinometer is characterized by comprising a horizontal plane calibration unit and a vertical plane calibration unit;
the horizontal plane calibration unit comprises a horizontal rotary table and a vertical shaft driving servo motor for driving the horizontal rotary table to rotate in a horizontal plane;
the vertical surface calibration unit is arranged on the horizontal turntable and rotates along with the rotation of the horizontal turntable, the vertical surface calibration unit comprises an inclinometer fixing rotating wheel and a horizontal shaft driving servo motor for driving the inclinometer fixing rotating wheel to rotate in a vertical surface, and an inclinometer rod fixing hole for installing an inclinometer rod is formed in the inclinometer fixing rotating wheel;
the axis of the horizontal turntable, the axis of the inclinometer fixed rotating wheel and the axis of the inclinometer rod are always intersected at one point.
2. The inclinometer automatic rating device according to claim 1, wherein the horizontal plane rating unit further comprises a first transmission shaft fixedly connected with the horizontal turntable, the first transmission shaft is connected with a vertical shaft drive servo motor, and the vertical shaft drive servo motor can drive the first transmission shaft to rotate in the horizontal plane.
3. The inclinometer automatic calibration device according to claim 1, wherein the vertical surface calibration unit further comprises a second transmission shaft fixedly connected with the inclinometer fixed rotating wheel, the second transmission shaft is connected with a horizontal shaft driving servo motor, and the horizontal shaft driving servo motor can drive the second transmission shaft to rotate in the vertical surface.
4. The inclinometer automatic rating device of claim 3, wherein the second transmission shaft is connected with the horizontal turntable through a support bracket.
5. The inclinometer automatic rating device of claim 1, wherein the horizontal turntable is provided with a horizontal bubble.
6. The inclinometer automatic rating device of claim 1, further comprising a controller connected to the horizontal axis drive servo motor, the vertical axis drive servo motor, and the inclinometer reading device, respectively.
7. An automatic calibration method for an inclinometer is characterized by comprising the following steps:
installing an inclinometer rod to be calibrated in an inclinometer rod fixing hole, and ensuring that the axis of a horizontal turntable, the axis of an inclinometer fixing rotating wheel and the axis of the inclinometer rod are intersected at one point;
a reading device of the inclinometer, a horizontal shaft driving servo motor and a vertical shaft driving servo motor are respectively connected with a computer, and the computer realizes synchronous control and reading;
starting a horizontal shaft driving servo motor and a vertical shaft driving servo motor, determining a stepping angle according to the precision requirement of the inclinometer, recording the accumulated rotation angle of the two motors and the corresponding reading of the inclinometer, calculating the theoretical measurement angle of the inclinometer according to the rotation angles of the two servo motors, and stopping the servo motors when the theoretical measurement angle of the inclinometer reaches the range twice as large as the inclinometer;
controlling the horizontal shaft driving servo motor and the vertical shaft driving servo motor to reversely rotate at a stepping angle until the horizontal shaft driving servo motor and the vertical shaft driving servo motor are reset to the initial position;
the computer automatically calculates the maximum error of the inclinometer or the linearity, stability and lag parameters of the inclinometer, so as to realize automatic calibration of the inclinometer.
8. The inclinometer automatic rating method according to claim 7, characterized in that the stepping angle when the horizontal axis drive servo motor and the vertical axis drive servo motor advance or retreat is 1/10 degrees of inclinometer accuracy.
9. The inclinometer automatic calibration method according to claim 7, characterized in that the formula for calculating the theoretical measurement angle of the inclinometer through the rotation angles of two servo motors is as follows:
wherein α and β are rotation angles of a vertical axis drive servomotor and a horizontal axis drive servomotor, θ and β, respectively
The theoretical measurement angles of the inclinometer in the horizontal plane and the vertical plane are respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010441567.8A CN111609785B (en) | 2020-05-22 | 2020-05-22 | Automatic calibration device and calibration method for inclinometer |
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| CN202010441567.8A CN111609785B (en) | 2020-05-22 | 2020-05-22 | Automatic calibration device and calibration method for inclinometer |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1829900A (en) * | 2003-07-28 | 2006-09-06 | 莱卡地球***公开股份有限公司 | Device for checking or calibrating the angle-dependent alignment of a high-precision test piece |
| US20090312974A1 (en) * | 2008-06-17 | 2009-12-17 | Caterpillar Trimble Control Technologies Llc | Inclinometer measurement system and method providing correction for movement induced acceleration errors |
| CN102762953A (en) * | 2010-01-22 | 2012-10-31 | 株式会社拓普康 | Inclination detection device and laser surveying device |
| CN204101031U (en) * | 2014-08-06 | 2015-01-14 | 深圳市特力康科技有限公司 | Device for monitoring inclination of transmission line tower |
| CN107907144A (en) * | 2017-12-18 | 2018-04-13 | 苏州市建设工程质量检测中心有限公司 | A kind of deviational survey automatic calibration of sensor equipment |
-
2020
- 2020-05-22 CN CN202010441567.8A patent/CN111609785B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1829900A (en) * | 2003-07-28 | 2006-09-06 | 莱卡地球***公开股份有限公司 | Device for checking or calibrating the angle-dependent alignment of a high-precision test piece |
| US20090312974A1 (en) * | 2008-06-17 | 2009-12-17 | Caterpillar Trimble Control Technologies Llc | Inclinometer measurement system and method providing correction for movement induced acceleration errors |
| CN102762953A (en) * | 2010-01-22 | 2012-10-31 | 株式会社拓普康 | Inclination detection device and laser surveying device |
| CN204101031U (en) * | 2014-08-06 | 2015-01-14 | 深圳市特力康科技有限公司 | Device for monitoring inclination of transmission line tower |
| CN107907144A (en) * | 2017-12-18 | 2018-04-13 | 苏州市建设工程质量检测中心有限公司 | A kind of deviational survey automatic calibration of sensor equipment |
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