CN114370841A - Anti-interference method for magnetic pulse odometer - Google Patents
Anti-interference method for magnetic pulse odometer Download PDFInfo
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- CN114370841A CN114370841A CN202111636072.1A CN202111636072A CN114370841A CN 114370841 A CN114370841 A CN 114370841A CN 202111636072 A CN202111636072 A CN 202111636072A CN 114370841 A CN114370841 A CN 114370841A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000005259 measurement Methods 0.000 claims abstract description 23
- 238000012937 correction Methods 0.000 claims abstract description 7
- 239000006249 magnetic particle Substances 0.000 claims description 10
- 238000013459 approach Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
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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
- G01B21/20—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 contours or curvatures, e.g. determining profile
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Abstract
The invention discloses an anti-interference method for a magnetic pulse odometer, which comprises the following steps: the variance under the corresponding confidence interval is calculated by utilizing the magnetic pulse frequency under the wheel hub path speed, the magnetic pulse counting device is utilized to record the magnetic pulse of each wheel hub in the path traveling process, after the data are recorded, the variance value is utilized to analyze the magnetic pulse frequency of each wheel hub, the data exceeding the variance are corrected by utilizing the magnetic pulse data which are met by other wheel hubs in the period of time, the correction of the whole magnetic pulse counting is completed, and the accurate measurement of the pipeline mileage is realized. The invention can overcome the problem of inaccurate counting caused by slipping or emptying and improve the accuracy of magnetic pulse mileage measurement.
Description
Technical Field
The invention belongs to the technical field of pipeline mileage measurement, and particularly relates to an anti-interference method for a magnetic pulse odometer.
Background
In the process of measuring the mileage by using the magnetic pulse, when the mileage wheel encounters an obstacle to slip or empty in the process of moving on the pipe wall, the counting is default or increased in the process of moving on the pipe wall, and the mileage measurement is inaccurate.
Therefore, how to provide an anti-interference method for the magnetic pulse odometer becomes a problem which needs to be solved urgently by the technical personnel in the field.
Disclosure of Invention
In view of the above, the invention provides an anti-interference method for a magnetic pulse odometer by analyzing magnetic pulses in the equipment travelling process and combining the reason of inaccurate counting, so that the problem of inaccurate counting caused by slipping or flying is solved, and the accuracy of measuring the magnetic pulse odometer is improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
an anti-interference method for a magnetic pulse odometer comprises the following steps: the variance under the corresponding confidence interval is calculated by utilizing the magnetic pulse frequency under the wheel hub path speed, the magnetic pulse counting device is utilized to record the magnetic pulse of each wheel hub in the path traveling process, after the data are recorded, the variance value is utilized to analyze the magnetic pulse frequency of each wheel hub, the data exceeding the variance are corrected by utilizing the magnetic pulse data which are met by other wheel hubs in the period of time, the correction of the whole magnetic pulse counting is completed, and the accurate measurement of the pipeline mileage is realized.
Further, the method for completing the correction of the whole magnetic pulse count comprises the following steps: the pulse frequency of the magnetic switch is analyzed according to the speed of the system traction equipment, the deviation is calculated by utilizing normal distribution, counting information with large deviation is eliminated, and the whole magnetic pulse counting is corrected.
Furthermore, the system comprises a hub with a magnetic switch and magnetic particles, the distance and the speed are measured by utilizing a magnetic switch pulse counting mode, in the working process, the hub rotates in the system traveling path, when the magnetic particles approach the magnetic switch, a magnetic signal is given to the magnetic switch to trigger the magnetic switch to form a pulse signal, the measurement of the length and the speed of the system traveling path is realized by counting the pulse signal and measuring the interval time, and the calculation formula is as follows:
s＝l·n
in the formula: s is the distance, l is the arc length between two magnetic particles, n is the count value, v is the average velocity, and Δ t is the time interval of the pulse.
Further, a one-dimensional normal distribution is adopted, and the probability density function of the normal distribution is as follows:
wherein f (x) represents probability, mu is the number of magnetic pulses in unit time in the measurement process of the expected odometer, and sigma is the deviation number of the magnetic pulses; and calculating the variance at the expected pulse frequency relative to the traveling speed under the condition of the set confidence interval by using the formula pair.
The invention has the beneficial effects that:
by analyzing the magnetic pulse in the equipment traveling process and combining the reason of inaccurate counting, the invention provides the anti-interference method of the magnetic pulse odometer, which overcomes the problem of inaccurate counting caused by slipping or flying and improves the accuracy of magnetic pulse mileage measurement.
Drawings
In order to illustrate the present invention or the technical solutions in the prior art more clearly, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only the present embodiments of the invention, and other drawings can be obtained by those skilled in the art without creative efforts based on the provided drawings.
FIG. 1 is a flow chart of the method of the present invention.
FIG. 2 is a schematic diagram of the system of the present invention.
Wherein, in the figure,
1-magnetic switch, 2-magnetic particle; and 3-wheel hub.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides an anti-interference method for a magnetic pulse odometer, including: the variance under the corresponding confidence interval is calculated by utilizing the magnetic pulse frequency under the wheel hub path speed, the magnetic pulse counting device is utilized to record the magnetic pulse of each wheel hub in the path traveling process, after the data are recorded, the variance value is utilized to analyze the magnetic pulse frequency of each wheel hub, the data exceeding the variance are corrected by utilizing the magnetic pulse data which are met by other wheel hubs in the period of time, the correction of the whole magnetic pulse counting is completed, and the accurate measurement of the pipeline mileage is realized.
The method for completing the correction of the whole magnetic pulse counting comprises the following steps: the pulse frequency of the magnetic switch is analyzed according to the speed of the system traction equipment, the deviation is calculated by utilizing normal distribution, counting information with large deviation is eliminated, and the whole magnetic pulse counting is corrected.
In order to realize the measurement of mileage and corresponding speed in the system traveling process, the system realizes the measurement of the distance and the speed by using a magnetic switch pulse counting mode, the structure of the system is shown as figure 1, the system comprises a hub with a magnetic switch and magnetic particles, the measurement of the distance and the speed is realized by using the magnetic switch pulse counting mode, the hub rotates in the system traveling process in the working process, when the magnetic particles approach the magnetic switch, a magnetic signal is given to the magnetic switch to trigger the magnetic switch to form a pulse signal, and the measurement of the system traveling path length and the speed is realized by measuring the pulse signal counting and the interval time, and the calculation formula is as follows:
s＝l·n
in the formula: s is the distance, l is the arc length between two magnetic particles, n is the count value, v is the average velocity, and Δ t is the time interval of the pulse.
Based on the design of the odometer, the whole system adopts a hub type structure by combining the measurement module of the system and the size of the pipeline. In order to make the system suitable for various pipeline sizes, springs are designed in the hubs, and the length adjustment of the springs is used for realizing the size of the hubs, so that the systems are suitable for various pipelines.
By analyzing the magnetic pulse frequency in the mileage measurement process, the random interference of the magnetic pulse frequency conforms to normal distribution, the method analyzes the pulse frequency of the magnetic switch according to the speed of system traction equipment, calculates the deviation by utilizing the normal distribution, rejects counting information with larger deviation and realizes the accurate measurement of the mileage.
The invention adopts one-dimensional normal distribution, and the probability density function of the normal distribution is as follows:
wherein f (x) represents probability, mu is the number of magnetic pulses in unit time in the measurement process of the expected odometer, and sigma is the deviation number of the magnetic pulses; and calculating the variance at the expected pulse frequency relative to the traveling speed under the condition of the set confidence interval by using the formula pair. The variance is utilized to preprocess data in the counting process of the odometer, so that the whole magnetic pulse counting is corrected, and the accurate measurement of the pipeline mileage is realized.
By analyzing the magnetic pulse in the equipment traveling process and combining the reason of inaccurate counting, the invention provides the anti-interference method of the magnetic pulse odometer, which overcomes the problem of inaccurate counting caused by slipping or flying and improves the accuracy of magnetic pulse mileage measurement.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (4)
1. An anti-interference method for a magnetic pulse odometer is characterized by comprising the following steps: the variance under the corresponding confidence interval is calculated by utilizing the magnetic pulse frequency under the wheel hub path speed, the magnetic pulse counting device is utilized to record the magnetic pulse of each wheel hub in the path traveling process, after the data are recorded, the variance value is utilized to analyze the magnetic pulse frequency of each wheel hub, the data exceeding the variance are corrected by utilizing the magnetic pulse data which are met by other wheel hubs in the period of time, the correction of the whole magnetic pulse counting is completed, and the accurate measurement of the pipeline mileage is realized.
2. The anti-interference method for the magnetic pulse odometer according to claim 1, wherein the method for completing the correction of the whole magnetic pulse count comprises the following steps: the pulse frequency of the magnetic switch is analyzed according to the speed of the system traction equipment, the deviation is calculated by utilizing normal distribution, counting information with large deviation is eliminated, and the whole magnetic pulse counting is corrected.
3. The anti-interference method for the magnetic pulse odometer according to claim 2, wherein the system comprises a hub with a magnetic switch and magnetic particles, the distance and speed measurement is realized by means of pulse counting of the magnetic switch, during operation, the hub rotates in the system path, when the magnetic particles approach the magnetic switch, a magnetic signal is given to the hub to trigger the magnetic switch to form a pulse signal, and the measurement of the path length and speed of the system path is realized by measuring the counting and interval time of the pulse signal, and the calculation formula is as follows:
s＝l·n
in the formula: s is the distance, l is the arc length between two magnetic particles, n is the count value, v is the average velocity, and Δ t is the time interval of the pulse.
4. The anti-interference method for the magnetic pulse odometer according to claim 2, wherein a one-dimensional normal distribution is adopted, and the probability density function of the normal distribution is as follows:
wherein f (x) represents probability, mu is the number of magnetic pulses in unit time in the measurement process of the expected odometer, and sigma is the deviation number of the magnetic pulses; and calculating the variance at the expected pulse frequency relative to the traveling speed under the condition of the set confidence interval by using the formula pair.
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4510587A (en) * | 1981-10-30 | 1985-04-09 | Maag Gear-Wheel & Machine Company Limited | Method and arrangement for the evaluation of signals from an ultrasonic displacement path measuring system |
| CN2126411U (en) * | 1992-03-24 | 1992-12-30 | 刘泰富 | Magnetic pulse type odometer for bicycle |
| CN102426373A (en) * | 2011-09-01 | 2012-04-25 | 中国航空工业第六一八研究所 | Open and closed loop mixing correction method of inertia/satellite combination navigation system |
| CN103576088A (en) * | 2012-07-25 | 2014-02-12 | 阿尔斯通技术有限公司 | Method for monitoring machine with rotating shaft |
| CN106500719A (en) * | 2016-11-04 | 2017-03-15 | 广西大学 | A kind of bicycle odometer based on analog circuit |
| CN109375158A (en) * | 2018-09-25 | 2019-02-22 | 北京工业大学 | Method for positioning mobile robot based on UGO Fusion |
| CN110044351A (en) * | 2019-04-15 | 2019-07-23 | 国网浙江桐乡市供电有限公司 | Displacement measurement system and method based on magnetic switch |
| CN111380516A (en) * | 2020-02-27 | 2020-07-07 | 上海交通大学 | Inertial navigation/odometer vehicle combined navigation method and system based on odometer measurement information |
-
2022
- 2022-02-22 CN CN202111636072.1A patent/CN114370841B/en active Active
Patent Citations (8)
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|---|---|---|---|---|
| US4510587A (en) * | 1981-10-30 | 1985-04-09 | Maag Gear-Wheel & Machine Company Limited | Method and arrangement for the evaluation of signals from an ultrasonic displacement path measuring system |
| CN2126411U (en) * | 1992-03-24 | 1992-12-30 | 刘泰富 | Magnetic pulse type odometer for bicycle |
| CN102426373A (en) * | 2011-09-01 | 2012-04-25 | 中国航空工业第六一八研究所 | Open and closed loop mixing correction method of inertia/satellite combination navigation system |
| CN103576088A (en) * | 2012-07-25 | 2014-02-12 | 阿尔斯通技术有限公司 | Method for monitoring machine with rotating shaft |
| CN106500719A (en) * | 2016-11-04 | 2017-03-15 | 广西大学 | A kind of bicycle odometer based on analog circuit |
| CN109375158A (en) * | 2018-09-25 | 2019-02-22 | 北京工业大学 | Method for positioning mobile robot based on UGO Fusion |
| CN110044351A (en) * | 2019-04-15 | 2019-07-23 | 国网浙江桐乡市供电有限公司 | Displacement measurement system and method based on magnetic switch |
| CN111380516A (en) * | 2020-02-27 | 2020-07-07 | 上海交通大学 | Inertial navigation/odometer vehicle combined navigation method and system based on odometer measurement information |
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| 张建峰: "《电子式车速里程表、转速表误差分析》", 《计量与测试技术》 * |
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