CN114370841B - Anti-interference method for magnetic pulse odometer - Google Patents
Anti-interference method for magnetic pulse odometer Download PDFInfo
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- CN114370841B CN114370841B CN202111636072.1A CN202111636072A CN114370841B CN 114370841 B CN114370841 B CN 114370841B CN 202111636072 A CN202111636072 A CN 202111636072A CN 114370841 B CN114370841 B CN 114370841B
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000005259 measurement Methods 0.000 claims abstract description 26
- 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
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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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- General Physics & Mathematics (AREA)
- Measurement Of Distances Traversed On The Ground (AREA)
Abstract
The invention discloses an anti-interference method of a magnetic pulse odometer, which comprises the following steps: calculating the variance of the corresponding confidence interval by using the magnetic pulse frequency of the wheel hub in the running speed, recording the magnetic pulse of each wheel hub in the running process by using a magnetic pulse counting device, analyzing the magnetic pulse frequency of each wheel hub by using the variance value after the data recording is finished, correcting the data exceeding the variance by using the magnetic pulse data conforming to other wheel hubs in the time, finishing the correction of the whole magnetic pulse counting, and realizing the accurate measurement of the mileage of the pipeline. The invention can solve the problem of inaccurate counting caused by slipping or vacation 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 of a magnetic pulse odometer.
Background
In the process of mileage measurement by utilizing magnetic pulses, when the mileage wheels encounter obstacle skidding or vacation in the process of pipe wall traveling, the counting is defaulted or increased in the process of equipment traveling, and thus the mileage measurement is inaccurate.
Therefore, how to provide an anti-interference method for a magnetic pulse odometer is a problem to be solved by those skilled in the art.
Disclosure of Invention
Therefore, the invention provides an anti-interference method of the magnetic pulse odometer by analyzing the magnetic pulse in the running process of the equipment and combining the reasons of inaccurate counting, so that the problem of inaccurate counting caused by slipping or vacation is solved, and the accuracy of magnetic pulse odometer measurement is improved.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
An anti-interference method of a magnetic pulse odometer, comprising: calculating the variance of the corresponding confidence interval by using the magnetic pulse frequency of the wheel hub in the running speed, recording the magnetic pulse of each wheel hub in the running process by using a magnetic pulse counting device, analyzing the magnetic pulse frequency of each wheel hub by using the variance value after the data recording is finished, correcting the data exceeding the variance by using the magnetic pulse data conforming to other wheel hubs in the time, finishing the correction of the whole magnetic pulse counting, and realizing the accurate measurement of the mileage of the pipeline.
Further, the method for completing the correction of the whole magnetic pulse count comprises the following steps: and analyzing the pulse frequency of the magnetic switch according to the speed of the system traction equipment, calculating the deviation by using normal distribution, eliminating counting information with larger deviation, and correcting the whole magnetic pulse count.
Further, the system comprises a hub with a magnetic switch and magnetic particles, the measurement of the path length and the speed is realized by utilizing the pulse counting mode of the magnetic switch, in the working process, the hub rotates in the system path, when the magnetic particles approach the magnetic switch, a magnetic signal is given to the magnetic switch, the magnetic switch is triggered to form a pulse signal, the measurement of the path length and the speed of the system path is realized by counting the pulse signal and measuring the interval time, and the calculation formula is as follows:
s＝l·n
Wherein: s is the path, l is the arc length between two magnetic particles, n is the count value, v is the average speed, and Δt 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; the variance at the desired pulse frequency relative to the road speed is calculated for the set confidence interval conditions using the above formula.
The invention has the beneficial effects that:
By analyzing magnetic pulses in the running process of the equipment and combining the reasons of inaccurate counting, the invention provides an anti-interference method of the magnetic pulse odometer, which solves the problem of inaccurate counting caused by slipping or vacation and improves the accuracy of magnetic pulse odometer measurement.
Drawings
In order to more clearly illustrate the novel embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only novel embodiments of the present invention, and that other drawings can be obtained according to the drawings provided without inventive effort for a person skilled in the art.
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 drawing,
1-Magnetic switch, 2-magnetic particles; 3-wheel hub.
Detailed Description
In the following, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the invention provides an anti-interference method of a magnetic pulse odometer, comprising the following steps: calculating the variance of the corresponding confidence interval by using the magnetic pulse frequency of the wheel hub in the running speed, recording the magnetic pulse of each wheel hub in the running process by using a magnetic pulse counting device, analyzing the magnetic pulse frequency of each wheel hub by using the variance value after the data recording is finished, correcting the data exceeding the variance by using the magnetic pulse data conforming to other wheel hubs in the time, finishing the correction of the whole magnetic pulse counting, and realizing the accurate measurement of the mileage of the pipeline.
The method for correcting the whole magnetic pulse count comprises the following steps: and analyzing the pulse frequency of the magnetic switch according to the speed of the system traction equipment, calculating the deviation by using normal distribution, eliminating counting information with larger deviation, and correcting the whole magnetic pulse count.
In order to realize the measurement of mileage and corresponding speed in the running process of the system, the system realizes the measurement of the distance and the speed by using a mode of pulse counting of a magnetic switch, the system is shown in a structure shown in figure 1, the system comprises a hub with the magnetic switch and magnetic particles, the measurement of the distance and the speed is realized by using the mode of pulse counting of the magnetic switch, the hub rotates in the running process of the system in the working process, when the magnetic particles approach the magnetic switch, a magnetic signal is given to the hub, the magnetic switch is triggered to form a pulse signal, the measurement of the path length and the speed of the running process of the system is realized by counting the pulse signal and measuring the interval time, and the calculation formula is as follows:
s＝l·n
Wherein: s is the path, l is the arc length between two magnetic particles, n is the count value, v is the average speed, and Δt 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 a pipeline. In order to adapt the system to various pipeline sizes, springs are designed in the hub, and the hub is sized by adjusting the length of the springs so as to be suitable for various pipelines.
By analyzing the magnetic pulse frequency in the mileage measurement process, random interference accords with normal distribution, the method analyzes the pulse frequency of the magnetic switch according to the speed of system traction equipment, calculates deviation by using normal distribution, eliminates counting information with larger deviation, and realizes accurate measurement of 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; the variance at the desired pulse frequency relative to the road speed is calculated for the set confidence interval conditions using the above formula. And preprocessing data in the counting process of the odometer by using the variance to finish correction of the whole magnetic pulse counting, thereby realizing accurate measurement of the pipeline mileage.
By analyzing magnetic pulses in the running process of the equipment and combining the reasons of inaccurate counting, the invention provides an anti-interference method of the magnetic pulse odometer, which solves the problem of inaccurate counting caused by slipping or vacation and improves the accuracy of magnetic pulse odometer measurement.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (3)
1. An anti-interference method for a magnetic pulse odometer, which is characterized by comprising the following steps: calculating the variance of the corresponding confidence interval by using the magnetic pulse frequency of the wheel hub in the running speed, recording the magnetic pulse of each wheel hub in the running process by using a magnetic pulse counting device, analyzing the magnetic pulse frequency of each wheel hub by using the variance value after the data are recorded, correcting the data exceeding the variance by using the magnetic pulse data conforming to other wheel hubs in the time, finishing the correction of the whole magnetic pulse count, and realizing the accurate measurement of the pipeline mileage;
the system comprises a hub with a magnetic switch and magnetic particles, the measurement of the path length and the speed is realized by utilizing the pulse counting mode of the magnetic switch, in the working process, the hub rotates in the system path, when the magnetic particles approach the magnetic switch, a magnetic signal is given to the magnetic switch, the magnetic switch is triggered to form a pulse signal, the measurement of the path length and the speed of the system path is realized by counting the pulse signal and measuring the interval time, and the calculation formula is as follows:
s＝l·n
Wherein: s is the path, l is the arc length between two magnetic particles, n is the count value, v is the average speed, and Δt is the time interval of the pulse.
2. The method for resisting disturbance of a magnetic pulse odometer according to claim 1, wherein the method for completing the correction of the whole magnetic pulse count is as follows: and analyzing the pulse frequency of the magnetic switch according to the speed of the system traction equipment, calculating the deviation by using normal distribution, eliminating counting information with larger deviation, and correcting the whole magnetic pulse count.
3. The method for resisting disturbance of a 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; the variance at the desired pulse frequency relative to the road speed is calculated for the set confidence interval conditions using the above formula.
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| CN202111636072.1A CN114370841B (en) | 2022-02-22 | 2022-02-22 | Anti-interference method for magnetic pulse odometer |
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| CN202111636072.1A CN114370841B (en) | 2022-02-22 | 2022-02-22 | Anti-interference method for magnetic pulse odometer |
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| CN114370841A CN114370841A (en) | 2022-04-19 |
| CN114370841B true CN114370841B (en) | 2024-05-14 |
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| 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 |
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2022
- 2022-02-22 CN CN202111636072.1A patent/CN114370841B/en active Active
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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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| 《电子式车速里程表、转速表误差分析》;张建峰;《计量与测试技术》;全文 * |
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