KR20160144047A - The digital absolute inclinometer or method which measure the position of free oscillation ball on half inner sphere by image sensor or photo detector - Google Patents

The digital absolute inclinometer or method which measure the position of free oscillation ball on half inner sphere by image sensor or photo detector Download PDF

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KR20160144047A
KR20160144047A KR1020150080308A KR20150080308A KR20160144047A KR 20160144047 A KR20160144047 A KR 20160144047A KR 1020150080308 A KR1020150080308 A KR 1020150080308A KR 20150080308 A KR20150080308 A KR 20150080308A KR 20160144047 A KR20160144047 A KR 20160144047A
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ball
sensor
center
moon
measuring
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KR1020150080308A
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Korean (ko)
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조동혁
종범 김
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자이로캠주식회사
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Publication of KR20160144047A publication Critical patent/KR20160144047A/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/10—Measuring inclination, e.g. by clinometers, by levels by using rolling bodies, e.g. spheres, cylinders, mercury droplets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/02—Details
    • G01C9/06—Electric or photoelectric indication or reading means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/10—Measuring inclination, e.g. by clinometers, by levels by using rolling bodies, e.g. spheres, cylinders, mercury droplets
    • G01C2009/107—Measuring inclination, e.g. by clinometers, by levels by using rolling bodies, e.g. spheres, cylinders, mercury droplets spheres

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract


The present invention applies the basic principle that the center of freely oscillating balls (including steel balls) always faces in the direction of gravity within the half-moon-shaped sphere, and the ball facing the center of the earth at the top of the sensor case is placed on the sphere- An absolute inclinometer or a motion sensor that detects the position of a ball in an image sensor or a photodetector array at the lower end and calculates the coordinates of the pixel to measure the tilt in the biaxial direction at the same time.
Unlike a gyro sensor, an acceleration sensor, or a tilt sensor, this concept of slope and motion sensor does not drift with temperature and time basically by directly obtaining the slope as a digital value rather than an analog value, and the measured value is always accurate and stable There is a great advantage that no calibration is required.
The tilt sensor of the digital positioning method can provide an excellent advantage in the field of the safety diagnosis of a structure in which the sensor is installed in a position where it is difficult to regularly and occasionally correct due to facilities and access problems with a wide variation in external environments such as construction and civil engineering fields.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a digital absolute inclination measuring method and sensor for measuring the inclination of an object by measuring the position of a ball, inner sphere by image sensor or photo detector}

In order to measure the horizontal and inclination of the plane on which the object is installed, an analog level is used, which has long been filled with liquid to such an extent that bubbles are formed in the cycle tube, and the gravity of the liquid horizontal plane is kept perpendicular to the center of the earth come. Depending on the sensitivity of the cycle tube, the type 1 senses a slope of 4 seconds (0.02 mm / m), the second type measures 10 seconds (0.05 mm / m) and the third type has a precision of 20 seconds (0.1 mm / m) The basic principle is that when the level is tilted, the bubbles move toward the higher slope, so the scale is set on the left and right sides of the bubble tube and the slope is read by reading the position of the scale line indicated by the bubble. An electronic or digital level airway has been developed to measure the slope with digitized numbers and graphics. The basic principle is to install the centrifugal weights and measure the inclination by reading the coordinates of additional centrifugal points. Since the centrifugal weight must be mounted, it is very expensive in terms of size and weight and precision equipment. And it is electronicized so that the measured value can be transmitted to the computer. If it can be miniaturized (for example, 1cm x 1cm x 4mm package) so that it can be mounted on a portable terminal, an acceleration sensor or a gyro sensor that is installed in the current smart phone and automatically converts the screen display mode of the smart phone into the horizontal and vertical directions There is a possibility of replacing it. Acceleration sensors usually use the principle that a force is generated when an acceleration is generated in a piezoelectric material. By measuring the gravity acceleration in three axes direction and integrating it, the velocity and displacement can be obtained. However, The drift is serious due to the integral constant generated in the course of the process, and it is difficult to ensure the accuracy because correction is necessary. Therefore, the sensor is used as a simple motion sensor. The gyro sensor, which is a rotational angular velocity sensor, generates Coriolis force in the vertical direction of the rotating angle. It detects the vertical force and measures the rotation acceleration in each direction, which is more complicated than the geomagnetic sensor and the acceleration sensor. These sensors are made thinner and thinner than existing mechanical systems by applying MEMS (Micro Electro Mechanical Systems) technology. The present invention can be used not only as a motion sensor that is widely used in a mobile phone, a game machine, a camera, etc., but also as an acceleration sensor and a gyro sensor, It provides a new concept of absolute optical tilt angle or tilt sensor.

At the analog level, the glass tube is filled with liquid, and the position of the bubble is measured to measure the slope of the reference plane to be measured. There is a means for electronically measuring the position of the bubbles on the outer wall of the glass tube (for example, the color of the liquid is red and measured using a color image sensor), and the inclination can be easily calculated by reading it. Alternatively, the degree of inclination can be measured by measuring the position of the bubble using conductivity. By measuring the displacement variation of bubbles in the glass tube and dividing it by unit time interval, the angular velocity component in the direction is created and the acceleration can be calculated by dividing the difference of the angular velocity component in the unit time by the unit time. Gyro sensors, which are currently used as motion sensors, measure the angular velocity of three axes. When three glass tubes are installed corresponding to each axis, the tilt angle, angular velocity and angular velocity of the corresponding axis can be measured. In this case, it is necessary to study the properties of the liquid viscosity, sealing pressure, lattice plate, and inner wall of the glass tube so that the liquid surface does not become loose. In a handheld device such as a mobile phone, the volume of the sensor is very important to simply mount it as a function to detect motion only (for example, change the web browser to landscape mode or portrait mode). As means for providing a sensor that measures the tilt angle, angular velocity, and angular acceleration of three axes directly on a printed circuit board (PCB) using a basic principle of sensing the height of the liquid surface as in a glass tube, Applications 10-2010-0051494 and 10-2010-0053118 and 10-2010-0128830 have been filed. However, there are limitations in securing stable sensing characteristics due to the problems of stable conductivity and repeatability of the conductive liquid and corrosiveness of the liquid.

The present invention is to detect inclination and motion by directly digitally measuring the inclination of a corresponding axis to replace a gyro sensor, an acceleration sensor, and a capacitive tilt sensor used in a smart phone. The basic principle of the gyro sensor and the acceleration sensor is to measure the force corresponding to the acceleration and the angular velocity, and calculate the displacement component by integrating it. Therefore, the drift phenomenon in which the error is accumulated while the integral is accumulated, There is a problem that the value fluctuates. The capacitive tilt sensor is an analog type sensor that measures the tilt using the characteristic that the liquid amount between the two poles is changed by changing the capacitance, and there is a limitation in the accuracy and the measuring range, and there is a limitation that the three axes can not be measured at the same time . In order to calculate velocity and displacement inversely, it is necessary to perform complex integral calculations in the means of measuring the acceleration. However, the means for measuring the displacement is to calculate the acceleration by dividing the displacement change by time and by dividing the velocity change by time. The present applicant has constructed a configuration (Absolute Inclinometer concept) to directly measure the displacement as a digital value differently from existing sensors through the patent applications 10-2010-0051494 and 10-2010-0053118 and 10-2010-0128830, And thus the measurement value is not changed fundamentally. In addition, the above-described problem is solved by calculating the rate of change in displacement per unit time to obtain the velocity and acceleration. In other words, gyro sensors, acceleration sensors, and geomagnetic sensors require a circuit (for example, an A / D converter) that converts an analog numerical value to a digital value in both the structure and principle of the sensor. The sensor has the advantage that the peripheral circuits and the calculation process are simplified. In particular, analog measurement values are subject to environmental influences such as temperature and humidity, and include noise components. Therefore, there is a problem in that it is necessary to perform conversion to a circuit or a program, or to perform signal filtering and compensation according to need. The basic principle of the electronic level measuring the current horizontal plane is to calculate the tilt angle by measuring the tilted angle of the centrifugal weight from the slope toward the earth's central axis. It is possible to measure displacement such as inclination angle but it is not suitable for dynamic measurement such as angular velocity and it is difficult to miniaturize in the form of a semiconductor package, so that a motion recognition sensor There is a problem that it can not be used. The present applicant has found that, even when the patent applications 10-2010-0051494 and 10-2010-0053118 and 10-2010-0128830 are configured to directly measure the displacement as a digital value unlike the conventional sensors, However, there are many sensing input terminals (for example, when three measuring axes are installed in a spherical shape mechanism, 360 sensing input terminals are required to measure 0.5 interval in one axis of 180 area) There is a problem in that the size of the semiconductor wafer die and the package size becomes large. That is, as the semiconductor die size increases, the product size increases (at least 20 x 20 for a semiconductor package with 360 pins), power consumption and cost increase in proportion to wafer die size There is a problem. In addition, there is a high possibility that problems such as an error due to the surface tension between the electrode and the liquid due to the physicochemical properties of the conductive liquid filled in the measurement container, and durability due to corrosion of the conductive liquid are likely to occur. The applicant of the present invention has applied for a patent on the concept of digitally measuring the position of the free vibration pendulum instead of the analog method instead of using the conductive liquid. The present invention proposes a method for solving the problem of increasing the pendulum length in order to increase the accuracy when using a free vibration pendulum.

The method of measuring the position of the pendulum The basic principle of the inclinometer is that the pendulum is placed in the magnetic field of the position sensor as a principle of the servo accelerometer. When the gravity acts, it tilts in the gravitational direction. The gravitational force and the electromagnetic force are changed in opposite directions, so that the equilibrium is formed and the moving object is not moved. Therefore, the inclination can be measured through the current value. Basic principle of MEMS type acceleration sensor It is also known to measure the change of capacitance between the tip of the cantilever and the electrode to measure the acceleration and the inclination. These methods are basically based on analog measurements, so there is a problem that temperature and environmental compensation and initial zeroing must be made from time to time. Therefore, there is a need for a method of digitally measuring the position of the pendulum so that the temperature and the environment are not influenced.

As a method of measuring the position of the pendulum by a digital method, a conductive needle is placed on the end of a pendulum, and a plurality of electrodes are placed on an orbital surface in contact with the pendulum to find a position of a contact electrode. In this way, one-axis tilt measurement can be realized, but in order to measure the biaxial tilt, a number of electrodes must be installed on the raceway surface. In addition, there is a problem in that the contact surface is worn when sensing the contact type, and it is difficult to arrange both electrodes on the spherical surface so as to come into contact with the raceway surface of the pendulum. In order to solve this problem, it is proposed to arrange the image sensor at the bottom and track the position of the pendulum by image recognition captured by the image sensor. In order to track the position of the pendulum to the image sensor in the closed space, There is a method of recognizing the position of the pendulum or a special pattern installed on the pendulum by lighting the LEDs of the interior. For precise position measurement, it is most efficient to emit minute light of a certain frequency such as laser light from the center of the pendulum vibrating at the top, and to find the corresponding pixel irradiated by the image sensor at the bottom. If the width of the light emitted by the laser LED is 1 μm and the pixel size of the image sensor is 1 μm (the pixels of the 1/5-inch class 5M image sensor are 1.12 μm) and the pendulum length is 10 mm, the measurement accuracy is arctan / 10mm) = 0.005 degrees, and when the pendulum length is 50mm, it is possible to measure up to 0.0001 degrees. In order to solve the problem of lengthening the pendulum length in order to increase the precision, a free-moving ball (including a steel ball) is placed on the inner surface of a transparent half-moon instead of the pendulum to move toward the center of the earth and measure the position of the ball A method can be presented. In this case, the slope is calculated by using the movement distance and the radius of the half-moon-shaped sphere in the direction of the X-axis and Y-axis from the ball center of the dart-shaped ball. When the radius of the sphere is increased due to the case size limitation, it is not possible to use a half-moon-shaped sphere, and the sphere can be made in a shape using a part of the sphere (a shape in which a crescent moon is moved downward).

In order to directly measure the tilt by a digital value that does not require AD conversion different from existing sensors, in general, when a case is constituted by a cylindrical shape, a ball facing the center of the earth is provided on the inner surface of a semi- An image sensor or a photodetector array is installed. In this case, a specific pattern including a color or a ball made to emit light can be installed, and if a specific pattern and a corresponding pixel in which light is detected are detected in the photo detector array, it is possible to simultaneously measure the tilt in two axial directions. The velocity component is calculated by measuring the amount of change in the unit time of this measured value, and the acceleration component is obtained by calculating the velocity change amount per unit time, so that it can be used as a motion recognition sensor. The present invention utilizes the principle that the center of a free-vibrating ball always faces the direction of gravity within a half-moon-shaped sphere, recognizes the pattern and light in the image sensor or photodetector array at the bottom of the ball, It is possible to implement an absolute inclinometer that is displayed as a digital measurement value (not an AD conversion value) that does not require zero setting. In the case of the civil engineering and constructional structures, when the radius of the half-moon-shaped sphere is set to 10 cm in order to satisfy the small measuring range and high precision, the accuracy of 0.0005 degrees can be secured when the pixel interval of the image sensor is 1 μm. Since the ball vibrating around the center axis of the half-moon shaped ball moves very sensitively to external shocks, vibrations, and seismic waves, it can also be used as a measurement sensor (impact sensor, vibration sensor, seismic sensor, etc.).

The present invention applies the basic principle that the center of freely oscillating balls (including steel balls) always faces in the direction of gravity within the half-moon-shaped sphere, and the ball facing the center of the earth at the top of the sensor case is placed on the sphere- And an absolute inclinometer or motion sensor for detecting a position of a ball in an image sensor or a photodetector array at the lower end and simultaneously measuring the tilt in the biaxial direction by calculating coordinates of the pixel, It has the same effect.

First, the slope of this concept and the motion sensor are different from the gyro sensor, the accelerometer or the tilt sensor, and the inclination is directly determined by the digital value instead of the analog value. Therefore, the measurement value is always accurate and stable It is possible to apply the present invention to a facility having a large variation in outside environment such as a building or a civil engineering field and a safety diagnosis of a structure in which a sensor is installed in a position where correction is difficult.

Second, in order to calculate the inclination through the MEMS type acceleration sensor or the gyro sensor, it is necessary to integrate the measured value and the drift occurs due to the integral constant generated in the process. Since the present invention measures the direct inclination in a digital manner, There is an effect to provide.

Third, the image sensor can process more than 60 frames per second with a dedicated processor. Therefore, it is possible to obtain very fast response. By recalculating the trajectory of light, it is possible to analyze characteristics of vibration such as various tilt, motion and seismic waves. There is an effect.

Fourth, the half-moon shaped ball and ball can be used to precisely measure the degree of inclination of household appliances such as washing machines and refrigerators because it is easy to control the miniaturization and the measuring range and the precision. When the display means is included, It can also be applied to machine tools that must be maintained.

Figure 1 is an image of an electronic level.
FIG. 2 is a block diagram of a tilt sensor in which an image sensor or a photodetector array is provided at the lower end of a case patented by the present applicant and a pendulum emitting light is provided at the top.
FIG. 3 is a block diagram of a tilt sensor according to the present invention, in which the center of a free-vibrating ball always faces a gravitational direction in a half-moon-shaped sphere.
FIG. 4 is a block diagram of a tilt sensor according to the present invention, in which the center of a free-vibrating ball always faces the direction of gravity within a half-moon-shaped sphere.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed to be limited to ordinary or dictionary meanings, and the inventor should properly interpret the concept of the term to describe its own invention in the best way. The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.

The present invention applies the basic principle that the center of a free-vibrating ball (including a steel ball) always faces in the direction of gravity, and the ball facing the center of the earth at the top of the sensor case is installed on the inner surface of a semi- The present invention relates to an absolute inclinometer or a motion sensor that detects the position of a ball in an image sensor or a photodetector array of the image sensor and simultaneously calculates the coordinates of the pixel to measure the tilt in the biaxial direction. In other words, unlike conventional sensors that convert analog measurement values into AD, the center position (light or pattern or color) of the ball is measured in the image sensor or photodetector based on the position of the pixels where the light or pattern is detected The measurement value itself is a digital value. Therefore, unlike existing sensors, there is a great merit that it is not affected by outside environmental factors such as temperature / humidity / illumination and it is not necessary to calibrate. Therefore, It is considered to be optimal as a sensor. The measurement accuracy of the sensor is determined by the pixel size of the image sensor or photodetector and the radius of the spherical surface of the half-moon shape. Since the pixel size of the current 5M pixel image sensor is about 1 μm, It is possible to secure a precision of 0.005 degrees. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the accompanying drawings.

       Figure 1 is an image of an electronic level. The level is divided into 0.02mm / m (about 4 seconds) for type 1, 0.05mm / m (about 10 seconds) for two types and 0.1mm / m (about 20 seconds) for three types depending on measurement accuracy. It is sold at hundreds to tens of thousands of won.

FIG. 2 is a block diagram of a tilt sensor in which an image sensor or a photodetector array is provided at the lower end of a case patented by the present applicant and a pendulum emitting light is provided at the top. In order to increase the accuracy, the pendulum length must be long, and it is difficult to shorten the stabilization time of the free vibration center weight and the hinge axis of the pendulum is maintained at the same condition.

FIG. 3 is a block diagram of a tilt sensor according to the present invention, in which the center of a free-vibrating ball always faces a gravitational direction in a half-moon-shaped sphere. A sensor for measuring an inclination of an object, comprising: means for installing a ball (2) facing the center of the earth in a container and a case (5) in a half-moon-shaped spherical inner surface (6); Means for installing an image sensor or photodetector (1) that recognizes the position of the ball (2) in the container and the case (5); A pattern (including color) or light emitting means 3 provided on the ball 2 for calculating the position of the ball 2 vibrating with respect to the center of the transparent half-moon-shaped spherical inner surface 6; The position of the means 3 for emitting a pattern or light is detected by the image sensor or the photodetector 1 and the inclination is calculated. There is provided a sensor and a measuring method for detecting a position of a ball from the inner surface of the ball toward the center of the ball to calculate a tilt, and an apparatus using the same. In this case, it is a principle that the half-moon-shaped spherical inner surface 6 is made of a transparent material so as to detect the position of the ball 2 in the image sensor or the photodetector 1 at the lower end of the container and the case 5. The tilt sensor of this principle comprises means for installing a ball 2 in the container and case 5 facing the center of the globe, in a half-moon-shaped spherical inner surface 6; The inclination of the container and the case 5 is calculated by the radius of the half-moon-like spherical inner surface 6 and the distance of movement of the ball 2, so that increasing the radius of the spherical inner surface 6 increases the measurement accuracy. Means for installing a ball (2) facing the center of the earth in the vessel and case (5) in a half-moon-shaped spherical inner surface (6); If the semi-moon-shaped spherical inner surface 6 is formed in a shape smaller than half a month depending on the size of the container and case 5 (the shape of the crescent moon is moved downward), the measurement tilt range is narrowed, but the height of the sensor can be made small. Means for installing a ball (2) facing the center of the earth in the container and case (5) of such a sensor in a half-moon-shaped spherical inner surface (6); The spherical inner surface 6 of the half-moon shape can be constructed by filling the ball vibration control liquid 4 for stabilizing the vibration of the ball prematurely. As the liquid for vibration control, it is possible to select a viscous liquid which partially restricts the free vibration of the ball without corroding the inside of the ball and the ball. The tilt sensor of this principle is provided with a pattern (including color) for position detection in the ball 2 vibrating with respect to the center of the transparent half-moon-shaped spherical inner surface 6, Means for recognizing a pattern for calculating the position of the ball 2 in an image captured by the image sensor 1 after installing and operating means for supplying light for illumination; The position of the ball 2 is calculated based on the position of the pixels that sense the pattern on the image sensor 1, and the tilt is measured. Alternatively, in place of the method of detecting light of a single pattern in order to enhance the accuracy and reliability, a plurality of patterns for detecting the position of the ball 2 vibrating with respect to the center of the spherical inner surface 6 of the transparent half- Means for recognizing a plurality of patterns for calculating the position of the ball (2) in an image captured by the image sensor (1); It is possible to calculate the position of the ball 2 based on the position of the pixels that sense the plurality of patterns on the image sensor 1 and to measure the tilt. Alternatively, a plurality of balls 2 that vibrate with respect to the center of the transparent semi-moon-shaped spherical inner surface 6 may be provided, and a plurality of balls 2 may be provided for detecting the positions of the plurality of balls 2 in the image captured by the image sensor 1, Means for recognizing the pattern of the object; It is possible to calculate the position of the center point based on the position of the plurality of balls 2 on the image sensor 1 and measure the tilt. When a plurality of balls are provided, the stabilization time is shortened because vibration is attenuated due to mutual collision. Special devices or fluorescent materials can be coated to emit light to the ball. That is to say, the element 3 emitting light to the ball 2 vibrating with respect to the center of the transparent semi-moon-like spherical inner surface 6 is provided, and the image captured by the image sensor or photodetector 1 Means for detecting the position of light emitted from the light source; The position of the ball 2 may be calculated on the basis of the position of the pixel on which the light is detected on the image sensor or the photodetector 1, and the inclination may be measured.

In the tilt sensor of the above-described principle, means for calculating the tilt in each axial direction; Means for calculating an angular velocity by a gradient change per unit time of each axis; and means for calculating angular acceleration by a change in angular velocity per unit time of each axis. And may include a function of determining whether a seismic wave is present by analyzing data based on the thus-calculated slope, angular velocity, and angular velocity data.

In order to perform image processing in real time by sensing a specific pattern or light with the image sensor, a high-performance processor is required. As smartphones become more popularized, recycling of older smartphones is also an urgent issue. The image sensor or the photo detector 1 and the control circuit can be configured using an image sensor installed on a board of a smartphone. In addition, there is an advantage that the information of the geomagnetic sensor, the acceleration sensor, the gyro sensor, the illumination sensor or the temperature sensor installed on the board of the smartphone can be displayed together. In addition, it is possible to transmit the information of the wireless communication means installed on the smartphone board or the sensor information measured by the mobile communication means to a remote location, thereby providing a complete Universal Sensor Network (USN). Two methods for fabricating such a sensor can be proposed. The first method is to provide a ball 2 and a half-moon-shaped spherical inner surface 6 at the top of the container and the case 5, and an image recognizing the position of the ball 2 at the bottom of the container and case 5 A sensor or a photodetector 1 is installed. The second method is to install the ball 2 and the semi-moon-shaped spherical inner surface 6 at the lower end of the container and the case 5 and to attach the image recognizing the position of the ball 2 to the top of the container and case 5 A sensor or a photodetector 1 is installed. In this sensor, it can be replaced by a means (for example, a bubble at a level) acting as a ball 2 moving in the direction of the center of the globe from the half-moon-shaped spherical inner surface 6 in the container 5 It is a well-known fact.

FIG. 4 is a block diagram of a tilt sensor according to the present invention, in which the center of a free-vibrating ball always faces the direction of gravity within a half-moon-shaped sphere. That is, an image sensor or a photodetector 300 is installed in the container and the case to recognize the position of the ball. And a pattern and light position calculation means (100) installed on the ball for calculating the position of the ball vibrating with respect to the center of the spherical inner surface of the transparent half-moon shape; Lighting means (200) for pattern recognition for supplying light when the container and the case are not sufficiently illuminated; An image and a central processing unit 400 for detecting the position of the ball in the image captured by the image sensor or the photodetector 300; a ball pattern or light position detection unit 200; The inclination of the X-axis detection distance (? X) and the Y-axis detection distance (? Y) on the image sensor or photodetector (300) .

In order to recycle such a spherical smart phone, an image sensor or a photodetector 1 and a driving circuit are configured by using an image sensor and a board of a smart phone. In addition to this, a smart meter can be provided by displaying the information of the geomagnetic sensor, the acceleration sensor, the gyro sensor, the illumination sensor or the temperature sensor installed on the board of the smartphone together on the display. In addition, the present invention solves the problem of connecting to a network, which is a disadvantage of existing sensors, by transmitting information of a wireless communication means installed on a board of a smart phone or sensor information measured by mobile communication means to a remote site.

1: Image sensor or photo detector 2: Ball
3: pattern or light emitting means 4: liquid for controlling the vibration of the ball
5: Container and case 6: Half-moon-shaped inner surface
100: rod pattern and light position detection means 200: illumination for pattern recognition
300: image sensor or photodetector 400: image and central processing means
500: Slope trigonometric function calculation

Claims (18)

A sensor for measuring a tilt of an object,
Means for installing a ball (2) facing the center of the earth in the vessel and case (5) in a half-moon shaped spherical inner surface (6);
Means for installing an image sensor or photodetector (1) that recognizes the position of the ball (2) in the container and case (5);
A pattern (including color) or light emitting means 3 provided on the ball 2 for calculating the position of the ball 2 vibrating with respect to the center of the half-moon-shaped spherical inner surface 6;
A sensor for detecting the position of the ball facing the center of the globe from the inner surface of the ball and calculating the tilt by detecting the position of the pattern or light emitting means 3 with the image sensor or photodetector 1; Measuring method and device applying it
The method according to claim 1,
To detect the position of the ball 2 in the image sensor or photodetector 1 at the bottom of the container and case 5,
Wherein the half-moon-shaped spherical inner surface (6) is made of a transparent material, and a sensor and a measuring method for calculating the tilt by detecting the position of the ball toward the center of the globe
The method according to claim 1,
Means for installing a ball (2) facing the center of the earth in the vessel and case (5) in a half-moon shaped spherical inner surface (6);
The inclination of the container and case 5 is calculated by the radius of the half-moon-shaped spherical inner surface 6 and the distance the ball 2 has moved
A sensor and a measuring method for detecting a position of a ball toward the center of the globe from an inner surface of a sphere and calculating a tilt, characterized in that measurement accuracy is increased by increasing the radius of the inner surface (6)
The method according to claim 1,
Means for installing a ball (2) facing the center of the earth in the vessel and case (5) in a half-moon shaped spherical inner surface (6);
The half-moon-shaped spherical inner surface (6) can be formed in a shape smaller than half a moon (a shape in which a crescent moon is rotated downward) according to the size of the container and the case (5) Sensor and method for detecting the position and calculating the tilt, and apparatus using the same
The method according to claim 1,
Means for installing a ball (2) facing the center of the earth in the vessel and case (5) in a half-moon shaped spherical inner surface (6);
When the container and case 5 are inclined
(4) for stabilizing the vibration of the ball (2) freely moving in the half-moon-shaped spherical inner surface (6) can be filled with the liquid (4) for controlling the vibration of the ball. And measuring method for detecting the position of a sensor and calculating a tilt
The method according to claim 1,
A pattern (including a color) for position detection is provided on the ball 2 vibrating with respect to the center of the transparent half-moon-shaped spherical inner surface 6,
A means for supplying light for the in-vessel illumination is installed and operated so that the pattern can be recognized,
Means for recognizing a pattern for detecting the position of the ball (2) in an image captured by the image sensor (1);
Calculating the position of the ball (2) based on the position of the pixels on the image sensor (1) that senses the pattern, and measuring a tilt of the ball (2) Sensors and measurement methods and devices using them
The method according to claim 1,
A plurality of patterns for detecting the position are provided on the ball 2 vibrating with respect to the center of the transparent half-moon-shaped spherical inner surface 6,
Means for recognizing a plurality of patterns for calculating the position of the ball (2) in an image captured by the image sensor (1);
And calculating a position of the ball (2) based on the position of the pixels on the image sensor (1) that senses a plurality of patterns, and measuring a tilt of the ball (2). A sensor for measuring a tilt and a measuring method, and a device using the sensor
The method according to claim 1,
A plurality of balls 2 vibrating with respect to the center of the transparent half-moon-shaped spherical inner surface 6 are provided,
Means for recognizing respective patterns for detecting the positions of a plurality of balls (2) in an image captured by the image sensor (1);
A sensor for calculating a position of a center point based on the position of a plurality of balls (2) on the image sensor (1) and measuring a tilt of the ball; Measuring method and device applying it
The method according to claim 1,
A light emitting element (3) is provided on a ball (2) vibrating with respect to the center of a transparent half - moon - like spherical inner surface (6)
Means for detecting the position of light emitted from the ball (2) in an image captured by the image sensor or the photodetector (1);
Wherein the position of the ball facing the center of the globe is detected by calculating the position of the ball (2) based on the position of the pixel sensed by the light on the image sensor or the photodetector (1) And a method of measuring the same
The method according to claim 1,
Means for calculating a slope in each axial direction;
Means for calculating an angular velocity with a gradient change per unit time of each axis: and
And calculating the angular acceleration by a change in the angular velocity per unit time of each axis. The sensor and the measuring method for detecting the position of the ball toward the center of the globe from the inner surface of the ball,
11. The method of claim 10,
Based on the calculated tilt and angular and angular acceleration data
A sensor for measuring the position of the ball toward the center of the earth from the inner surface of the sphere and measuring the seismic wave and a method of applying the same
The method according to claim 1,
An image sensor or photodetector (1) and a control circuit
A sensor and a measuring method for detecting a position of a ball toward the center of the globe and calculating a tilt from the inner surface of the ball, characterized by using an image sensor installed on a board of a smart phone
13. The method of claim 12,
A sensor for detecting the position of the ball toward the center of the globe and calculating a tilt of the ball from the inner surface of the ball, characterized in that information of a geomagnetic sensor, an acceleration sensor, a gyro sensor, an illuminance sensor, And measuring method and apparatus using the same
13. The method of claim 12,
A sensor for measuring the position of the ball toward the center of the globe from the inner surface of the ball and measuring the tilt, and a sensor for measuring the position of the ball toward the center of the ball, Method and device applied to it
The method according to claim 1,
Means for installing a bowl (2) and a half-moon-shaped spherical inner surface (6) facing the center of the earth at the top of the container and case (5);
And a means for mounting an image sensor or a photodetector (1) for recognizing the position of the ball (2) at the lower end of the container and the case (5). The ball And a method of measuring the same
The method according to claim 1,
Means for providing a ball (2) and a half-moon-shaped spherical inner surface (6) facing the center of the earth at the bottom of the container and case (5);
And a means for mounting an image sensor or photodetector (1) for recognizing the position of the ball (2) on the top of the container and the case (5) And a method of measuring the same
The method according to claim 1,
(6) in the half-moon shape in the container and case (5)
A sensor for detecting the position of the ball toward the center of the earth from the inner surface of the ball and calculating the tilt is provided, which can be replaced by means (for example, air bubble at the level of the level) And measuring method and apparatus using the same
A sensor for measuring a tilt of an object,
An image sensor or a photodetector 300 installed in the container and the case to recognize the position of the ball; And
A pattern and light position calculation means (100) provided on a ball for detecting the position of a ball vibrating with respect to a center of a spherical inner surface of a transparent half-moon;
Lighting means (200) for pattern recognition for supplying light when the container and the case are not sufficiently illuminated;
An image and a central processing unit 400 for detecting the position of the ball in the image captured by the image sensor or the photodetector 300; a ball pattern or light position detection unit 200;
The inclination is calculated 500 as a trigonometric function on the basis of the radius L of the inner surface of the sphere and the X axis detection distance? X and the Y axis detection distance? Y on the image sensor or photo detector 300
X-axis and Y-axis inclination is calculated, and a sensor and a measuring method for calculating the inclination by detecting the position of the ball toward the center of the globe from the inner surface of the ball,
KR1020150080308A 2015-06-08 2015-06-08 The digital absolute inclinometer or method which measure the position of free oscillation ball on half inner sphere by image sensor or photo detector KR20160144047A (en)

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KR102057072B1 (en) * 2018-12-21 2020-01-22 한국건설기술연구원 A method and apparatus for measuring a slope change amount based on image recognition, which real-time measurement of a relative slope change amount in comparison with a point in time when installed in a structure and a facility
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102057072B1 (en) * 2018-12-21 2020-01-22 한국건설기술연구원 A method and apparatus for measuring a slope change amount based on image recognition, which real-time measurement of a relative slope change amount in comparison with a point in time when installed in a structure and a facility
WO2020130410A1 (en) * 2018-12-21 2020-06-25 한국건설기술연구원 Device for measuring amount of gradient variation of structure and method for measuring amount of gradient variation of structure by using same
JP2021512337A (en) * 2018-12-21 2021-05-13 コリア インスティチュート オブ シビル エンジニアリング アンド ビルディング テクノロジーＫｏｒｅａ Ｉｎｓｔｉｔｕｔｅ Ｏｆ Ｃｉｖｉｌ Ｅｎｇｉｎｅｅｒｉｎｇ Ａｎｄ Ｂｕｉｌｄｉｎｇ Ｔｅｃｈｎｏｌｏｇｙ A device for measuring the gradient change of a structure and a method for measuring the gradient change of a structure using the device.
US11802765B2 (en) 2018-12-21 2023-10-31 Korea Institute Of Civil Engineering And Building Technology Apparatus for measuring slope change amount of structure and method for measuring slope change amount of structure using same
KR102209753B1 (en) * 2019-11-29 2021-01-29 한국건설기술연구원 A method and apparatus for measuring a slope change amount based on image recognition, which real-time measurement of a relative slope change amount in comparison with a point in time when installed in a structure and a facility
KR102434412B1 (en) * 2021-11-26 2022-08-19 한국건설기술연구원 Apparatus for measuring the amount of change in inclination of a structure having a maximum static friction removal unit and a method for measuring the amount of change in inclination of the structure using the same
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