What is the Function of a Tilt Sensor in a Robot?

 

How tilt sensors work in robots, let's take a look.

A robot is a machine that performs work automatically. It can either be directed by humans, run pre-programmed programs, or act according to principles laid down by AI technology. Its mission is to help replace human jobs, such as manufacturing, construction, or dangerous jobs. The inspection robot is one of them. It carries a visible light camera, infrared thermal camera, pickup, ultrasonic wave, inclination sensor, etc. At the same time, it adopts trajectory navigation and can conduct autonomous or remote control inspection of outdoor high-pressure equipment according to the optimal path planning. Through machine vision, infrared temperature measurement, sound detection and other methods, the inspection robot can collect infrared heat map, image and audio information of the equipment. It also automatically identifies the thermal defects, abnormal appearance, switch or tool position, instrument reading, and oil level meter position of the equipment, generates unified and standardized alarm items and inspection reports, sends alarm information to the operator, and provides basic data for equipment status maintenance. In unattended, less attended substations or smart substations, especially in plateau, low oxygen, high cold and other geographical conditions or bad weather conditions, inspection robots can replace or assist manual inspection of substation equipment.

When the inspection robot is crossing obstacles, the partial moment caused by mass eccentricity damages the horizontal posture of the robot body. In order to ensure its smooth progress, a simple and reliable centroidness adjustment method is needed. The tilt sensor ER-TS-4258CU is used to measure the inclination angle between the robot body and the horizontal plane, so as to control the movement of the mobile motor of the counterweight block. When the center of mass of the robot is adjusted to the arm suspended on the overhead ground wire, the measurement angle should be controlled within the range of 90° with an accuracy of ±0.1°, so as to ensure that the robot body maintains a horizontal posture and ensure that the arm that needs to be off-line or online completes the corresponding action. Finally, the feasibility of the centroid control method is verified by simulation experiments.

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Tilt Sensors for Coal Washing and Mining Machinery

 

Tilt sensor is the mainstream of coal washing machine industry.

Open-pit coal mining machine, as the name suggests, is the mining machinery for open-pit mining. In order to ensure the work safety of the coal washing machine, the chassis of the entire equipment needs to be level before work to ensure the safety of construction. The ER-TS-5276DI dynamic tilt sensor is installed to measure the tilt of the chassis in all directions, and the angle output signal is sent to the PLC to drive the hydraulic cylinder to achieve the level of the chassis. The angle measurement of the arm is used to calculate the lifting height and prevent the entire equipment from tipping over due to excessive lifting, causing property damage and casualties.

Open-pit mining long time working in high temperature, high dust, easy corrosion environment, and the tilt sensor acts as the sense of the mining machine, if the tilt sensor goes wrong, the work efficiency and safety issues have a great impact, ER-TS-5276DI dynamic tilt sensor, can be applied to water, oil, steam dust and other harsh environment, high sensitivity, durable. The coal washing machine is to use the principle of different density, stratify the coal seam with wind and water, discharge gangue and impurities, and recover the cleaned coal that meets the requirements.

With the acceleration of the process of mechanical modernization, the automation and intelligence of large machinery are getting higher and higher, and the automatic monitoring of the floating height of coal washing machine has become the mainstream of the coal washing machine industry.

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Application of Tilt Sensor in Railway Monitoring

 Tilt sensors are widely used in many fields. Today we mainly look at the application of tilt sensors in railway monitoring.

The train is a special means of transport running on the railway track. Its use environment is complex and changeable, and it is often affected by various factors such as wind, snow, earthquake, debris flow, landslide, tunnel foreign matter, geological mutation, etc. It is easy to cause deformation of the railway track and be covered by foreign matter, which seriously threatens the safety of the train. Ericco design and production of the tilt sensor ER-TS-3160VO maximum measurement accuracy +0.01°, not only can accurately measure the inclination of the track, shape, but also real-time monitoring of the tilt of the environment around the track, especially in some places less traveled, in advance to make a preventive alarm, to avoid the occurrence of major accidents.

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Tilt Sensor in Construction Machinery and other 11 Application Scenarios Detailed (Part 2)

 

The tilt sensor is a kind of acceleration sensor that uses the principle of inertia to measure the angle change. Inclination sensors are used in a variety of applications to measure angles.

6. Robots

Robot - In recent years, robot technology has developed rapidly, and industrial developed countries such as Europe and the United States have long begun to conduct systematic research on various robots, and with the progress of science and technology and the passage of time, a large number of research results have been achieved. We know that a large number of sensors are applied to the robot, among which the inclination sensor can monitor the robot's state in real time. Tilt sensors ER-TS-3160VO, for example, are used in urban plumbing robots.

Uavs - UAVs are equipped with a large number of tilt sensors for real-time detection and monitoring of aircraft flight attitude, which are transmitted to the ground control center through radio waves. The high-precision tilt sensor series belongs to the high-precision and high-stability series, and has a wide range of applications in aircraft attitude calibration, sail attitude control and other fields.

7. Railroad tracks

Track detector: the current track measurement method has poor intelligence, low measurement accuracy and long operation time, so it is urgent to design a portable intelligent track detector inclination sensor suitable for general use for track inspection instrument to detect the inclination and height difference of railway in real time.

8. Power pylons

Power line tower tilt intelligent monitoring - power line tower collapse events occur from time to time, once collapse, will cause huge losses, tilt sensor applied to power line tower tilt angle monitoring, can real-time monitoring power line tilt angle, once the tilt angle is too large due to natural disasters such as wind, real-time warning signals, by staff maintenance to reduce losses.

9. Platform control

Shipborne horizontal platform - The inclination sensor is applied on the shipborne horizontal platform, which is used for shipborne satellite to track the base of the antenna to keep the antenna in a horizontal state at all times, and for real-time control of the platform, which can isolate the pitch and roll motion of the hull and make the platform level.

In addition, the inclination sensor is also applied in the launching process of the ship air bag, and is applied to the hook swing of the large pipe laying ship for monitoring and adjustment.

Application of inclination sensor in automatic levelling system of reference plane of large optoelectronic equipment. The dip angle sensor installed on the base detects the dip angle and direction of the reference plane, converts the angle into the elongation of several mechanical legs according to the leveling algorithm, and drives the elongation of the mechanical legs to make the reference plane level.

10. Solar Energy

Solar energy - solar energy is a kind of clean energy, its application is generally growing within the century, the use of solar power is a way to use solar energy, so in order to get sufficient use of solar energy, how to choose the solar cell azimuth and tilt Angle is an important issue, the use of inclination sensor to adjust the Angle, the utilization of solar energy further improved.

11. Agricultural applications

Groove cleaning machine - The inclination sensor is used in the groove cleaning machine for foundation groove and farmland ground leveling. The flatness is monitored and controlled.

The application of tilt sensor ER-TS-12200-Modbus in paddy field grader is used for soil leveling in southern paddy field. The fine leveling technology of paddy field is an important measure to save irrigation water, improve fertilizer utilization rate, inhibit weed growth, increase rice yield and reduce production cost in the process of rice production.

 

Tilt sensor has a wide range of applications, and many fields will use it, especially in the field of life and industry. Without it, many mechanical tools can not be carried out, can not work well, and can not guarantee safety.

Tilt sensor in Construction Machinery and other 11 Application Scenarios Detailed (Part 1)

 

The tilt sensor is a kind of acceleration sensor that uses the principle of inertia to measure the angle change. Inclination sensors are used in a variety of applications to measure angles.

1. Maritime Geography

Landslides, avalanches - The dual-axis inclination sensor ER-TS-4250VO with the liquid level sensor is used for landslide or avalanche monitoring, and the data is transmitted to the central control system through the wireless sensing system to monitor the status of the mountain in real time, which can effectively reduce the loss caused by landslides.

2. Construction works

High-rise building safety monitoring - At present, more and more skyscrapers in the world, in order to monitor the safety performance of the building, you can apply high-precision servo tilt sensors, this series of tilt sensors can sense small angle changes, can be used for building swing, vibration, tilt and other monitoring.

3. Reservoir dam

Dam safety monitoring - Dam collapse accidents have occurred many times. In order to send early warning signals in time and reduce property losses, the monitoring, observation instruments and equipment of the ER-TS-3160VO inclination sensor are used to timely obtain various data observations and data processing that reflect the changes in dam and bedrock behavior and the effect of the environment on the dam. Its purpose is to analyze and estimate the safety degree of the dam in order to take timely measures to ensure the safe operation of the dam.

4. Hyundai Motor

Vehicle four-wheel positioning - With the development and application of electronic technology, the safety, comfort and intelligence of vehicles are getting higher and higher. The application of automobile side tilt angle sensor is an effective method to prevent automobile from tipping accident. It is an important measure to improve the safety of automobiles, especially off-road vehicles. Cars with a higher center of gravity, such as double-decker buses, are more necessary. The essence of car tipping is: the tipping moment to the outside is greater than the stable moment to the inside, when the height of the center of gravity is certain, the tilt moment oil tipping force (the lateral force to the outside) is determined.

Vehicle optoelectronic tracking equipment - Tilt sensor application in vehicle optoelectronic tracking equipment. The biaxial tilt sensor is installed on the base of the photoelectric tracking equipment to monitor the levelness of the base in real time, and ensure the high-precision work of the vehicle photoelectric tracking equipment.

5. Construction machinery

Excavator -- In order to realize the three-dimensional spatial positioning of the excavator, on the basis of installing the angle sensors of each joint of the working device, the platform rotation angle detection device and the platform inclination sensor are installed, and the laser receiver is installed on the bucket rod to detect the height of the horizontal mechanism emitted by the ground laser transmitter relative to the zero position of the receiver. The kinematics model of the excavator is established, and the coordinate transformation matrix of the car body relative to the earth is derived, that is, the car body positioning in three-dimensional space is completed, and the commonly used simple car body elevation positioning formula is obtained, so as to realize the three-dimensional space positioning of the excavator's excavation trajectory and lay the foundation for realizing the accuracy of the excavator's three-dimensional space trajectory and the excavator's depth control.

Other heavy industrial machinery - in addition to excavators, in other heavy industrial machinery, including cranes, lifts, graders, etc., will use tilt sensors, and tilt sensors have a heavy and heavy role in these heavy machinery equipment. It not only ensures that the angle range of these mechanical equipment is within the safety, but also can be raised to the alarm if it is out of range to protect personal safety. For example, the tilt sensor in the retractable mechanical hand is to measure the attitude of the cab and the change in the tilt angle of the boom to ensure driving safety.

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Application of Tilt Sensor in Dam Safety Monitoring

This paper mainly introduces the application of tilt sensor in dam safety monitoring and its role in the whole monitoring system. Dam safety monitoring system is mainly composed of monitoring instruments and measuring points, among which the monitoring instruments mainly include: dam deformation monitor, dam osmometer, dam displacement monitor and so on. The measuring points mainly include: horizontal displacement of dam foundation, slope, horizontal displacement of dam top, water level in front of dam, water level behind dam and so on. Dam safety monitoring system is a dynamic monitoring system, which is a comprehensive understanding of dam operation, so as to find problems in time and ensure the safety of dam operation. In order to monitor and analyze the safety state of the dam in real time, a perfect monitoring system must be established.

1. Overview of the system

The dam safety monitoring system is generally composed of monitoring instruments and measuring points, among which the monitoring instruments mainly include: dam deformation monitor, dam osmometer, dam displacement monitor and so on. The measuring points mainly include: the water level in front of the dam, the horizontal displacement of the dam top, the horizontal displacement of the dam foundation, the water level in front of the dam and the water level behind the dam. The tilt sensor based on single chip microcomputer is used to measure the tilt angle of the dam.

The inclination of the dam is monitored by the tilt sensor in real time, and the data is uploaded to the host computer through the serial port. By analyzing these data, the host computer can realize the analysis of dam safety status. At the same time, the host computer can save and remotely access the collected data to realize the remote monitoring function. The system supports simultaneous monitoring of up to 4 measuring points and can provide various types of alarm output.

2. The working principle of tilt sensor

Tilt sensor is a special kind of transmitter, and its internal sensitive element is composed of three symmetrical elastic sheets, which are sensitive to displacement in three directions respectively. When the three elastic plates are in equilibrium, there is no deformation inside the sensor, then the three elastic plates are consistent with the displacemence-sensitive sensitive axis, and the output voltage is zero. However, when an elastic sheet is subjected to external force, it moves, because the elastic sheet is asymmetric, it will cause deformation in three directions, and the output voltage will also change. At this time, the internal sensitive element will produce a corresponding displacement change. By detecting this change in displacement, the tilt angle of the object can be measured.

The tilt sensor is mainly composed of housing, sensing element, measuring circuit and power supply. The following is a detailed introduction to the structure of each part:

3. System composition

The system mainly consists of the following parts:

3.1 Monitoring equipment, mainly an inclination sensor and a data collector.

3.2 Communication equipment, mainly including GPRS, 4G wireless transmission equipment and solar power equipment.

3.3 Computers and computers are mainly used for storing data, running programs and setting various parameters.

3.4 Software, mainly used for data analysis and processing, to provide reliable technical basis for the project.

3.5 Software platform, mainly used for real-time data display, collection and the setting of various parameters.

3.6 Solar power supply is mainly used for power supply.

4. System function

4.1 can be operated remotely, timely view the operating status of the system.

4.2 through the database, the dam data can be queried, statistical analysis, remote maintenance, etc.

4.3 the data can be remotely managed, and the operation status of the dam can be mastered at any time.

4.4 data can be exported, and the exported data is transmitted to the computer through the network.

4.5 can be collected data for remote alarm, and send alarm information to the relevant personnel.

4.6 the system has good compatibility, and can be connected with other equipment.

4.7 the collected data can be transmitted to the relevant departments through the wireless network, in order to find the problem in time and solve the problem.

4.8 the system has good scalability and compatibility, you can add or modify the database according to user needs.

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