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 high-precision inertial navigation IMU module in surveying and mapping

With the rapid development of science and technology, high-precision inertial navigation IMU modules are increasingly used in the field of surveying and mapping. This advanced technology not only improves the accuracy and efficiency of surveying and mapping, but also greatly promotes the development of surveying and mapping science. This article will introduce in detail the application of high-precision inertial navigation IMU modules in surveying and mapping, and discuss its advantages and prospects.

  First of all, one of the main applications of high-precision inertial navigation IMU modules in surveying and mapping is aerial surveying and mapping. Aerial surveying and mapping play an important role in geographic information systems (GIS), and high-precision inertial navigation IMU modules can provide important data such as aircraft attitude, position and speed information. By carrying this module, aerial surveying and mapping can achieve high-precision positioning and three-dimensional modeling of the earth's surface, providing reliable data support for urban planning, traffic management, environmental protection and other fields.

Secondly, high-precision inertial navigation IMU modules are also widely used in ground surveying and mapping. Ground surveying and mapping are mainly used for drawing maps, measuring surface morphology and surveying regional resources. The high-precision inertial navigation module IMU can obtain the position coordinates, attitude angle, speed and other information of the measurement vehicle in real time, thereby improving the accuracy and reliability of surveying and mapping data. Whether it is road surveying in urban construction planning, or land surveying and resource assessment, high-precision inertial navigation IMU modules can play an important role.

In addition to being widely used in two-dimensional surveying and mapping, high-precision inertial navigation IMU modules can also play an important role in three-dimensional surveying and mapping. With the continuous advancement of 3D technology, people's demand for 3D models of landforms, buildings, resources, etc. is increasing. The high-precision inertial navigation IMU module can provide precise position and attitude data for three-dimensional surveying and mapping, thereby achieving high-precision three-dimensional modeling of complex landforms and buildings. This has played an important role in promoting urban planning, architectural design, cultural relics protection and other fields.

In addition to the above application fields, high-precision inertial navigation IMU modules also play an important role in ocean surveying and mapping. Marine surveying and mapping is mainly used for seabed landform survey, marine resource assessment and navigation safety. The inertial navigation IMU module can cooperate with equipment such as sonar depth sounders to provide accurate position and attitude information of the ship for accurate charting and seabed landform research. In engineering fields such as submarine pipelines and offshore oil development, high-precision inertial navigation IMU modules can also provide reliable data support for engineering surveying and mapping.

It is worth mentioning that although the application of high-precision inertial navigation IMU modules in surveying and mapping has gradually increased, there are still some challenges and problems to be solved. For example, the cost of inertial navigation IMU modules is relatively high and may not be practical for small surveying and mapping teams. In addition, the inertial navigation IMU module requires high technical requirements and professional knowledge, and may be difficult to operate and maintain. This requires the joint efforts of relevant industries and scientific research institutions to continuously promote technological progress, reduce costs, and improve the convenience and stability of use.

The application of high-precision inertial navigation IMU modules in surveying and mapping has broad prospects and potential. Whether it is aviation, ground or ocean surveying and mapping, a more accurate and efficient surveying and mapping process can be achieved through high-precision inertial navigation IMU modules. The ER-MIMU-01 developed by Ericco can be used in the field of surveying and mapping for north-finding positioning in geodetic/land mobile surveying and mapping systems.

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What is the Measuring Range and Sensitivity of the Accelerometer?

 An accelerometer is an instrument used to measure acceleration, commonly used in physics, engineering, and other related fields. In the design and selection of acceleration timing, we need to consider the main specifications are: measurement range, sensitivity. The sensitivity of acceleration sensor is one of the most basic indicators of sensor. The sensitivity of the sensor directly affects the measurement of vibration signal. The measurement range of the acceleration value sensor refers to the maximum measurement value that the sensor can measure within a certain nonlinear error range. The nonlinear error of the universal piezoelectric acceleration sensor is mostly 1%. As a general principle, the higher the sensitivity, the smaller the measurement range, and the smaller the sensitivity, the larger the measurement range.

Accelerometer measuring range:

The level of acceleration supported by the acceleration sensor output signal specification is usually expressed as ±g, which is the maximum acceleration that the device can measure and accurately represent through its output. For example, the output of a ±3g accelerometer is linearly related to the acceleration within ±3g. If accelerated to 4g, the output may not be valid. Note that the limit value is specified by the absolute maximum acceleration, not by the measurement range. 4g acceleration does not disable the ±3g accelerometer. The ER-QA-03D is an accelerometer specifically designed for applications in the oil and gas field, with zero bias stability of 50μg, maximum operating temperature of 180 ° C and impact resistance of 500-1000g 0.5ms compared to the high temperature operating environment in the field.

Accelerometer sensitivity:

The ratio of the acceleration (input) change to the output signal change. It defines an ideal linear relationship between acceleration and output. Sensitivity is specified by a specific supply voltage. For analog output accelerometers, the unit is usually mV/g; For digital accelerometers, the units are usually LSB/g or LSB/ mg. It is usually expressed as a range (minimum, typical, maximum), or as typical plus a percentage deviation (%). For analog output sensors, the sensitivity is proportional to the supply voltage. For example, double the power, double the sensitivity.

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Application of gyroscope in directional measurement of long-distance subway tunnel

 

Orientation control is particularly important in the directional measurement of long-distance subway tunnels, and is a necessary condition to ensure the smooth penetration of the tunnel. The conventional directional measurement method is to use contact measurement or wire measurement to transmit the orientation. Inertial orientation has incomparable advantages that conventional measurement methods. This article proposes The north-seeker orientation was applied in the directional measurement of long-distance subway tunnels, which verified the effectiveness of the north-seeker in the directional measurement of long-distance cross-sea tunnels.

In order to improve the penetration accuracy of subway tunnels, many rail transit (subway) systems have recently introduced the highest. Accurate, gyroscopic north finder used for directional measurement in subway tunnels.In the construction measurement of subway tunnels, the measurement accuracy of the underground conductor control network is often related to the penetration of the tunnel.Error, high-precision penetration is very important for track engineering construction.

The gyro north finder is a measuring device that finds the true north value of a certain location. It is combined with known ground control

points, which can provide precise direction values for underground conductor control points. Underground conductors are generally connected through shafts

System survey introduces the coordinates of ground control points into the underground. Due to the limitation of shaft size, ultra-short

While controlling the direction of tunnel excavation, the one-way excavation length is too long in some sections.

These conditions have laid hidden dangers for the smooth penetration of the subway tunnel. Therefore, small-sized north seekers are widely favored: for example, ER-MNS-06, with a size of only 44.84×38.88×21.39mm, can be applied to most excavation fields.

The ER-FNS-02 gyro north finder introduced this time is 1 to 3 times more accurate than traditional measurement, with an accuracy of 0.02° to 0.1°. In vertical shafts, the accuracy is more reliable and has greater improvement.

Technicians from the rail transit third-party measurement project tested the orientation accuracy of the gyro north finder when orienting the tunnel. Through on-site testing, it was found that its orientation accuracy was much higher than the accuracy requirements for the tunnel's lateral penetration error required by the specification. This new technology will be used in more rail transit construction.

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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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Accelerometer Classification

 

An accelerometer is a sensor that measures the motion of an object in terms of acceleration. The acceleration measured by the accelerometer includes the change of the speed of the general object (linear acceleration), the low-frequency shaking of the object, and the high-frequency vibration. Therefore, there are many kinds of accelerometers, from accelerometers that detect heavy static acceleration to 10KHz high-frequency response accelerometers. Generally referred to as "accelerometer", "acceleration sensor", etc.

There are many types of accelerometers:

According to the measurement quality of displacement, there are linear accelerometers (measuring the mass of line displacement) and pendulum accelerometers (detecting the rotation of mass around the support axis).

According to the material, silicon accelerometers quartz accelerometers and metal accelerometers, of which quartz accelerometers are the most widely used, it has the advantages of high precision, high sensitivity and high stability, play the quartz material wear resistance, high temperature resistance characteristics make it popular in the field of aerospace and inertial navigation system. For example, ER-QA-03A not only achieves 10-50μg in zero-bias stability, but also achieves 10-30μg/g2 and 15-50 PPM in second-order nonlinearity and scale factor, respectively.

According to the composition of the measuring system, there are open loop type and closed loop type. The measuring system of open-loop accelerometer is open-loop, which is poor in anti-interference ability and accuracy. The closed-loop accelerometer has a compensatory system, strong anti-interference ability, high precision and large range. ER-QA-03B uses a closed-loop measurement system with zero bias stability of 10-30μg, scale factor and second-order nonlinearity of 15-50 PPM and 10-30μg/g2, respectively.

According to working principle, there are vibrating string type, vibrating beam type and pendulum type gyro accelerometer.

There are single-axis, two-axis and three-axis accelerometers, depending on the number of input axes.

According to the sensor components are classified into piezoelectric, piezoresistive and potentiometer.

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How to choose MEMS IMU?

IMU (Inertial Measurement Unit) is an inertial measurement unit that can measure the three-axis acceleration and angular velocity of an object. It is generally used in the measurement part of the system to estimate the pose of the object. IMU generally includes a three-axis accelerometer and a three-axis gyroscope. The accelerometer detects the acceleration signal of the object on three independent axes of the carrier coordinate system, and the gyroscope detects the angular velocity signal of the carrier relative to the navigation coordinate system. The angular velocity and acceleration in space can solve the pose of the object. MEMS IMU is cheap and small, and is widely used in many fields such as navigation, drones, VR, robots, and smart bracelets. The detection accuracy of the IMU is very important to the overall performance of the system. If the noise detected by the IMU is very noisy, then the feedback the system gets is wrong, just like human eyes, ears and other sense organs get wrong information. How can we move freely? The bottom layer of the system is the foundation. If the bottom layer of the system is unstable, it will be difficult for the upper layer to function well. ERICCO has always strictly controlled the accuracy of IMU and has been pursuing the improvement of IMU system. Next, ERICCO will also launch new high-precision IMU products.

1. Zero bias temperature hysteresis characteristics

The zero-bias temperature hysteresis characteristic means that the corresponding zero-bias of the IMU is inconsistent during the heating phase and the cooling phase. Some IMU data manuals will give the zero-bias temperature hysteresis characteristic curve, and some will not. It is best to test it when applying the IMU. Since the IMU zero bias estimate is calibrated based on temperature (the IMU calibration algorithm is introduced in detail), if the temperature lag difference is not too large, the calibration accuracy will be relatively high; if the IMU zero bias hysteresis value is too large, the IMU zero calibration error will be relatively high. large, thus affecting the fusion effect.

2.Vibration characteristics

In the case of external vibration, the variation characteristics of IMU deviation with vibration frequency. Some MEMS IMU chips have abnormal frequency characteristics under high-frequency excitation. For applications such as rotor drones that are prone to high-frequency vibrations, vibration characteristics are generally tested. If the IMU frequency characteristics are abnormal, you can consider it. Add shock absorbers.

3. Effect of repeated power-on on IMU deviation

Ideally, it is thought that under the same external conditions, the bias of the IMU will remain the same each time it is powered up. In fact, under the same external conditions, the bias of the IMU will be different every time the IMU is powered up. If the difference is relatively large, it will be zero. The bias estimation error will be relatively large, affecting the fusion effect.

4. The impact of stress on prejudice

The influence of stress on IMU includes: the influence of stress moment on offset, and the influence of different stresses on offset. The stress mainly comes from: the stress exerted by the PCB board on the IMU chip and the stress exerted by the temperature control device on the IMU chip. If the IMU bias is too sensitive to the impact of stress, it will also affect the zero drift estimation error, thus affecting the fusion effect.

5. Impact of impact on zero deviation

When the IMU is subjected to an external impact (on the order of tens of G), it is possible that the IMU will get stuck or the deviation will change. In general, testing should be done.

6. Nonlinear factor (%Fs)

Ideally, we consider the sensor data to be linear over this range. In fact, the sensor changes are non-linear. As shown in Figure 2, the nonlinear characteristics of the IMU need to be tested before use. If the nonlinearity is too severe, nonlinear calibration should be performed. There are many such calibration methods, such as proportional calibration, quadratic fitting calibration, etc.

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