CN113295141A - Ground height detection device, method, apparatus and computer readable storage medium - Google Patents
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- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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Abstract
The invention discloses ground height detection equipment which comprises a processor, a bar magnet and two magnetic induction elements, wherein the bar magnet is arranged on the processor; the two magnetic induction elements are axially and symmetrically arranged at the N pole end and the S pole end of the bar magnet by taking the 0 magnetic point middle position of the bar magnet as an axis; the induction surfaces of the two magnetic induction elements face to the same side surface of the bar magnet; the processor is connected with the magnetic induction elements and used for receiving voltage signals generated by the two magnetic induction elements and determining equipment height information according to the voltage signals; the voltage signal is a voltage change signal caused by the change of the magnetic field signal received by the magnetic induction element when the height of the bar magnet from the ground is changed. The invention has low cost and high universality, and improves the accuracy of the detection result. The invention also provides a ground height detection method, a ground height detection device and a computer readable storage medium with the beneficial effects.
Description
Technical Field
The present invention relates to the field of spatial mapping, and in particular, to a ground height detection apparatus, method, device, and computer-readable storage medium.
Background
With the development of science, people gradually send various aerospace devices to high altitude, however, in order to optimize flight paths of aircrafts such as aerospace devices and better monitor the running states of the aircrafts, the requirement for the height detection precision of the aerospace devices is increasingly high.
The existing aircraft height detection methods are generally two, firstly, the flying height is converted by detecting the air pressure change around the aircraft, secondly, the radar wave is transmitted by a ground radar, and then the height of the aircraft is calculated by the reflection time and the transmission angle of the radar wave, and the two methods have certain defects. For the former, the air pressure at the same height in each region is different due to the fact that the global atmospheric temperature and humidity are not uniform, and the air pressure is changed along with the global atmospheric environment, so that the accuracy of detection through the air pressure height is poor, and the detection is easily influenced by environmental factors; the latter measurement method has dependence on ground radar, too high cost and poor universality.
Therefore, how to solve the problems of poor universality and low accuracy rate due to environmental influence in the conventional height detection technology is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims to provide ground height detection equipment, a ground height detection method, a ground height detection device and a computer readable storage medium, which are used for solving the problems of low universality and great influence on environment in the prior art.
In order to solve the technical problem, the invention provides ground height detection equipment which comprises a processor, a bar magnet and two magnetic induction elements;
the two magnetic induction elements are axially and symmetrically arranged at the N pole end and the S pole end of the bar magnet by taking the 0 magnetic point middle position of the bar magnet as an axis;
the induction surfaces of the two magnetic induction elements face to the same side surface of the bar magnet;
the processor is connected with the magnetic induction elements and used for receiving voltage signals generated by the two magnetic induction elements and determining equipment height information according to the voltage signals; the voltage signal is a voltage change signal caused by the change of the magnetic field signal received by the magnetic induction element when the height of the bar magnet from the ground is changed.
Optionally, in the ground height detection apparatus, a differential amplifier is further included;
the differential amplifier is used for determining a unidirectional voltage signal according to the voltage signals sent by the two magnetic induction elements;
the processor determines the device height information from the unidirectional voltage signal.
Optionally, the ground height detection device further includes an amplifying circuit;
the amplifying circuit is used for determining a readable electric signal according to the unidirectional voltage signal;
the processor determines the device height information from the readable electrical signal.
Optionally, in the ground height detection apparatus, the magnetic induction element is a linear hall element.
Optionally, in the ground height detecting apparatus, when the magnetic induction element is fixed by the PCB substrate, the magnetic induction element is disposed on a surface of the PCB substrate facing the bar magnet.
Optionally, the ground height detection device further comprises a symmetrical displacement assembly;
the symmetrical displacement assembly is used for adjusting the distance between the magnetic induction element and the 0 magnetic point middle position in the extending direction from the S pole to the N pole of the bar magnet.
A ground height detection method comprises the following steps:
receiving voltage signals from two magnetic induction elements respectively; the two magnetic induction elements are axially symmetrically arranged at the N pole end and the S pole end of the bar magnet by taking the 0 magnetic point middle position of the bar magnet as an axis, and the induction surfaces of the two magnetic induction elements face to the same side surface of the bar magnet; the voltage signal is a voltage change signal caused by the change of the magnetic field signal received by the magnetic induction element when the height of the bar magnet from the ground is changed;
and determining equipment height information according to the voltage signal.
Optionally, in the ground height detection method, the determining, according to the voltage signal, device height information includes:
and determining equipment height information according to the voltage signal and a preset zero voltage signal.
A ground height detection device comprising:
the receiving module is used for respectively receiving voltage signals from the two magnetic induction elements; the two magnetic induction elements are axially symmetrically arranged at the N pole end and the S pole end of the bar magnet by taking the 0 magnetic point middle position of the bar magnet as an axis, and the induction surfaces of the two magnetic induction elements face to the same side surface of the bar magnet; the voltage signal is a voltage change signal caused by the change of the magnetic field signal received by the magnetic induction element when the height of the bar magnet from the ground is changed;
and the processing module is used for determining equipment height information according to the voltage signal.
A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the ground height detection method according to any one of the preceding claims.
The invention provides ground height detection equipment which comprises a processor, a bar magnet and two magnetic induction elements; the two magnetic induction elements are axially and symmetrically arranged at the N pole end and the S pole end of the bar magnet by taking the 0 magnetic point middle position of the bar magnet as an axis; the induction surfaces of the two magnetic induction elements face to the same side surface of the bar magnet; the processor is connected with the magnetic induction elements and used for receiving voltage signals generated by the two magnetic induction elements and determining equipment height information according to the voltage signals; the voltage signal is a voltage change signal caused by the change of the magnetic field signal received by the magnetic induction element when the height of the bar magnet from the ground is changed.
The magnetic field is a spatial motion. Because the geometric mean and the arithmetic mean of the space motion process are not equal, the density of the space is changed, the gravitational field shows a unidirectional magnetic characteristic under the action of a magnetic field, and the gravitational field environment around the equipment can be determined by checking the magnetic field change caused by the gravitational field. By utilizing the principle, when the height of the bar magnet in the equipment from the ground is changed, the voltage (namely the voltage signal) output by the two magnetic induction elements is changed in an equivalent manner, but the voltage direction is opposite, and the height of the bar magnet from the ground at the moment can be determined through the corresponding relation between the pre-stored voltage change and the height change. The invention also provides a ground height detection method, a ground height detection device and a computer readable storage medium with the beneficial effects.
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In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings 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 some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of a floor level detection apparatus according to the present invention;
FIG. 2 is a schematic diagram of the ground height detection apparatus provided in the present invention;
FIG. 3 is a schematic flow chart of an embodiment of a method for detecting a ground height according to the present invention;
fig. 4 is a schematic structural diagram of an embodiment of the ground height detection device provided in the present invention.
Detailed Description
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a ground height detection device, wherein the structure schematic diagram of one specific embodiment is shown in fig. 1, which is called as the first specific embodiment and comprises a processor 03, a bar magnet 01 and two magnetic induction elements 02;
the two magnetic induction elements 02 are axially symmetrically arranged at the N pole end and the S pole end of the bar magnet 01 by taking the 0 magnetic point middle position of the bar magnet 01 as an axis;
the induction surfaces of the two magnetic induction elements 02 face the same side surface of the bar magnet 01;
the processor 03 is connected with the magnetic induction elements 02 and is used for receiving voltage signals generated by the two magnetic induction elements 02 and determining equipment height information according to the voltage signals; the voltage signal is a voltage change signal caused by a change of a magnetic field signal received by the magnetic induction element 02 when the height of the bar magnet 01 from the ground is changed.
As a preferred embodiment, the ground height detection device further comprises a differential amplifier;
the differential amplifier is used for determining a unidirectional voltage signal according to the voltage signals sent by the two magnetic induction elements 02;
the processor 03 determines the device height information from the unidirectional voltage signal.
In the preferred embodiment, the differential amplifier is additionally arranged for the ground height detection device, and since the two magnetic induction elements 02 are respectively located at different poles of the bar magnet 01, voltage signals generated by the two magnetic induction elements 02 are opposite in direction, so that the two voltage signals opposite in direction are converted into unidirectional voltage signals by the differential amplifier in the preferred embodiment, which is convenient for the subsequent processor 03 to process, and the circuit and installation cost are simplified.
On the basis of the addition of the differential amplifier, an amplifying circuit is further added to the ground height detection equipment;
the amplifying circuit is used for determining a readable electric signal according to the unidirectional voltage signal;
the processor 03 determines the device height information from the readable electrical signal.
The current is amplified and then is easier to process by the processor 03, and the current is less susceptible to external interference, so that the detection precision and the detection accuracy are improved.
In addition, the magnetic induction element 02 is a linear hall element, and the linear hall element can linearly convert the magnetic field intensity change into the electric signal change, so that the measurement accuracy can be further improved by using the linear hall element, the calculation amount of signal processing is reduced, and the burden of the processor 03 is reduced.
In order to reduce the interference of the surrounding electromagnetic environment as much as possible, when the magnetic induction element 02 is fixed by the PCB substrate, the magnetic induction element 02 is disposed on the surface of the PCB substrate facing the bar magnet 01, so that no other current carrier exists between the magnetic induction element 02 and the bar magnet 01, and it is further ensured that the change of the electrical signal received from the magnetic induction element 02 is completely derived from the change of the surrounding magnetic field.
Furthermore, the ground height detection equipment also comprises a symmetrical displacement component;
the symmetrical displacement assembly is used for adjusting the distance between the magnetic induction element 02 and the middle position of the 0 magnetic point in the extending direction from the S pole to the N pole of the bar magnet 01.
The symmetrical displacement assembly is used for adjusting the distance from the magnetic induction element 02 to the 0 magnetic point middle position, and the zero marking point (namely the height of 0 displayed by the equipment) of the ground height detection equipment can be adjusted by changing the distance, so that the data processing in the later period is facilitated.
Fig. 2 shows a schematic working diagram of the ground height detection device provided by the present invention, and fig. 2 shows a relationship between the ground height detection device and the ground, where X represents a distance from the ground height detection device to the ground surface.
In addition, although the bar magnet 01 is disposed parallel to the ground surface in fig. 2, the ground height detection apparatus of the present invention does not limit the angle formed between the bar magnet 01 and the horizontal plane, and may be selected according to specific needs.
The invention provides ground height detection equipment which comprises a processor 03, a bar magnet 01 and two magnetic induction elements 02; the two magnetic induction elements 02 are axially symmetrically arranged at the N pole end and the S pole end of the bar magnet 01 by taking the 0 magnetic point middle position of the bar magnet 01 as an axis; the induction surfaces of the two magnetic induction elements 02 face the same side surface of the bar magnet 01; the processor 03 is connected with the magnetic induction elements 02 and is used for receiving voltage signals generated by the two magnetic induction elements 02 and determining equipment height information according to the voltage signals; the voltage signal is a voltage change signal caused by a change of a magnetic field signal received by the magnetic induction element 02 when the height of the bar magnet 01 from the ground is changed. The magnetic field is a spatial motion. Because the geometric mean and the arithmetic mean of the space motion process are not equal, the density of the space is changed, the gravitational field shows a unidirectional magnetic characteristic under the action of a magnetic field, and the gravitational field environment around the equipment can be determined by checking the magnetic field change caused by the gravitational field. By utilizing the principle, when the height of the bar magnet 01 in the equipment from the ground changes, the voltage (namely the voltage signal) output by the two magnetic induction elements 02 changes in an equal amount, but the voltage direction is opposite, and the height of the bar magnet 01 from the ground can be determined through the corresponding relation between the pre-stored voltage change and the height change.
The invention also provides a ground height detection method, a flow diagram of a specific implementation way of which is shown in fig. 3, and the method comprises the following steps:
s101: receiving voltage signals from the two magnetic induction elements 02, respectively; the two magnetic induction elements 02 are axially symmetrically arranged at the N pole end and the S pole end of the bar magnet 01 by taking the middle position of the 0 magnetic point of the bar magnet 01 as an axis, and the induction surfaces of the two magnetic induction elements 02 face to the same side surface of the bar magnet 01; the voltage signal is a voltage change signal caused by the change of the magnetic field signal received by the magnetic induction element 02 when the height of the bar magnet 01 from the ground is changed.
S102: and determining equipment height information according to the voltage signal.
It should be noted that the voltage signal in this step is a voltage signal corresponding to the height information, a variable of the height can be deduced from the variable of the voltage signal, and the correspondence between the height and the voltage signal can be a pre-stored correspondence obtained through experimental record in advance.
The method of the present embodiment is compatible with the above-described ground height detection apparatus, and is a method for performing height detection for the above-described ground height detection apparatus.
As a preferred embodiment, the determining the device height information according to the voltage signal includes:
and determining equipment height information according to the voltage signal and a preset zero voltage signal.
In the preferred embodiment, after acquiring the voltage signal caused by the height change of the device, the zero voltage signal is further combined to obtain the actual height of the device, for example, if the height of the device at 1000 meters from the sea level is set as the zero, and a voltage signal decreased by 100 meters is currently received from the magnetic induction element 02, the current height may be determined to be 900 meters, so as to facilitate subsequent data processing, and of course, the height of the zero voltage may be adjusted by adjusting the distance from the magnetic induction element 02 to the middle position of the 0 magnetic point, which may specifically refer to the above description of the ground height detection device.
According to the ground height detection method provided by the invention, voltage signals are respectively received from two magnetic induction elements 02; the two magnetic induction elements 02 are axially symmetrically arranged at the N pole end and the S pole end of the bar magnet 01 by taking the middle position of the 0 magnetic point of the bar magnet 01 as an axis, and the induction surfaces of the two magnetic induction elements 02 face to the same side surface of the bar magnet 01; the voltage signal is a voltage change signal caused by the change of the magnetic field signal received by the magnetic induction element 02 when the height of the bar magnet 01 from the ground is changed; and determining equipment height information according to the voltage signal. The magnetic field is a spatial motion. Because the geometric mean and the arithmetic mean of the space motion process are not equal, the density of the space is changed, the gravitational field shows a unidirectional magnetic characteristic under the action of a magnetic field, and the gravitational field environment around the equipment can be determined by checking the magnetic field change caused by the gravitational field. By utilizing the principle, when the height of the bar magnet 01 in the equipment from the ground changes, the voltage (namely the voltage signal) output by the two magnetic induction elements 02 changes in an equal amount, but the voltage direction is opposite, and the height of the bar magnet 01 from the ground can be determined through the corresponding relation between the pre-stored voltage change and the height change.
In the following, the ground height detection device provided by the embodiment of the present invention is introduced, and the ground height detection device described below and the ground height detection method described above may be referred to correspondingly.
Fig. 4 is a block diagram of a ground height detection apparatus according to an embodiment of the present invention, and referring to fig. 4, the ground height detection apparatus may include:
a receiving module 100, configured to receive voltage signals from two magnetic induction elements 02 respectively; the two magnetic induction elements 02 are axially symmetrically arranged at the N pole end and the S pole end of the bar magnet 01 by taking the middle position of the 0 magnetic point of the bar magnet 01 as an axis, and the induction surfaces of the two magnetic induction elements 02 face to the same side surface of the bar magnet 01; the voltage signal is a voltage change signal caused by the change of the magnetic field signal received by the magnetic induction element 02 when the height of the bar magnet 01 from the ground is changed;
and the processing module 200 is configured to determine the device height information according to the voltage signal.
As a preferred embodiment, the processing module 200 includes:
and the relative height determining unit is used for determining the height information of the equipment according to the voltage signal and a preset zero voltage signal.
The ground height detection device provided by the invention comprises a receiving module, a detecting module and a control module, wherein the receiving module is used for respectively receiving voltage signals from two magnetic induction elements 02; the two magnetic induction elements 02 are axially symmetrically arranged at the N pole end and the S pole end of the bar magnet 01 by taking the middle position of the 0 magnetic point of the bar magnet 01 as an axis, and the induction surfaces of the two magnetic induction elements 02 face to the same side surface of the bar magnet 01; the voltage signal is a voltage change signal caused by the change of the magnetic field signal received by the magnetic induction element 02 when the height of the bar magnet 01 from the ground is changed; and the processing module is used for determining equipment height information according to the voltage signal. Because the geometric mean and the arithmetic mean of the space motion process are not equal, the density of the space is changed, the gravitational field shows a unidirectional magnetic characteristic under the action of a magnetic field, and the gravitational field environment around the equipment can be determined by checking the magnetic field change caused by the gravitational field. By utilizing the principle, when the height of the bar magnet 01 in the equipment from the ground changes, the voltage (namely the voltage signal) output by the two magnetic induction elements 02 changes in an equal amount, but the voltage direction is opposite, and the height of the bar magnet 01 from the ground can be determined through the corresponding relation between the pre-stored voltage change and the height change.
The ground height detection apparatus of this embodiment is used to implement the ground height detection method, and therefore a specific implementation manner of the ground height detection apparatus can be seen in the above-mentioned embodiments of the ground height detection method, for example, the receiving module 100 and the processing module 200 are respectively used to implement steps S101 and S102 in the ground height detection method, so that the specific implementation manner thereof may refer to descriptions of corresponding partial embodiments, and will not be described herein again.
A computer-readable storage medium having stored thereon a computer program which, when being executed by a processor 03, carries out the steps of the ground height detection method according to any one of the preceding claims. The invention provides ground height detection equipment which comprises a processor 03, a bar magnet 01 and two magnetic induction elements 02; the two magnetic induction elements 02 are axially symmetrically arranged at the N pole end and the S pole end of the bar magnet 01 by taking the 0 magnetic point middle position of the bar magnet 01 as an axis; the induction surfaces of the two magnetic induction elements 02 face the same side surface of the bar magnet 01; the processor 03 is connected with the magnetic induction elements 02 and is used for receiving voltage signals generated by the two magnetic induction elements 02 and determining equipment height information according to the voltage signals; the voltage signal is a voltage change signal caused by a change of a magnetic field signal received by the magnetic induction element 02 when the height of the bar magnet 01 from the ground is changed. The magnetic field is a spatial motion. Because the geometric mean and the arithmetic mean of the space motion process are not equal, the density of the space is changed, the gravitational field shows a unidirectional magnetic characteristic under the action of a magnetic field, and the gravitational field environment around the equipment can be determined by checking the magnetic field change caused by the gravitational field. By utilizing the principle, when the height of the bar magnet 01 in the equipment from the ground changes, the voltage (namely the voltage signal) output by the two magnetic induction elements 02 changes in an equal amount, but the voltage direction is opposite, and the height of the bar magnet 01 from the ground can be determined through the corresponding relation between the pre-stored voltage change and the height change.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is to be noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by the processor 03, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The ground height detection apparatus, method, device and computer readable storage medium provided by the present invention have been described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. The ground height detection equipment is characterized by comprising a processor, a bar magnet and two magnetic induction elements;
the two magnetic induction elements are axially and symmetrically arranged at the N pole end and the S pole end of the bar magnet by taking the 0 magnetic point middle position of the bar magnet as an axis;
the induction surfaces of the two magnetic induction elements face to the same side surface of the bar magnet;
the processor is connected with the magnetic induction elements and used for receiving voltage signals generated by the two magnetic induction elements and determining equipment height information according to the voltage signals; the voltage signal is a voltage change signal caused by the change of the magnetic field signal received by the magnetic induction element when the height of the bar magnet from the ground is changed.
2. The ground level detection apparatus of claim 1, further comprising a differential amplifier;
the differential amplifier is used for determining a unidirectional voltage signal according to the voltage signals sent by the two magnetic induction elements;
the processor determines the device height information from the unidirectional voltage signal.
3. The ground level detection apparatus of claim 2, further comprising an amplification circuit;
the amplifying circuit is used for determining a readable electric signal according to the unidirectional voltage signal;
the processor determines the device height information from the readable electrical signal.
4. The ground level detecting apparatus of claim 1, wherein the magnetic sensing element is a linear hall element.
5. The floor level detecting apparatus of claim 1, wherein the magnetic induction element is disposed on a surface of the PCB substrate facing the bar magnet when the magnetic induction element is fixed by the PCB substrate.
6. The ground-level detecting apparatus of claim 1, further comprising a symmetrical displacement assembly;
the symmetrical displacement assembly is used for adjusting the distance between the magnetic induction element and the 0 magnetic point middle position in the extending direction from the S pole to the N pole of the bar magnet.
7. A ground height detection method is characterized by comprising the following steps:
receiving voltage signals from two magnetic induction elements respectively; the two magnetic induction elements are axially symmetrically arranged at the N pole end and the S pole end of the bar magnet by taking the 0 magnetic point middle position of the bar magnet as an axis, and the induction surfaces of the two magnetic induction elements face to the same side surface of the bar magnet; the voltage signal is a voltage change signal caused by the change of the magnetic field signal received by the magnetic induction element when the height of the bar magnet from the ground is changed;
and determining equipment height information according to the voltage signal.
8. The ground height detection method of claim 7, wherein determining device height information from the voltage signal comprises:
and determining equipment height information according to the voltage signal and a preset zero voltage signal.
9. A ground height detection device, comprising:
the receiving module is used for respectively receiving voltage signals from the two magnetic induction elements; the two magnetic induction elements are axially symmetrically arranged at the N pole end and the S pole end of the bar magnet by taking the 0 magnetic point middle position of the bar magnet as an axis, and the induction surfaces of the two magnetic induction elements face to the same side surface of the bar magnet; the voltage signal is a voltage change signal caused by the change of the magnetic field signal received by the magnetic induction element when the height of the bar magnet from the ground is changed;
and the processing module is used for determining equipment height information according to the voltage signal.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the ground height detection method according to any one of claims 7 to 8.
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