CN104807433A - Optical auto-collimation principle based two-dimensional space turning angle detection method of spherical rotor - Google Patents

Abstract

The invention discloses an optical auto-collimation principle based two-dimensional space turning angle detection method of a spherical rotor and aims to solve the problems that a conventional multi-dimensional turning angle detection technology of the spherical rotor is not mature and a traditional SDOF (single degree of freedom) angle displacement detection method is difficult to directly apply. The method comprises steps as follows: the spherical rotor is constructed; three photoelectric auto-collimator measurement device groups are uniformly arranged on the periphery of the equatorial plane of the spherical rotor, and each photoelectric auto-collimator measurement device group comprises an upper photoelectric auto-collimator measurement unit and a lower photoelectric auto-collimator measurement unit; parallel light emitted by a light source penetrates through a transparent casing through an upper parallel light tube or a lower parallel light tube and irradiates a polyhedron, and reflected light deflects with deflection of the spherical rotor and is imaged to a corresponding high-speed linear array CCD (charge coupled device) camera through the upper parallel light tube or the lower parallel light tube; a forward deflecting angle of the spherical rotor relative to a vertical shaft is obtained by the three photoelectric auto-collimator measurement device groups, and a deflection angle and an azimuth angle of the spherical rotor are calculated. The method is based on the optical auto-collimation principle and has high resolution and high measurement accuracy.

Description

Based on the spherical spinner space two-dimensional angle detection method of optical autocollimating principle

Technical field

The invention belongs to field of measuring technique, be specifically related to a kind of spherical spinner space two-dimensional angle detection method based on optical autocollimating principle.

Background technology

Traditional measurement of angle, based on single dof mobility object, has the methods such as mechanical type angle measurement, electromagnetic type angle measurement and optics angle measurement usually.Wherein, the research and apply of optical measuring technique is comparatively fast developed, because angle-measuring method difference causes detecting instrument wide variety, as photoelectric encoder method, Circular gratings method, laser interferance method, loop laser method etc., great majority are applied in low-angle precision measurement, higher resolution and measuring accuracy can be obtained, but 360 ° of complete cycle measurement of angle are also needed to do suitable improvement.Such as, Harbin Institute of Technology Jia Qian etc. propose the kinetic measurement that a kind of method combined based on optical autocollimating principle and high speed linear array CCD realizes turntable corner, adopt polygon and the coaxial mounted version of tested turntable segment its angle of revolution and build optical system, meet high precision, continuous coverage requirement on a large scale.

Spherical spinner has compact conformation and the motion feature such as flexible, is widely used in the fields such as globular motor, spherical hinge, control rocking bar.In actual applications, spherical spinner is subject to the restriction of relative restraint, usually has the rotation of two or three degree of freedom.

At present, the multidimensional angle of revolution detection technique of spherical spinner is also immature, and traditional single-degree-of-freedom Angular Displacement Detecting method is difficult to direct application.The multidimensional angle of revolution detection technique of domestic and international some scholars to spherical spinner has carried out correlative study.Such as, the measuring method proposing spheroid absolute angle controlled by Japanese Duomochuan Fine Machinary Co., Ltd shore letter, and wherein spheroid is by transparent material or can transmission can be made by the electromagnetic wave material of pattern recognition device identification, can spray patterns be QR on spherome surface two dimension or one-dimensional bar code, the information such as record position in coding.By spheroid outer setting pattern recognition device, the pattern detected is carried out processing rear acquisition spheroid angle information, but this measuring method not yet finds in practical application.

Summary of the invention

The object of the invention is for the deficiencies in the prior art, a kind of spherical spinner space two-dimensional angle detection method based on optical autocollimating principle is provided, realize spherical spinner relative to the deflection angle of fixed constraint and azimuthal measurement.

Concrete steps of the present invention are as follows:

Step one, structure spherical spinner.Described spherical spinner comprises rotary body and transparent shell; Described rotary body is that positive n limit shape turns round 180 ° of polyhedrons formed around central rotating shaft; Transparent shell is the spheroid of inner hollow, is nested with outside rotary body.

Step 2, be uniformly distributed along the circumference in the equatorial plane periphery of spherical spinner three photoelectric auto-collimator measurement mechanism groups, wherein, each photoelectric auto-collimator measurement mechanism group comprises again two measuring units: upper photoelectric auto-collimator measuring unit and lower photoelectric auto-collimator measuring unit; Described upper photoelectric auto-collimator measuring unit comprises parallel light tube, light source, upper high speed linear array CCD camera and image pick-up card; Described lower photoelectric auto-collimator measuring unit comprises lower parallel light tube, light source, lower high speed linear array CCD camera and image pick-up card; The axial line of described lower parallel light tube and lower high speed linear array CCD camera is on the equatorial plane of spherical spinner, and the axial line place plane of upper parallel light tube and upper high speed linear array CCD camera is that the equatorial plane upward deflects 180 °/n; The measurement range of lower parallel light tube and upper parallel light tube is 180 °/n.

The directional light that step 3, light source send through upper parallel light tube or lower parallel light tube through transparent shell, be irradiated on polyhedron, reflected light deflects with the deflection of spherical spinner, and be imaged onto on upper high speed linear array CCD camera through upper parallel light tube, or be imaged onto on lower high speed linear array CCD camera through lower parallel light tube.Upper high speed linear array CCD camera and lower high speed linear array CCD camera convert the displacement information of light image position to electric signal, gathered and be transferred to computing machine by image pick-up card.

Step 4, obtained the angle of spherical spinner opposed vertical axle positive deflection by three photoelectric auto-collimator measurement mechanism groups, then calculate spherical spinner relative to the deflection angle of fixed constraint and position angle by Computer, wherein, the forward of vertical axes straight up.At the initial position that spherical spinner does not rotate, the light that light source sends is radiated at the reflection spot that polyhedron can reflex to lower parallel light tube and is designated as A respectively ₁, B ₁and C ₁.When spherical spinner deflects into, deflection angle is θ, position angle is during corresponding position, reflection spot A ₁, B ₁and C ₁along with the deflection of the spherical spinner equatorial plane moves to an A respectively ₂, B ₂and C ₂.Three photoelectric auto-collimator measurement mechanism groups detect that the angle that spherical spinner deflects is respectively θ ₁, θ ₂and θ ₃, wherein, θ ₁, θ ₂and θ ₃sign regulation: spherical spinner deflection vertical axes forward just be, and it is negative for being partial to vertical axes negative sense.If the radius of transparent shell is r, some A ₂, B ₂and C ₂coordinate figure can be set to (x respectively ₁, y ₁, rsin θ ₁), (x ₂, y ₂, rsin θ ₂), (x ₃, y ₃, rsin θ ₃).Point A ₂, B ₂and C ₂central angle corresponding is each other 120 °, then can obtain:

$\left\{\begin{array}{c}{x_s}^2+{y_s}^2+{\left(r\sin {\mathrm{\θ}}_s\right)}^2=r^2,(s=\mathrm{1,2,3})\\ \left|A_2{B}_2\right|=\left|B_2{C}_2\right|=\left|A_2{C}_2\right|=\sqrt{3}r\end{array}\right.---\left(1\right)$

According to formula (1), x can be solved ₁, x ₂, x ₃, y ₁, y ₂and y ₃value, namely obtain some an A ₂, B ₂and C ₂coordinate.

With represent the vector of unit length of x, y, z axle forward respectively, therefore, the output center axis normal vector of spherical spinner for:

$\stackrel{r}{l}=\stackrel{\mathrm{uuuur}}{A_2{B}_2}\×\stackrel{\mathrm{uuuur}}{A_2{C}_2}=\left|\begin{array}{ccc}\stackrel{r}{i}& \stackrel{r}{j}& \stackrel{r}{k}\\ x_2-x_1& y_2-y_1& r\sin {\mathrm{\θ}}_2-r\sin {\mathrm{\θ}}_1\\ x_3-x_1& y_3-y_1& r\sin {\mathrm{\θ}}_3-r\sin {\mathrm{\θ}}_1\end{array}\right|---\left(2\right)$

For the ease of representing, the normal vector of note spherical spinner center line wherein:

$\left\{\begin{array}{c}{x}_0=(y_2-y_1)(r\sin {\mathrm{\θ}}_3-r\sin {\mathrm{\θ}}_1)-(y_3-y_1)(r\sin {\mathrm{\θ}}_2-r\sin {\mathrm{\θ}}_1)\\ y_0=(x_1-x_2)(r\sin {\mathrm{\θ}}_3-r\sin {\mathrm{\θ}}_1)+(x_3-x_1)(r\sin {\mathrm{\θ}}_2-r\sin {\mathrm{\θ}}_1)\\ z_0=(x_2-x_1)(y_3-y_1)-(x_3-x_1)(y_2-y_1)\end{array}\right.,$

Then deflection angle theta and position angle for:

$\mathrm{\θ}=\arccos \left(\frac{z_0}{\sqrt{x_0^2+y_0^2+z_0^2}}\right)---\left(3\right)$

Described rotary body adopts reflectorized material, and described transparent shell adopts high-abrasive material.

Described light source adopts high performance lED.

Cycle count and angle accumulation process are carried out to the data of lower high speed linear array CCD camera and upper high speed linear array CCD collected by camera, realizes continuous print dynamic angle test in spherical spinner deflection.

Described lower parallel light tube and upper parallel light tube include condenser, graticule, Amici prism and object lens; The directional light of light source is irradiated on the polyhedron of spherical spinner through condenser, graticule, Amici prism and object lens.During spherical spinner deflection, directional light is mapped on lower high speed linear array CCD camera or upper high speed linear array CCD camera through object lens and Amici prism after polyhedral some reflection.

The invention has the beneficial effects as follows:

1, the present invention passes through the identical photoelectric auto-collimator measurement mechanism group of layout three, the change of corresponding angle is changed into according to the light signal change in location that high speed linear array CCD receives, utilize three the corner values detected, the space two-dimensional corner of spherical spinner relative to fixed constraint can be calculated, i.e. deflection angle and position angle.

2, the present invention is based on optical autocollimating principle, realize non-cpntact measurement, higher resolution and measuring accuracy can be obtained; In addition, data processing is simple, can realize continuous print dynamic angle measurement.

Accompanying drawing explanation

Fig. 1 is the polyhedral structure stereographic map of spherical spinner in the present invention;

Fig. 2 is the distribution schematic diagram of three photoelectric auto-collimator measurement mechanism groups in the present invention;

Fig. 3 is the relative position schematic diagram of upper photoelectric auto-collimator measuring unit and lower photoelectric auto-collimator measuring unit and spherical spinner in the present invention;

Fig. 4 is the principle of work sketch of lower parallel light tube and upper parallel light tube in the present invention;

Fig. 5 is that the present invention measures the deflection angle of spherical spinner and azimuthal schematic diagram.

Embodiment

Below in conjunction with drawings and Examples, the invention will be further described.

Based on the spherical spinner space two-dimensional angle detection method of optical autocollimating principle, concrete steps are as follows:

Step one, structure spherical spinner.As shown in Figure 1, spherical spinner comprises rotary body and transparent shell; Rotary body is that regular polygon turns round 180 ° of polyhedrons 1 formed around central rotating shaft, and rotary body adopts reflectorized material; Transparent shell is the spheroid of inner hollow, is nested with outside rotary body, adopts high-abrasive material, makes spherical spinner have good hardness and wearing quality.For positive ten octagons in Fig. 1, the central angle that each faceted pebble is corresponding is 20 °.The limit number of regular polygon is more, and the central angle that each faceted pebble is corresponding is less, and correspondingly resolution and precision are also higher.

Step 2, as shown in Figures 2 and 3, be uniformly distributed along the circumference in the equatorial plane periphery of spherical spinner three photoelectric auto-collimator measurement mechanism groups 2, and photoelectric auto-collimator measurement mechanism group 2 comprises photoelectric auto-collimator measuring unit D2 and lower photoelectric auto-collimator measuring unit D1; Upper photoelectric auto-collimator measuring unit D2 comprises parallel light tube 3-2, light source 4, upper high speed linear array CCD camera 5-2 and image pick-up card; Light source 4 adopts high performance lED; Lower photoelectric auto-collimator measuring unit D1 comprises lower parallel light tube 3-1, light source 4, lower high speed linear array CCD camera 5-1 and image pick-up card; The axial line of lower parallel light tube 3-1 and lower high speed linear array CCD camera 5-1 is on the equatorial plane of spherical spinner, and the axial line place plane of upper parallel light tube 3-2 and upper high speed linear array CCD camera 5-2 is that the equatorial plane upward deflects 10 °; The measurement range of lower parallel light tube 3-1 and upper parallel light tube 3-2 is 10 °, and both combinations can realize the comprehensive angle measurement in each face of polyhedron 1.

Step 3, as shown in Figure 3, the directional light that light source 4 sends through upper parallel light tube 3-2 or lower parallel light tube 3-1 through transparent shell, be irradiated on polyhedron 1, reflected light deflects with the deflection of spherical spinner, and be imaged onto on upper high speed linear array CCD camera 5-2 through upper parallel light tube 3-2, or be imaged onto on lower high speed linear array CCD camera 5-1 through lower parallel light tube 3-1.Upper high speed linear array CCD camera 5-2 and lower high speed linear array CCD camera 5-1 converts the displacement information of light image position to electric signal, is gathered and be transferred to computing machine by image pick-up card.In order to realize the angle measurement of machine with wide range, the data that can gather lower high speed linear array CCD camera 5-1 and upper high speed linear array CCD camera 5-2 carry out cycle count and angle is cumulative waits process, thus in spherical spinner deflection, realize continuous print dynamic angle test.

As shown in Figure 4, lower parallel light tube 3-1 and upper parallel light tube 3-2 includes condenser 6, graticule 7, Amici prism 8 and object lens 9.The directional light of light source 4 is irradiated on the polyhedron 1 of spherical spinner through condenser 6, graticule 7, Amici prism 8 and object lens 9, and each face of polyhedron 1 is equivalent to a corner reflector (catoptron of equatorial positions is a right cylinder catoptron).Therefore, during spherical spinner deflection, directional light is mapped on lower high speed linear array CCD camera 5-1 or upper high speed linear array CCD camera 5-2 through object lens 9 and Amici prism 8 after polyhedral some reflection, then the change solution of light signal position is counted as the change of corresponding angle.

As shown in Figure 3, when the directional light of light source 4 is injected along the faceted pebble M1 center direction of normal of polyhedron 1 through lower parallel light tube 3-1, light reflection is to the initial zero on lower high speed linear array CCD camera 5-1; When the angle that spherical spinner deflects counterclockwise from initial time is in 0 ~ 10 °, lower high speed linear array CCD camera 5-1 is only had to receive light signal; After deflection reaches 10 ° counterclockwise, the light signal of reflection is positioned at the maximum position place lower high speed linear array CCD camera 5-1 receiving light, now go up incident light that parallel light tube 3-2 launches centrally direction of normal irradiate on faceted pebble M1, light reflection is to the initial zero on upper high speed linear array CCD camera 5-2; When the angle that spherical spinner deflects counterclockwise from initial time is in 10 ~ 20 °, only has on upper high speed linear array CCD camera 5-2 and can arrive receiving optical signals; After deflection reaches 20 ° counterclockwise, the light signal of reflection is positioned at maximum position place high speed linear array CCD camera 5-2 receiving light, this incident illumination that parallel light tube 3-1 launches at present is mapped to polyhedral faceted pebble M2 center direction of normal, light reflection, to the initial zero on lower high speed linear array CCD camera 5-1, forms a cycle period.Different with the sequencing that upper high speed linear array CCD camera 5-2 receives reflected light signal according to lower high speed linear array CCD camera 5-1, and light signal is different with the change in location on upper high speed linear array CCD camera 5-2 at lower high speed linear array CCD camera 5-1, can judge the rotation of spherical spinner: when spherical spinner deflects the first receiving optical signals of high speed linear array CCD camera 5-1 at present and receiving optical signals after upper high speed linear array CCD camera 5-2 from the initial position of zero deflection, light signal moves to maximum position gradually from initial zero on lower high speed linear array CCD camera 5-1, expression rotates counterclockwise.On the contrary, the first receiving optical signals of upper high speed linear array CCD camera 5-2 and receiving optical signals after lower high speed linear array CCD camera 5-1, light signal moves to initial zero gradually from maximum position on upper high speed linear array CCD camera 5-2, and expression rotates clockwise.

Step 4, as shown in Figure 5, the angle of spherical spinner opposed vertical axle Z positive deflection is obtained by three photoelectric auto-collimator measurement mechanism groups 2, then calculating spherical spinner relative to the deflection angle of fixed constraint and position angle by Computer, wherein, is the forward of vertical axes Z straight up.The measuring point of three photoelectric auto-collimator measurement mechanism groups 2 is designated as P respectively ₁, P ₂and P ₃, at the initial position that spherical spinner does not rotate, the light that light source 4 sends is radiated at the reflection spot that polyhedron 1 can reflex to lower parallel light tube 3-1 and is designated as A respectively ₁, B ₁and C ₁.When spherical spinner deflects into, deflection angle is θ, position angle is during corresponding position, reflection spot A ₁, B ₁and C ₁along with the deflection of the spherical spinner equatorial plane moves to an A respectively ₂, B ₂and C ₂.Three photoelectric auto-collimator measurement mechanism groups 2 detect that the angle that spherical spinner deflects is respectively θ ₁, θ ₂and θ ₃, wherein, θ ₁, θ ₂and θ ₃sign regulation: spherical spinner deflection vertical axes forward just be, and it is negative for being partial to vertical axes negative sense.If the radius of transparent shell is r, when not considering that spherical spinner rotates around output axis, some A ₂, B ₂and C ₂coordinate figure can be set to (x respectively ₁, y ₁, rsin θ ₁), (x ₂, y ₂, rsin θ ₂), (x ₃, y ₃, rsin θ ₃).Point A ₂, B ₂and C ₂central angle corresponding is each other 120 °, then can obtain:

$\left\{\begin{array}{c}{x_s}^2+{y_s}^2+{\left(r\sin {\mathrm{\θ}}_s\right)}^2=r^2,(s=\mathrm{1,2,3})\\ \left|A_2{B}_2\right|=\left|B_2{C}_2\right|=\left|A_2{C}_2\right|=\sqrt{3}r\end{array}\right.---\left(5\right)$

According to formula (1), there are 6 independently corresponding 6 unknown numbers of equation, can x be solved ₁, x ₂, x ₃, y ₁, y ₂and y ₃value, namely obtain some an A ₂, B ₂and C ₂coordinate.

In addition, because spherical spinner is rotarily formed by regular polygon, when deflection angle and position angle constant time, spherical spinner is only around output axis rotation, faceted pebble on polyhedron and the angle of incident ray remain unchanged, the light angle reflexed in photoelectric auto-collimator measurement mechanism group 2 through spherical spinner is constant, therefore goes up the corner value θ that photoelectric auto-collimator measuring unit D2 and lower photoelectric auto-collimator measuring unit D1 detects ₁, θ ₂and θ ₃remain unchanged, do not affect deflection angle and azimuthal measurement result.

With represent the vector of unit length of x, y, z axle forward respectively, therefore, the output center axis normal vector of spherical spinner for:

$\stackrel{r}{l}=\stackrel{\mathrm{uuuur}}{A_2{B}_2}\×\stackrel{\mathrm{uuuur}}{A_2{C}_2}=\left|\begin{array}{ccc}\stackrel{r}{i}& \stackrel{r}{j}& \stackrel{r}{k}\\ x_2-x_1& y_2-y_1& r\sin {\mathrm{\θ}}_2-r\sin {\mathrm{\θ}}_1\\ x_3-x_1& y_3-y_1& r\sin {\mathrm{\θ}}_3-r\sin {\mathrm{\θ}}_1\end{array}\right|---\left(6\right)$

For the ease of representing, the normal vector of note spherical spinner center line wherein:

$\left\{\begin{array}{c}{x}_0=(y_2-y_1)(r\sin {\mathrm{\θ}}_3-r\sin {\mathrm{\θ}}_1)-(y_3-y_1)(r\sin {\mathrm{\θ}}_2-r\sin {\mathrm{\θ}}_1)\\ y_0=(x_1-x_2)(r\sin {\mathrm{\θ}}_3-r\sin {\mathrm{\θ}}_1)+(x_3-x_1)(r\sin {\mathrm{\θ}}_2-r\sin {\mathrm{\θ}}_1)\\ z_0=(x_2-x_1)(y_3-y_1)-(x_3-x_1)(y_2-y_1)\end{array}\right.,$

Then deflection angle theta and position angle for:

$\mathrm{\θ}=\arccos \left(\frac{z_0}{\sqrt{x_0^2+y_0^2+z_0^2}}\right)---\left(7\right)$

By arranging three identical photoelectric auto-collimator measurement mechanism groups 2, the change of corresponding angle is changed into according to the light signal change in location that lower high speed linear array CCD camera 5-1 or upper high speed linear array CCD camera 5-2 receives, utilize three the corner values detected, the space two-dimensional corner of spherical spinner relative to fixed constraint can be calculated, i.e. deflection angle and position angle.Should based on the spherical spinner space two-dimensional angle detection method of optical autocollimating principle, data processing is simple, can obtain higher resolution and measuring accuracy.

Claims (5)

1., based on the spherical spinner space two-dimensional angle detection method of optical autocollimating principle, it is characterized in that: the concrete steps of the method are as follows:

Step one, structure spherical spinner; Described spherical spinner comprises rotary body and transparent shell; Described rotary body is that positive n limit shape turns round 180 ° of polyhedrons formed around central rotating shaft; Transparent shell is the spheroid of inner hollow, is nested with outside rotary body;

Step 2, be uniformly distributed along the circumference in the equatorial plane periphery of spherical spinner three photoelectric auto-collimator measurement mechanism groups, wherein, each photoelectric auto-collimator measurement mechanism group comprises again two measuring units: upper photoelectric auto-collimator measuring unit and lower photoelectric auto-collimator measuring unit; Described upper photoelectric auto-collimator measuring unit comprises parallel light tube, light source, upper high speed linear array CCD camera and image pick-up card; Described lower photoelectric auto-collimator measuring unit comprises lower parallel light tube, light source, lower high speed linear array CCD camera and image pick-up card; The axial line of described lower parallel light tube and lower high speed linear array CCD camera is on the equatorial plane of spherical spinner, and the axial line place plane of upper parallel light tube and upper high speed linear array CCD camera is that the equatorial plane upward deflects 180 °/n; The measurement range of lower parallel light tube and upper parallel light tube is 180 °/n;

The directional light that step 3, light source send through upper parallel light tube or lower parallel light tube through transparent shell, be irradiated on polyhedron, reflected light deflects with the deflection of spherical spinner, and be imaged onto on upper high speed linear array CCD camera through upper parallel light tube, or be imaged onto on lower high speed linear array CCD camera through lower parallel light tube; Upper high speed linear array CCD camera and lower high speed linear array CCD camera convert the displacement information of light image position to electric signal, gathered and be transferred to computing machine by image pick-up card;

Step 4, obtained the angle of spherical spinner opposed vertical axle positive deflection by three photoelectric auto-collimator measurement mechanism groups, then calculate spherical spinner relative to the deflection angle of fixed constraint and position angle by Computer, wherein, the forward of vertical axes straight up; At the initial position that spherical spinner does not rotate, the light that light source sends is radiated at the reflection spot that polyhedron can reflex to lower parallel light tube and is designated as A respectively ₁, B ₁and C ₁; When spherical spinner deflects into, deflection angle is θ, position angle is during corresponding position, reflection spot A ₁, B ₁and C ₁along with the deflection of the spherical spinner equatorial plane moves to an A respectively ₂, B ₂and C ₂; Three photoelectric auto-collimator measurement mechanism groups detect that the angle that spherical spinner deflects is respectively θ ₁, θ ₂and θ ₃, wherein, θ ₁, θ ₂and θ ₃sign regulation: spherical spinner deflection vertical axes forward just be, and it is negative for being partial to vertical axes negative sense; If the radius of transparent shell is r, some A ₂, B ₂and C ₂coordinate figure can be set to (x respectively ₁, y ₁, rsin θ ₁), (x ₂, y ₂, rsin θ ₂), (x ₃, y ₃, rsin θ ₃); Point A ₂, B ₂and C ₂central angle corresponding is each other 120 °, then can obtain:

$\left\{\begin{array}{cc}{x_s}^2+{y_s}^2+{\left(r\sin {\mathrm{\θ}}_s\right)}^2=r^2& (s=\mathrm{1,2,3})\\ \left|A_2{B}_2\right|=\left|B_2{C}_2\right|=\left|A_2{C}_2\right|=\sqrt{3}r& \end{array}\right.---\left(1\right)$

According to formula (1), x can be solved ₁, x ₂, x ₃, y ₁, y ₂and y ₃value, namely obtain some an A ₂, B ₂and C ₂coordinate;

With represent the vector of unit length of x, y, z axle forward respectively, therefore, the output center axis normal vector of spherical spinner for:

For the ease of representing, the normal vector of note spherical spinner center line wherein:

$\left\{\begin{array}{c}{x}_0=(y_2-y_1)(r\sin {\mathrm{\θ}}_3-r\sin {\mathrm{\θ}}_1)-(y_3-y_1)(r\sin {\mathrm{\θ}}_2-r\sin {\mathrm{\θ}}_1)\\ y_0=(x_1-x_2)(r\sin {\mathrm{\θ}}_3-r\sin {\mathrm{\θ}}_1)+(x_3-x_1)(r\sin {\mathrm{\θ}}_2-r\sin {\mathrm{\θ}}_1)\\ z_0=(x_2-x_1)(y_3-y_1)-(x_3-x_1)(y_2-y_1)\end{array}\right.,$

Then deflection angle theta and position angle for:

$\mathrm{\θ}=\arccos \left(\frac{z_0}{\sqrt{x_0^2+y_0^2+z_0^2}}\right)---\left(3\right)$

2. the spherical spinner space two-dimensional angle detection method based on optical autocollimating principle according to claim 1, is characterized in that: described rotary body adopts reflectorized material, and described transparent shell adopts high-abrasive material.

3. the spherical spinner space two-dimensional angle detection method based on optical autocollimating principle according to claim 1, is characterized in that: described light source adopts high performance lED.

4. the spherical spinner space two-dimensional angle detection method based on optical autocollimating principle according to claim 1, it is characterized in that: cycle count and angle accumulation process are carried out to the data of lower high speed linear array CCD camera and upper high speed linear array CCD collected by camera, realize continuous print dynamic angle test in spherical spinner deflection.

5. the spherical spinner space two-dimensional angle detection method based on optical autocollimating principle according to claim 1, is characterized in that: described lower parallel light tube and upper parallel light tube include condenser, graticule, Amici prism and object lens; The directional light of light source is irradiated on the polyhedron of spherical spinner through condenser, graticule, Amici prism and object lens; During spherical spinner deflection, directional light is mapped on lower high speed linear array CCD camera or upper high speed linear array CCD camera through object lens and Amici prism after polyhedral some reflection.