CN106931930A - The method and apparatus of angle between for determining body surface - Google Patents
The method and apparatus of angle between for determining body surface Download PDFInfo
- Publication number
- CN106931930A CN106931930A CN201511008673.2A CN201511008673A CN106931930A CN 106931930 A CN106931930 A CN 106931930A CN 201511008673 A CN201511008673 A CN 201511008673A CN 106931930 A CN106931930 A CN 106931930A
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- angle
- acceleration
- accelerometers
- accelerometer
- measured
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
Abstract
The present invention relates to e measurement technology, it is more particularly to a kind of for determining body surface between angle method and realize the embedded system of the method.According to one embodiment of the invention for determining body surface between the method for angle comprise the steps of：Two accelerometers are mutually fixed with two surfaces respectively；The acceleration that two accelerometers are measured is obtained, wherein, the boundary line on described two surfaces obtains the acceleration that two accelerometers are measured with acceleration of gravity direction in the state of not parallel；And the angle between two surfaces is determined according to the acceleration that two accelerometers are measured.
Description
Technical field
The present invention relates to e measurement technology, it is more particularly to a kind of for determining body surface between angle
Method and realize the measurement apparatus system of the method.
Background technology
Angular surveying is the important branch of geometric sense measurement technology, and the synthesis of various measurement means should
Level higher has been reached with accuracy of measurement is caused.It is machinery to be studied in angle measurement technique earliest
Formula and electromagnetic type angle measurement technique, such as multiteeth indexing table and circle magnetic grid, the main of these methods lack
Point is to be not easily accomplished automation, and certainty of measurement is restricted.Optics angle-measuring method is due to having
The characteristics of noncontact, high accuracy and high sensitivity and enjoy industry to favor, it is especially stable
The development of LASER Light Source makes it possible industry spot measurement, therefore the application of optics angle-measuring method is healed
Come more extensively, various new methods are arisen at the historic moment.
At present, optics angle-measuring method is in addition to well-known optics indexing and polygon method,
It is conventional also have photoelectric encoder method, diffraction approach, autocollimation method, Fiber Optic Sensor, acousto-optic modulation method,
Circular gratings method, optical internal-reflection method, laser interferance method etc..Precision of these methods in low-angle
The application succeeded in measurement.
The angle of two normal vectors of plane is referred to as the angle between two planes.In some applications
Occasion, the light path of design requirement is met to be formed, it is necessary in spy between making optical element surface
Fixed angle.And for example, in the application of aircraft manufacturing technology etc, it may be necessary to which dynamic is adjusted
The angle of whole aerofoil.Above-mentioned application all be unable to do without the accurate measurement angle between body surface.
But current angle measurement technique might not fully meet the measurement of angle between surface
Need, because in some cases, light beam may be stopped so that based on optics
The e measurement technology of principle cannot be applied.As can be seen here, in the urgent need to drawbacks described above can be overcome
For the technology of angle between measurement plane.
The content of the invention
It is an object of the invention to provide it is a kind of for determining body surface between angle method, its tool
There is strong adaptability and easily realize.
According to one embodiment of the invention for determining body surface between the method for angle include down
Row step：
Two accelerometers are mutually fixed with two surfaces respectively；
The acceleration that two accelerometers are measured is obtained, wherein, in the boundary on described two surfaces
Line obtains the acceleration that two accelerometers are measured with acceleration of gravity direction in the state of not parallel
Degree；And
The acceleration measured according to two accelerometers determines the angle between two surfaces.
Preferably, in the above-mentioned methods, the accelerometer is 3-axis acceleration sensor.
Preferably, in the above-mentioned methods, the orientation of described two accelerometers is set to make each
One of reference axis of accelerometer parallel to described two surfaces boundary line, when two tables
When face overlaps, other two reference axis is parallel with the corresponding axis of another accelerometer.
Preferably, in the above-mentioned methods, the orientation of described two accelerometers is provided so that
The angle of its acceleration for measuring corresponds to the angle between two surfaces.
Preferably, in the above-mentioned methods, under the step of determining the angle between two surfaces includes
Row step：
The acceleration measured to two accelerometers implements inner product operation and apposition computing；
Calculate the ratio of the end value of apposition computing and the end value of inner product operation；And
The symbol of the end value of end value and inner product operation according to apposition computing, by the ratio
Determine the angle between two surfaces.
It is of the invention it is also an object that provide it is a kind of for determining body surface between angle survey
Amount device, it has the advantages that strong adaptability and easily realizes.
Measurement apparatus according to one embodiment of the invention include：
Two accelerometers, it is mutually fixed with two surfaces respectively；And
The processor coupled with the accelerometer, it is configured to be measured according to two accelerometers
The acceleration angle that determines between two surfaces,
Wherein, the acceleration is the boundary line on described two surfaces and acceleration of gravity direction
Obtained in the state of not parallel.
Preferably, in above-mentioned measurement apparatus, the measurement apparatus are embedded system, described
Accelerometer is 3-axis acceleration sensor.
Brief description of the drawings
Of the invention above-mentioned and/or other side and advantage are by by each side below in conjunction with accompanying drawing
The description in face is become more fully apparent and is easier to understand, and same or analogous unit is used in accompanying drawing
Identical label represents that accompanying drawing includes：
Fig. 1 is the schematic diagram according to the embedded system of one embodiment of the invention.
Fig. 2 be according to another embodiment of the present invention for determining body surface between angle side
The flow chart of method.
Schematic diagram when Fig. 3 is in a certain angle intersecting two body surfaces.
Fig. 4 is the flow of angle calcu-lation routine between the body surface for being applied to embodiment illustrated in fig. 2
Figure.
Specific embodiment
More fully illustrated referring to the accompanying drawing which illustrates illustrative examples of the present invention
The present invention.But the present invention can be realized by multi-form, and it is not construed as being only limitted to herein
Each embodiment for being given.The various embodiments described above for being given are intended to make the disclosure of this paper comprehensively complete,
So that to the understanding of the scope of the present invention more fully and accurately.
Such as "comprising" and " including " etc term represent except with specification and power
Have in sharp claim beyond unit that is direct and clearly stating and step, technical scheme
Also it is not excluded for the situation with other units and step do not stated directly or clearly.
The term of such as " first " and " second " etc be not offered as unit the time, space,
The order of the aspects such as size and be only make distinguish each unit be used.
According to embodiments of the invention, in position (such as object table being associated with two planes
On face, interior of articles or from body surface extend position) on fix two accelerometers, and
And the angle between two planes is calculated according to the acceleration measured using these accelerometers.
Compared with the measuring method based on optical principle, aforesaid way of the invention is not blocked by light beam
Application limitation.
Embodiments of the invention are specifically described below by accompanying drawing.
Fig. 1 is the schematic diagram according to the measurement apparatus of one embodiment of the invention.
Measurement apparatus 10 shown in Fig. 1 include the first accelerometer 110, the second accelerometer 120
With processor 130.This measurement apparatus for example can be embedded system.It is pointed out that
Measurement apparatus 10 may also include other units, but those skilled in that art retouch from following
Be will recognize that in stating, above mentioned unit is enough to provide the angle determined between body surface
Function, therefore to avoid repeating, the present embodiment does not make description to other units.
First accelerometer 110 and the second accelerometer 120 are respectively fixed to and two surface phases
The position (such as fixed on both surfaces) of association so that it is that two accelerometers are measured plus
The angle of speed corresponds to the angle between the two surfaces.Preferably, first and second accelerate
Degree meter is realized using 3-axis acceleration sensor.
Processor 130 is coupled with the first and second accelerometers 110,120, and it is configured to basis
The angle that the acceleration that two accelerometers are measured is determined between two surfaces, specific determination side
Formula will be further described below.
Fig. 2 be according to another embodiment of the present invention for determining body surface between angle side
The flow chart of method.Exemplarily, realized shown in Fig. 2 using the measurement apparatus 10 shown in Fig. 1
Embodiment.But it will be appreciated that the present embodiment institute for those skilled in that art
The method shown is not limited to the entity apparatus with ad hoc structure.
As shown in Fig. 2 in step S210, by the first accelerometer 110 and the second acceleration
Meter 120 is respectively fixed to the position (for example fixing on both surfaces) being associated with two surfaces.
Preferably, fixed position causes that the angle of the acceleration that two accelerometers measure corresponds to two
Angle between surface.
In this example, it is assumed that body surface is moved in three dimensions, therefore first and
Two accelerometer 110,120 is realized using 3-axis acceleration sensor.In order to simplify subsequent calculations
The process of angle between plane, can as follows set the orientation of accelerometer：
(1) one of reference axis of each accelerometer is parallel to two boundary lines on surface；
(2) when two surfaces overlap, the other two reference axis of each accelerometer with it is another
The corresponding axis of individual accelerometer is parallel.
Schematic diagram when Fig. 3 is in a certain angle intersecting two body surfaces.As shown in figure 3,
Plane α and β intersect at boundary line AB, and CD is in plane in α, perpendicular to boundary line AB's
Unit vector, ED is that ∠ CDE are in plane β, perpendicular to the unit vector of boundary line AB
For plane α and with the angle between plane β.By taking the situation shown in Fig. 3 as an example, add for first
Each of the accelerometer 120 of speedometer 110 and second, one of reference axis is (such as false
It is set to y-axis) parallel to boundary line AB, and when plane α and β overlap, other two coordinate
The corresponding axis of axle (being for example assumed to be x-axis and z-axis) then with another accelerometer is parallel.
Step S220 is subsequently entered, processor 130 obtains the first accelerometer 110 and second and adds
The acceleration that speedometer 120 is measured.As described above, in the present embodiment, accelerometer is three
Axis accelerometer, therefore measured value is a trivector.Assuming that the measurement of the first accelerometer
It is { A to be worth1x,A1y,A1z, the measured value of the second accelerometer is { A2x,A2y,A2z, wherein
A1x、A1y、A1zThe acceleration that the first accelerometer is measured on x, y and z axes direction is represented respectively
Angle value, A2x、A2y、A2zRepresent that the second accelerometer is measured on x, y and z axes direction respectively
Acceleration magnitude.
Preferably, the measured value of acceleration is in two boundary lines on surface and acceleration of gravity side
To what is obtained in the state of not parallel.
Subsequently enter step S230, the acceleration that processor 130 is measured according to two accelerometers
Determine the angle between two surfaces.
Fig. 4 is the flow of angle calcu-lation routine between the body surface for being applied to embodiment illustrated in fig. 2
Figure, for implementation steps S230.
As shown in figure 4, in step S410, processor 130 calculates two acceleration according to the following formula
The inner product of the acceleration that degree meter 110,120 is measured：
A1·A2=A1xA2x+A1yA2y+A1zA2z (1)
Here A1A2 is the inner product of the measured value of accelerometer 110,120, A1x、A1y、A1zPoint
The acceleration magnitude that the first accelerometer is measured on x, y and z axes direction, A are not represented2x、A2y、
A2zThe acceleration magnitude that the second accelerometer is measured on x, y and z axes direction is represented respectively.
Each as described previously for the first accelerometer 110 and the second accelerometer 120,
One of reference axis is parallel to boundary line AB.Assuming that their y-axis is parallel to boundary line AB,
Then above formula (1) can be reduced to：
A1·A2=A1xA2x+A1zA2z (2)
Subsequently enter step S420, processor 130 calculate according to the following formula two accelerometers 110,
The apposition of 120 acceleration for measuring：
A1×A2=ixA1yA2z+iyA1xA2z+izA1xA2y-ixA1zA2y-iyA1zA2y-izA1yA1x (3)
Here A1 × A2 is the apposition of the measured value of accelerometer 110,120, ix、iy、izRespectively x
Unit vector in axle, y-axis and z-axis, A1x、A1y、A1zThe first accelerometer is represented respectively
The acceleration magnitude measured on x, y and z axes direction, A2x、A2y、A2zRepresent that second adds respectively
The acceleration magnitude that speedometer is measured on x, y and z axes direction.
Equally, each for the first accelerometer 110 and the second accelerometer 120, its
In a reference axis parallel to boundary line AB.Assuming that their y-axis is parallel to boundary line AB,
Then above formula (4) can be reduced to：
A1×A2=iyA1xA2z-iyA1zA2y (4)
Step S430 is subsequently entered, the ratio of apposition and inner product is calculated.
It is pointed out that above-mentioned inner product and apposition are also denoted as：
Wherein,It is the angle of the measured value of the first and second accelerometers 110,120, | A1|、|A2|
Respectively the mould of the measured value of the first and second accelerometers 110,120, can be calculated by following formula
Arrive：
Therefore apposition and the ratio of inner product are actually the first and second accelerometers 110,120
The tangent value of the angle of measured value, i.e.,：
Subsequently enter step S440, processor 130 according to apposition and the symbol of inner product, by above formula
(8) ratio being calculated determines the angle between two surfacesParticularly, apposition and interior
Long-pending symbol namely angleSine value and cosine value it is positive and negative, angle may determine that by symbol
The quadrant at place, is the size that can determine that angle in conjunction with ratio.
In the present embodiment, due to that need not calculate vector field homoemorphism, this avoids square root calculation,
Therefore computing cost is greatlyd save, this is particularly advantageous for embedded system.
Although having represented and having discussed some aspects, technology in the art of the invention
Personnel should be aware that：Can be under conditions of without departing substantially from the principle of the invention and spirit to above-mentioned side
Face is changed, therefore the scope of the present invention will be limited by claim and equivalent content.
Claims (10)
1. it is a kind of for determining body surface between angle method, it is characterised in that comprising following
Step：
Two accelerometers are mutually fixed with two surfaces respectively；
The acceleration that two accelerometers are measured is obtained, wherein, in the boundary on described two surfaces
Line obtains the acceleration that two accelerometers are measured with acceleration of gravity direction in the state of not parallel
Degree；And
The acceleration measured according to two accelerometers determines the angle between two surfaces.
2. the method for claim 1, wherein the accelerometer is 3-axis acceleration
Sensor.
3. method as claimed in claim 2, wherein, the orientation of described two accelerometers sets
It is set to the boundary for making one of reference axis of each accelerometer parallel to described two surfaces
Line, when two surfaces overlap, the corresponding seat of other two reference axis and another accelerometer
Parameter is parallel.
4. method as claimed in claim 3, wherein, the orientation quilt of described two accelerometers
It is arranged so that the angle of its acceleration for measuring corresponding to the angle between two surfaces.
5. method as claimed in claim 3, wherein it is determined that angle between two surfaces
Step comprises the following steps：
The acceleration measured to two accelerometers implements inner product operation and apposition computing；
Calculate the ratio of the end value of apposition computing and the end value of inner product operation；And
The symbol of the end value of end value and inner product operation according to apposition computing, by the ratio
Determine the angle between two surfaces.
6. a kind of measurement apparatus, it is characterised in that including：
Two accelerometers, it is mutually fixed with two surfaces respectively；And
The processor coupled with the accelerometer, it is configured to be measured according to two accelerometers
The acceleration angle that determines between two surfaces,
Wherein, the acceleration is the boundary line on described two surfaces and acceleration of gravity direction
Obtained in the state of not parallel.
7. measurement apparatus as claimed in claim 6, wherein, the measurement apparatus are embedded
System, the accelerometer is 3-axis acceleration sensor.
8. embedded system as claimed in claim 7, wherein, described two accelerometers
Orientation is set to make one of reference axis of each accelerometer parallel to described two surfaces
Boundary line, when two surfaces overlap, the phase of other two reference axis and another accelerometer
Answer reference axis parallel.
9. measurement apparatus as claimed in claim 8, wherein, described two accelerometers take
To be provided so that the angle of its acceleration for measuring correspond to two surfaces between angle.
10. measurement apparatus as claimed in claim 8, wherein, the processor be configured as by
Determine the angle between two surfaces according to following manner：
The acceleration measured to two accelerometers implements inner product operation and apposition computing；
Calculate the ratio of the end value of apposition computing and the end value of inner product operation；And
The symbol of the end value of end value and inner product operation according to apposition computing, by the ratio
Determine the angle between two surfaces.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201511008673.2A CN106931930A (en) | 2015-12-29 | 2015-12-29 | The method and apparatus of angle between for determining body surface |
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| CN201511008673.2A CN106931930A (en) | 2015-12-29 | 2015-12-29 | The method and apparatus of angle between for determining body surface |
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Cited By (3)
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| CN107727049A (en) * | 2017-09-22 | 2018-02-23 | 上海龙旗科技股份有限公司 | A kind of method and apparatus for realizing angle detection |
| CN109870122A (en) * | 2019-04-01 | 2019-06-11 | 长春理工大学 | Angular displacement sensor angle detection device based on program-controlled multiteeth indexing table |
| EP3913326A1 (en) * | 2020-05-20 | 2021-11-24 | Roche Diagnostics GmbH | Sample container spring check apparatus |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107727049A (en) * | 2017-09-22 | 2018-02-23 | 上海龙旗科技股份有限公司 | A kind of method and apparatus for realizing angle detection |
| CN109870122A (en) * | 2019-04-01 | 2019-06-11 | 长春理工大学 | Angular displacement sensor angle detection device based on program-controlled multiteeth indexing table |
| EP3913326A1 (en) * | 2020-05-20 | 2021-11-24 | Roche Diagnostics GmbH | Sample container spring check apparatus |
| CN113701696A (en) * | 2020-05-20 | 2021-11-26 | 豪夫迈·罗氏有限公司 | Sample container spring inspection apparatus |
| JP7288001B2 (en) | 2020-05-20 | 2023-06-06 | エフ ホフマン－ラ ロッシュ アクチェン ゲゼルシャフト | Sample container spring inspection device |
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