CN108917653A - Rotational angle measurement method and device - Google Patents
Rotational angle measurement method and device Download PDFInfo
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- CN108917653A CN108917653A CN201810232001.7A CN201810232001A CN108917653A CN 108917653 A CN108917653 A CN 108917653A CN 201810232001 A CN201810232001 A CN 201810232001A CN 108917653 A CN108917653 A CN 108917653A
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
- G01P3/68—Devices characterised by the determination of the time taken to traverse a fixed distance using optical means, i.e. using infrared, visible, or ultraviolet light
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Abstract
The present invention provides a kind of rotational angle measuring devices, the arc length data l that any point turns on tested rotor is directly or indirectly obtained by setting detecting module, and is arranged and connect data processing module with the detecting module for the data processing module of angle-data n and central angle radian data θ that the tested rotor turns over to be calculated according to arc length formula.The apparatus structure simple possible, the technology maturation of each synthesizer part being capable of rapid development and the use that puts goods on the market.In addition, the device is applied widely, precision is high, installs and simple to operate, is also equipped with small in size, light weight, and is enable to respond quickly equal good characteristics.In addition, the present invention also provides can a kind of rotational angle measurement method.
Description
Technical field
The present invention relates to sensor technical fields, more particularly to a kind of rotational angle measurement method and device.
Background technique
Statement：Throughout the specification, any discussion of background technique is not construed as absolutely recognizing that such technology is
It is well known that formed general knowledge known in this field a part.
Angle measurement unit (angular transducer) is numerous applied to instrument measurement, industrial automation and aviation and navigation etc.
A kind of important device in field.In TT&C system, it is often necessary to using angular transducer acquire various angle parameters or to turn
The velocity of rotation of motivation structure, the circle number of rotation or the angle of rotation and the velocity variations situation of rotation measure.To various
In the wheel measuring and control of close mechanical, it is desirable that high-resolution and high-precision angular transducer.It is led in aviation and unmanned plane
In domain, in the control system of flight attitude, accurate angle measurement is even more the key problem in technology for obtaining high precision position positioning.
Currently, there are commonly potentiometer type, coding disc type, raster pattern and electromagnetic types for the measuring principle of angular transducer
Deng.Wherein, potentiometer type angular transducer be primarily present contact be prone to wear, export feature be ladder-like and resolution ratio it is low, at
The problems such as this is high.
And it encodes disc type and raster pattern angularly sensor is then primarily present volume and quality is larger, subsequent measuring circuit is multiple
The problems such as miscellaneous, at high cost, and the angular transducer of disc type is encoded by factors such as code-disc groove, the installation of axis and electrical responses
It influences, it is difficult to which the resolution ratio for reaching second grade is not able to satisfy current numerous elaborate servo-control systems or VR game controller system
It is needed Deng the angle measurement to high-precision and quick response.
Electromagnetic type angular transducer is then primarily present that volume is big, quality is big, precision is low, the scope of application is small, at high cost etc. asks
Topic which are mainly applied in biggish industrial machinery, and is not applied for small in size, light weight small-sized or miniature instrument angle
Degree measurement.
Summary of the invention
Based on above-mentioned, a kind of rotational angle measurement method that can reduce cost and use on a large scale is provided.
In addition, the rotational angle measuring device for also providing the small in size, light weight of one kind and being enable to respond quickly.
A kind of rotational angle measurement method, the method includes：Obtain the arc length that any point turns on tested rotor
Data l；
The angle-data n that the tested rotor turns over is obtained according to the arc length data l, and referring to following formula：
N=180 × [l/ (π × r)]；
Or, obtaining the central angle radian data θ that the tested rotor turns over referring to following formula：
θ=l/r；
Wherein, π is pi；R is the distance between measured point and the rotation center of circle on the tested rotor.
In one of the embodiments, the method also includes：Obtain rz signal；The rz signal is used for will
The arc length data l obtained is set as 0.
In one of the embodiments, the method also includes：Record obtains the number of the rz signal, to obtain
State the number that arc-shaped reciprocating motion is done at any point on the circle number or the tested rotor of tested rotor rotation.
In one of the embodiments, the method also includes：Record obtains during the arc length data l any one section
Arc length data △ l(x)Time △ t used(x)；
△ t is obtained referring to following formula(x)The angular velocity data v of the tested rotor rotation in periodn(x)：
Vn(x)=180 × [△ l(x)/(π×r×△t(x))]；
Or, obtaining △ t referring to following formula(x)The central angle radian change rate data of the tested rotor rotation in period
vθ(x)：
vθ(x)=△ l(x)/(r×△t(x))；
Wherein, the △ l(x)=△ l(x+1)Or the △ t(x)=△ t(x+1)；
The △ l(x)With the △ l(x+1)For two sections of adjacent arc length data；
The arc length data
The x is positive integer；The b is the number of segment that the arc length data l is divided into.
In one of the embodiments, the method also includes：The angle that the tested rotor rotates is obtained referring to following formula
Acceleration information an(x)：
anx=2 × [vn(x+1)-vn(x)]/[△t(x+1)+△t(x)]；
Or, obtaining the central angle radian acceleration information a that the tested rotor rotates referring to following formulaθ(x)：
aθ(x)=2 × [vθ(x+1)-vθ(x)]/[△t(x+1)+△t(x)]。
The arc length data l is vector data in one of the embodiments,.It is opposite with rotor described in this correct response
In the corner of base position.
The rotational angle measurement method of above-mentioned offer, by obtaining the arc length data that any point turns on tested rotor
The angle-data n and central angle radian data θ that the tested rotor turns over is calculated using arc length formula in l.This method letter
It is single easy, it is applied widely, and can quickly be come into operation by the simple transformation to existing device.
According to above-mentioned rotational angle measurement method, the present invention also provides the rotations for being applicable in above-mentioned rotational angle measurement method
Angle measurement unit.
A kind of rotational angle measuring device, including detecting module and the data processing module being connect with the detecting module；
The detecting module is for directly or indirectly obtaining the arc length data l that any point turns on tested rotor；
The data processing module obtains the tested rotor referring to following formula and turns for obtaining the arc length data l
The angle-data n crossed：
N=180 × [l/ (π × r)]；
Or, obtaining the central angle radian data θ that the tested rotor turns over referring to following formula：
θ=l/r；
Wherein, π is pi；R is the distance between measured point and the rotation center of circle on the tested rotor.
It in one of the embodiments, further include subsidiary module；The subsidiary module is used for and the detection
Module does relative motion, so that the detecting module directly or indirectly obtains on the tested rotor any point relative to spy
The arc length data l that measuring point turns over.
An arc surface or spherical surface, and the circular arc is at least arranged in the subsidiary module in one of the embodiments,
The centre of sphere of the center of circle in face or the spherical surface is located on the rotation axis of the tested rotor.
The subsidiary module is Plane of rotation structure in one of the embodiments, and rotary shaft with pass through it is described
The rotation overlapping of axles in the tested rotor rotation center of circle are connected with the transmission ratio of setting.
It in one of the embodiments, further include zero unit；The zero unit is arranged on the tested rotor
Or in the subsidiary module；The zero unit is for actively or passively generating rz signal；The zero unit enters
When in the investigative range of the detecting module, the detecting module is obtained for the arc length data l obtained to be arranged
For 0 rz signal.
The zero unit includes active RZ element or passive RZ element in one of the embodiments,；The master
Dynamic RZ element is not influenced for actively emitting the rz signal by outer signals environment；The passive RZ element is used for
The rz signal is passively issued after receiving outer signals.
In one of the embodiments, the zero unit be provided with optical transmitting set, photosensitive sensor, light reflection element or
Retroreflective regions；The light reflection element or the retroreflective regions are provided with shape different from any other on the tested rotor
The optical signal of shape and/or reflection at one is different from the anti-of the optical signal reflected at any other one on the tested rotor
Penetrate face.
The detecting module includes optical transmitting set and photoelectric sensor in one of the embodiments,；The optical transmitting set
Speckle is formed on the light beam irradiation tested rotor for emitting；The photoelectric sensor is used to receive what the speckle was formed
Speckle signals, and generate speckle data.
It in one of the embodiments, include at least two 1 groups of photoelectric sensing unit in the photoelectric sensor, and
The acquisition angles of two photoelectric sensing units are different.
Two photoelectric sensing unit orthogonal arrangements in one of the embodiments,.
The photoelectric sensor receives that focusing is provided in the optical paths of the speckle signals is saturating in one of the embodiments,
Mirror.
The condenser lens is provided with transmission-type focus head in one of the embodiments,.
The condenser lens receives in the optical paths of the speckle signals and is additionally provided with pupil in one of the embodiments,；
The pupil is provided at least three light holes, and the axial line of the light hole or center are not on the same line；It is described
The front or rear portion of the condenser lens are arranged in along direction of beam propagation for pupil.
Collimation lens and/or light are provided in the optical path of the optical transmitting set transmitting light beam in one of the embodiments,
Door screen；The diaphragm is provided with light hole.
Spectroscope is provided in the optical path of the optical transmitting set in one of the embodiments,；The spectroscope is used for will
The light beam of the optical transmitting set transmitting is divided at least two-way and is irradiated on the tested rotor.
In one of the embodiments, along the direction of beam propagation, it is provided in the subsequent optical path of the spectroscope anti-
Penetrate mirror；The reflecting mirror is used to converge in two and two or more the light beams after spectroscope light splitting described tested
On rotor.
The rotational angle measuring device of above-mentioned offer is directly or indirectly obtained on tested rotor by setting detecting module
The arc length data l that any point turns over, and be arranged and connect data processing module with the detecting module for according to arc length formula
The data processing module of angle-data n and central angle radian data θ that the tested rotor turns over is calculated.The device knot
Structure simple possible, the technology maturation of each synthesizer part being capable of rapid development and the use that puts goods on the market.In addition, the device is applicable in model
Enclose wide, precision is high, installation and simple to operate, and the excellent spy such as has small in size, light weight, and be enable to respond quickly
Property.
In the above content, at least in some embodiments, the purpose of the present invention is overcome or improve the prior art
At least one disadvantage, or provide useful alternative solution.The set of the general introduction embodiment of offer is based on following " specific implementation
The selection of technical characteristic disclosed in mode " indicates potential Patent right requirement, and these collection for summarizing embodiments merge
It is not intended to be limiting in any manner prolongable scope of the claims.
Detailed description of the invention
Fig. 1 is the measurement of measurement tested the rotor angle-data turned over and central angle radian data that an embodiment provides
Method flow diagram；
Fig. 2 is the method flow diagram for the reduction measurement error that an embodiment provides；
Fig. 3 is the method flow diagram of the tested rotor circle number turned over of acquisition that an embodiment provides or number of oscillations；
Fig. 4 is the measurement method process of acquisition tested rotor rotational angular velocity and rotation acceleration that an embodiment provides
Figure；
Fig. 5 is the measurement of measurement tested the rotor angle-data turned over and central angle radian data that an embodiment provides
Apparatus and system structural schematic diagram；
Fig. 6 is measuring device when being provided with outer circle arc subsidiary module that an embodiment provides and system structure signal
Figure；
Fig. 7 is measuring device when being provided with inner circle arc subsidiary module that an embodiment provides and system structure signal
Figure；
Fig. 8 is measuring device when being provided with flat shape subsidiary module that an embodiment provides and system structure signal
Figure；
Fig. 9 is tested rotation body surface of the reflecting element for being provided with special shape that provides of an embodiment as RZ element
Face structural schematic diagram；
Figure 10 is provided with outer circle arc subsidiary module for what an embodiment provided, and unit setting of being zeroed turns tested
Measuring device and system structure diagram when on kinetoplast；
Figure 11 is provided with inner circle arc subsidiary module for what an embodiment provided, and unit setting of being zeroed is surveyed in auxiliary
Measure measuring device and system structure diagram when on the outside of module；
Figure 12 be an embodiment provide choose to install planar subsidiary module and zero unit be positioned close to detection mould
The measuring device and system structure diagram of block side；
Figure 13 is the light path system structural schematic diagram for the photo-electric detecting module that an embodiment provides；
Figure 14 is the light path system structural representation for the photo-electric detecting module for being provided with condenser lens that an embodiment provides
Figure；
Figure 15 is the light path system knot for the photo-electric detecting module for being provided with condenser lens and pupil that an embodiment provides
Structure schematic diagram；
Figure 16 is the photo-electric detection for being provided with condenser lens, collimation lens or diaphragm and reflective mirror that an embodiment provides
The light path system structural schematic diagram of module.
Detailed description of the invention：100. detecting module；110. optical transmitting set；120. photoelectric sensor；130 condenser lenses；140. light
Pupil；141. light hole；150. collimation lens；160. spectroscope；171. first reflecting mirrors；172. second reflecting mirrors；200. data
Processing module；300. tested rotors；400. subsidiary modules；410. telltale hole；500. zero units.
Specific embodiment
In this patent document, the various implementations of Fig. 1-16 discussed below and principle or method for describing the disclosure
Example is served only for illustrating, and should not be construed as in any way and limit the scope of the present disclosure.It should be understood by those skilled in the art that
, the principle or method of the disclosure can the realizations in any appropriate layout angle sensor (or angle measurement unit).With reference to
Attached drawing, preferred embodiment of the present disclosure will be described below.In the following description, well-known function will be omitted or matched
The detailed description set, in order to avoid the theme of the disclosure is obscured with unnecessary details.Moreover, term used herein will be according to this
The function of invention defines.Therefore, the term may according to the intention or usage of user or operator difference.Therefore, originally
Term used herein must be based on made description herein to understand.
A kind of rotational angle measurement method, as shown in Figure 1, including the following steps：
S110：Obtain the arc length data l that any point turns on tested rotor.In this step, it is general to be tested rotor
Refer to that all can do the set of the point of rotation or arc-shaped swing using certain point as the center of circle.Thus, surface, i.e., tested rotor
Surface can be any shape.Tested rotor and its surface can be rule, be also possible to irregular.Tested rotation
Body does rotation or the center of circle of arc-shaped swing can be on tested rotor, can also be outside tested rotor.
S120：According to arc length data l, the angle-data n that tested rotor turns over is obtained referring to following formula：
N=180 × [l/ (π × r)].
Or, obtaining the central angle radian data θ that tested rotor turns over referring to following formula：
θ=l/r.
In this step, π is pi, is known constant, and the accuracy class after can directly selecting decimal point is set
Using.R is the distance between measured point and rotation center of circle on tested rotor, for measured value (obtained before angle measurement, because
This is given value, can directly carry out setting application), and r is kept constant in rotary course.Therefore, pass through arc length calculation formula
It obtains tested rotor and only needs to obtain the arc length data that measured point turns on tested rotor around the angle-data that the center of circle rotates
l.Method is simple and easy, applied widely, and quickly this method can be come into operation by the simple transformation to existing device.
In one of the embodiments, as shown in Fig. 2, method further includes reducing the method for measurement error, including walk as follows
Rapid S210-S220：
S210：Obtain rz signal.In this step, any can be as the substance of signal, such as light, heat, power, sound, electricity
Etc. all can serve as rz signal.Any object can be as the occurring source of rz signal.In practical applications, side of the present invention
Method preferably uses optical signal as rz signal, occurring source of the luminous or reflective object as rz signal.
S220：0 is set by the arc length data l obtained.
In this embodiment, rz signal is used to set 0 for the arc length data l obtained.Since arc length calculates public affairs
Practical π value in formula is the irrational number not recycled infinitely, and therefore, when setting fixed value for π, there are objective in calculating process
Error, and calculation times are more or arc length data l is bigger, the accumulated error of generation is bigger.When accumulated error reaches certain error
When threshold value, continue to calculate the error that the rotational angle of tested rotor can not ignore generation using arc length calculation formula.Therefore,
The method of the present invention is after the rotational angle for calculating tested rotor every time using arc length calculation formula or in the process, in order to reduce visitor
The influence for seeing error will carry out return-to-zero to the arc length data l obtained, i.e., the arc length data l obtained is arranged
It is 0.Also, the angle for the tested rotor rotation that more (i.e. zero frequency the is bigger) the method for the present invention of the number that is zeroed measure is more smart
Really.
In addition, in the initial state, a normal bit can also be provided to be tested the rotation of rotor by carrying out return-to-zero
Set (base reference system).So set, on the one hand benchmark setting can be carried out to initial signal in practical applications.On the other hand
Also zero position can be set, when tested rotor is again introduced into the state (e.g., arc length or angle again with being zeroed when
It is identical), just carry out rezero operation, with prevent former rz signal generating means fail in use bring influence, improve
Use the reliability of the inventive method product.
In one of the embodiments, as shown in figure 3, method further includes obtaining tested rotor turnning circle or swinging secondary
Several methods, includes the following steps S310-S320：
S310：Record obtains the number of rz signal.
S320：According to the number of rz signal, calculate any on the circle number or tested rotor of tested rotor rotation
Any does the number of arc-shaped reciprocating motion.
In this embodiment, rotor per revolution or it is every swing it is primary, obtain the number of rz signal be it is certain,
It also is positive integer time.Thus, have the characteristics that regularity using the acquisition of rz signal, it can be according to time for obtaining rz signal
Number calculates the number that arc-shaped reciprocating motion is done at any point on the circle number or tested rotor of tested rotor rotation.
Such as：When tested rotor makes rotating motion, then the rz signal number got that often rotates a circle is certain
, and be the integral multiple of circle number.Therefore, it is regular by weight of direct proportion to can use the number for obtaining rz signal, calculates
The circle number of tested rotor rotation (precision is 1/ every circle zero number).
It is when tested rotor does arc-shaped reciprocating motion, then every to swing primary (corner direction is mutually all primary) acquisition
To rz signal number be it is certain, be number integral multiple.Therefore, it can use the number for obtaining rz signal according to just
The conversion rule of ratio calculates the number (the zero number that precision is 1/ every pendulum) that tested rotor is swung.
In one of the embodiments, as shown in figure 4, method further includes the method for obtaining tested rotor velocity of rotation,
Include the following steps S410-S420：
S410：Record obtains any one section of arc length data △ l during arc length data l(x)Time △ t used(x)。
S420：△ t is obtained referring to following formula(x)The angular velocity data v of rotor rotation is tested in periodn(x)：
Vn(x)=180 × [△ l(x)/(π×r×△t(x))]；
Or, obtaining △ t referring to following formula(x)The central angle radian change rate data of rotor rotation are tested in period
vθ(x)：
vθ(x)=△ l(x)/(r×△t(x))；
Wherein, △ l(x)=△ l(x+1)Or △ t(x)=△ t(x+1)；
△l(x)With △ l(x+1)For two sections of adjacent arc length data；
Arc length data
X is positive integer；B is the number of segment that arc length data l is divided into.
In this embodiment, time parameter t is introduced.Using the one-dimension of time parameter t, record obtains arc length data l
Any one section of arc length data △ l in the process(x)Time △ t used(x).Then, it is calculated using average speed formula and obtains arc length
Data △ l(x)When, it is tested the angular speed v of rotor rotationn(x)Or central angle radian change rate data vθ(x).Due to vn(x)With
vθ(x)To obtain arc length data △ l(x)When average speed, therefore, obtain arc length data △ l(x)It is smaller, or the interval of acquisition data
△t(x)It is smaller, then vn(x)And vθ(x)Closer to instantaneous velocity.And since arc length data l is each small arc length data △ l(x)'s
Summation, then the method for the present invention, which can obtain, obtains arc length data l the angle-data n of tested rotor rotation or the center of circle in the process
The pace of change of angle radian data θ.By this obtain angular speed in terms of function, widen the scope of application of the inventive method.
In addition, this embodiment offers △ l during acquisition arc length data l(x)Two kinds of division methods, i.e., equal radians draw
Divide method (△ l(x)=△ l(x+1)), and wait periods division methods (△ t(x)=△ t(x+1)).The method of the present invention preferably uses
Period division methods, to adapt to the use occasion more demanding to precision and response speed.
In one of the embodiments, as shown in figure 4, according to the method that above-mentioned acquisition is tested rotor velocity of rotation, this
Inventive method further includes the method for percentage speed variation when obtaining the rotation of tested rotor, includes the following steps S430：
S430：The angular acceleration data a of tested rotor rotation is obtained referring to following formulan(x)：
anx=2 × [vn(x+1)-vn(x)]/[△t(x+1)+△t(x)]。
Or, obtaining the central angle radian acceleration information a that tested rotor rotates referring to following formulaθ(x)：
aθ(x)=2 × [vθ(x+1)-vθ(x)]/[△t(x+1)+△t(x)]。
In the case where introducing time parameter t, the method for the present invention can also provide tested according to upper one embodiment
The angular speed v of rotor rotationn(x)Or central angle radian change rate data vθ(x), calculate the angular speed of tested rotor rotation
The change rate of change rate and central angle radian speed, i.e., the angular acceleration data a of tested rotor rotationnxAnd central angle radian
The acceleration information a of variationθ(x).The function that angular accelerometer is obtained with this widens the scope of application of the inventive method.
Arc length data l is vector data in one of the embodiments,.With this correct response rotor relative to base bits
The corner set.In practical applications, it frequently encounters tested rotor and is provided simultaneously with the function and demand rotated and reverse, or, just
The function and demand of pendulum and anti-wobble.Therefore, usual when measuring the arc length data l of tested rotor rotation in the method for the present invention
One 0 referential (i.e. base reference system) can be set, positive direction and opposite direction (the i.e. vector side of arc length data l are provided with this
To).According to this setting, the angular speed v of the tested rotor rotation acquired in above embodimentsn(x)Or central angle radian variation
Rate data vθ(x)Also have the characteristic of vector, tested rotor rotating forward, reversion are reacted with this, or, the movement of positive pendulum and anti-wobble
State.
The rotational angle measurement method of above-mentioned offer, by obtaining the arc length data that any point turns on tested rotor
The angle-data n and central angle radian data θ that tested rotor turns over is calculated using arc length formula in l.This method is simply easy
Row, and it is applied widely, and can quickly be come into operation by the simple transformation to existing device.
According to above-mentioned rotational angle measurement method, the present invention also provides the rotations for being applicable in above-mentioned rotational angle measurement method
Angle measurement unit.
A kind of rotational angle measuring device, as shown in figure 5, including detecting module 100 and connecting with detecting module 100
Data processing module 200.
Detecting module 100 is for directly or indirectly obtaining the arc length data l that any point turns on tested rotor 300.
Data processing module 200 obtains the angle that tested rotor 300 turns over for obtaining arc length data l, and referring to following formula
Degree is according to n：
N=180 × [l/ (π × r)].
Or, obtaining the central angle radian data θ that tested rotor 300 turns over referring to following formula：
θ=l/r.
Wherein, being tested rotor 300 to refer to all can be that the center of circle be done and be rotated or the point of arc-shaped swing using certain point
Set.Thus, the surface on surface, i.e., tested rotor 300 can be any shape.Tested rotor 300 and its surface can
Be it is regular, be also possible to irregular.Tested rotor 300 does rotation or the center of circle of arc-shaped swing can turn tested
It, can also be outside tested rotor 300 on kinetoplast 300.π is pi, is known constant, can directly select the essence after decimal point
Degree grade carries out setting application.R is the distance between measured point and the rotation center of circle on tested rotor 300, is measured value (at angle
Obtained before degree measurement, therefore be given value, can directly carry out setting application), and r is kept constant in rotary course.Therefore,
Tested rotor 300, which is obtained, by arc length calculation formula only needs to obtain tested rotor 300 around the angle-data that the center of circle rotates
The arc length data l that upper measured point turns over.Method is simple and easy, applied widely, and can pass through simply changing to existing device
It makes and quickly this method comes into operation.
Being tested rotor 300 in one of the embodiments, is cylindrical body, and is rotated around its rotary shaft.Detecting module
100 for directly or indirectly obtaining the arc length data l that any point turns on tested 300 external cylindrical surface of rotor.In the implementation
In example, using the cylindrical body of rule as tested rotor 300, and using the point on external cylindrical surface as the acquisition of arc length data l
Point.So set, convenient for measurement and measurement accuracy can be improved.
In one of the embodiments, as shown in Fig. 6, Fig. 7 or Fig. 8, apparatus of the present invention further include subsidiary module
400.Subsidiary module 400 with detecting module 100 for doing relative motion, so that detecting module 100 directly or indirectly obtains
The arc length data l that any point is turned over relative to sensing point on tested rotor 300.Theoretically, it is tested any on rotor 300
Some the arc length data l turned over can be directly measured, but in actual application, due to the limitation of technical conditions, quilt
Limitation and the limitation of application etc. for surveying 300 self-characteristic of rotor, generally can not directly measure tested rotor
Some puts the arc length data l turned on 300.In addition, the considerations of being in measurement accuracy etc., generally will not directly measure tested turn
Some puts the arc length data l turned on kinetoplast 300.Therefore, it in most of use occasion, is usually surveyed using measurement auxiliary
The arc length data or displacement data that any point in amount module 400 is turned over relative to sensing point, then according to specific conversion
Relationship show that some puts the arc length data l turned on tested rotor 300 indirectly.
In one of the embodiments, as is seen in fig. 6 or fig. 7, an arc surface or ball is at least arranged in subsidiary module 400
Face, and the centre of sphere of the center of circle of arc surface or spherical surface is located on the rotation axis of tested rotor 300.So set, for example for
For the irregular tested rotor 300 in surface, it is difficult for directly measuring the sensing point arc length data l mobile on its surface
, and directly measurement is also easy the reliability of measurement and leads to not the error ignored.Measuring such tested rotor 300
When, by the directly synchronous rotation of one regular subsidiary module 400 of setting or transmission mechanism setting one can be passed through
Stable drive ratio drives subsidiary module 400 to rotate synchronously and the rotation of tested rotor 300 is carried out output measurement.So not only
It can be convenient for the arc length data turned over by any point in measurement subsidiary module 400 relative to sensing point, then root
According to specific conversion relation, show that some puts the arc length data l turned on tested rotor 300 indirectly, additionally it is possible to will directly survey
The arc length data that the sensing point measured turns in subsidiary module 400 are directly as the arc length data in last embodiment
L, and the data r in above-mentioned formula is substituted into the distance R of the measured point in subsidiary module 400 to the center of circle, arc is passed through with this
Long calculation formula show that the corresponding angle-data of arc length data that sensing point turns in subsidiary module 400 (is known and quilt
It is identical to survey the angle-data n that turns over of rotor 300) or central angle radian data (know the circle turned over tested rotor 300
Heart angle radian data θ is identical).
In one of the embodiments, as shown in fig. 6, the lateral surface of subsidiary module 400 be arc surface or spherical surface, and
The center of circle of arc surface or the centre of sphere of spherical surface are located on the rotation axis of tested rotor 300.So set, can be auxiliary by measuring
The arc length data for helping the lateral surface of measurement module 400 to turn over for any point on arc surface or spherical surface relative to sensing point, with
Show that some puts the arc length data l turned on tested rotor 300 indirectly, or directly using the arc length data as last embodiment
In arc length data l, and the distance R using the measured point in subsidiary module 400 to the center of circle is as the data in above-mentioned formula
R obtains the corresponding angle number of arc length data that sensing point turns in subsidiary module 400 by arc length calculation formula with this
It (is known and tested rotor according to (knowing identical as the angle-data n that tested rotor 300 turns over) or central angle radian data
The 300 central angle radian data θ that turn over are identical).In addition, in the embodiment, between subsidiary module 400 and sensing point
Relative movement, either subsidiary module 400 follows tested rotor 300 to rotate, detecting module 100 is motionless, can also be with
It is that detecting module 100 follows tested rotor 300 to rotate synchronously, subsidiary module 400 is motionless.
In one of the embodiments, as shown in fig. 7, the medial surface of subsidiary module 400 be arc surface or spherical surface, and
The center of circle of arc surface or the centre of sphere of spherical surface are located on the rotation axis of tested rotor 300.So set, can be auxiliary by measuring
The arc length data for helping the medial surface of measurement module 400 to turn over for any point on arc surface or spherical surface relative to sensing point, with
Show that some puts the arc length data l turned on tested rotor 300 indirectly, or directly using the arc length data as last embodiment
In arc length data l, and the distance R using the measured point in subsidiary module 400 to the center of circle is as the data in above-mentioned formula
R obtains the corresponding angle number of arc length data that sensing point turns in subsidiary module 400 by arc length calculation formula with this
It (is known and tested rotor according to (knowing identical as the angle-data n that tested rotor 300 turns over) or central angle radian data
The 300 central angle radian data θ that turn over are identical).In addition, in the embodiment, between subsidiary module 400 and sensing point
Relative movement, either subsidiary module 400 follows tested rotor 300 to rotate, detecting module 100 is motionless, can also be with
It is that detecting module 100 follows tested rotor 300 to rotate synchronously, subsidiary module 400 is motionless.
In one of the embodiments, as shown in figure 8, subsidiary module 400 is flat shape structure flexible, and one end
It is connect with the outer surface of tested rotor 300, so that tested rotor 300 is able to drive subsidiary module flexible when rotating
400 are wrapped in tested 300 surface of rotor, and the circular motion of tested rotor 300 is changed by subsidiary module 400
At the translational motion of flexible subsidiary module 400, by measuring flexible subsidiary mould associated with tested rotor 300
The translation distance of point on block 400 obtains the arc length data l that some point turns on tested rotor 300 indirectly.
In one of the embodiments, as shown in Fig. 5 to Fig. 9 either figure, apparatus of the present invention further include zero unit
500.(such as Fig. 6 to Fig. 8 in (as shown in Figure 5) or subsidiary module 400 is arranged on tested rotor 300 in the unit 500 that is zeroed
Shown in either figure, wherein as shown in fig. 6, zero unit 500 is on the outer surface of subsidiary module 400.Such as Fig. 7
Shown, zero unit 500 is on the inner surface of subsidiary module 400.As shown in figure 8, zero unit 500 is arranged soft
On the outer surface of property subsidiary module 400).Zero unit 500 is for actively or passively generating rz signal.Be zeroed unit
When in the investigative range of 500 entrance detecting modules 100, detecting module 100 obtains the arc length data l setting for will obtain
For 0 rz signal.It in this embodiment, is the irrational number not recycled infinitely since the π value in arc length calculation formula is practical, because
This, when setting fixed value for π, there are objective errors in calculating process, and calculation times are more or arc length data l is bigger,
The accumulated error of generation is bigger.When accumulated error reaches certain error threshold value, continue to calculate using arc length calculation formula tested
The error that the rotational angle of rotor 300 can not ignore generation.Therefore, tested turn is being calculated every time using arc length calculation formula
After the rotational angle of kinetoplast 300 or in the process, in order to reduce the influence of objective error, return provided with being used to actively or passively generate
The zero unit 500 of zero-signal carries out return-to-zero to the arc length data l obtained when reaching specified conditions, i.e., will
Arc length data l through obtaining is set as 0.In this embodiment, more (i.e. zero frequency is bigger) apparatus of the present invention of zero number
The angle that the tested rotor 300 measured rotates is more accurate.
In addition, in the initial state, a standard can also be provided to be tested the rotation of rotor 300 by carrying out return-to-zero
Position (base reference system).So set, on the one hand benchmark setting can be carried out to initial signal in practical applications.Another party
Face can also set zero position, when tested rotor 300 is again introduced into the state (e.g., arc length or angle again with return
It is identical when zero), just carry out rezero operation, with prevent former rz signal generating means fail in use bring influence,
Improve the reliability for using the invention device.
It is tested in one of the embodiments, circumferentially equidistant in rotor 300 or subsidiary module 400 or waits circles
There are two the settings of heart angle and more than two zero units 500.So set, can be simple by obtaining the number of rz signal
Angle-data n, the angular velocity data v for calculating tested rotor 300 or detection module 400 being assisted to rotate relative to its center of circlen(x)、
Angular acceleration data anx, central angle radian data θ, central angle radian data θ pace of change vθ(x), central angle radian variation
Acceleration information aθ(x)In any one or two and more than two combinations, and the number that zero unit 500 is arranged is more,
Number Simple Calculation by obtaining rz signal turns with tested rotor 300 or auxiliary detection module 400 relative to its center of circle
Dynamic angle-data n or angular velocity data vn(x)And its related data is more accurate.
It is tested in one of the embodiments, circumferentially equidistant in rotor 300 or subsidiary module 400 or waits circles
The center of circle angular region of the zero unit 500 of heart angle setting, the adjacent zero unit 500 of any two is 0.3 ° -180 °, and the center of circle
Angle is smaller, and measurement accuracy is higher.
Zero unit 500 includes active RZ element or passive RZ element in one of the embodiments,.Actively it is zeroed
Element is not influenced for actively emitting rz signal by outer signals environment.Passive RZ element is used to receive outer signals
Rz signal is passively issued afterwards.In this embodiment, it since active RZ element can be set in zero unit 500, can also set
Set passive RZ element.Wherein, the active RZ element moment exports rz signal, is not influenced by outer signals environment.And by
Dynamic RZ element only just can passively issue rz signal when reaching a certain specified conditions.
In one of the embodiments, zero unit 500 be provided with optical transmitting set, photosensitive sensor, light reflection element or
Retroreflective regions.Light reflection element or retroreflective regions are provided with shape and are different from any other one on the tested rotor 300
Shape (as shown in figure 9, the first reflecting surface is arranged to the shape of five-pointed star.It is of course also possible to be designed to triangle, circle, square
Shape and other polygons or mixing polygon etc., are not limited thereto).And/or the optical signal of reflection is different from tested rotor
The optical signal reflected at any other one on 300 reflecting surface (for example, the reflection coefficient of the second reflecting surface is designed to be greater than or
Less than other regions of periphery, then the second reflecting surface by reflected intensity will be greater than neighboring area.For another example, by the anti-of the second reflecting surface
Ejected wave section is configured differently than its neighboring area, then the reflection characteristic of the second reflecting surface will differ from its neighboring area, is obtained with this
A difference signal is obtained as rz signal).In this embodiment, using optical transmitting set as active RZ element, and by the light
The light for the special properties that transmitter issues is as rz signal.Because optical transmitting set itself is a kind of light source microphone device herein,
Its technology maturation, it is low in cost, and fast response time, stability are high.Make this hair using optical transmitting set as active RZ element
Bright device will keep the reliability of the device higher, and response speed faster, and can reduce cost.In this embodiment, as
The photosensitive sensor of passive RZ element also has the advantage in technology maturation and price.In addition, the embodiment also discloses one
Embodiment of the kind light reflection element as passive RZ element, using light reflection principle, when by measuring arc length data l, detection
The reflecting surface for a certain specific region that the track of movement of the point on tested rotor 300 or subsidiary module 400 is passed through
The shape of reflection coefficient or reflecting surface be designed to it is different from other regions, make the region formed " difference " reflection signal, then may be used
Using will should " difference " reflection signal as rz signal.So set, make it is easy to process, it is low in cost.
In one of the embodiments, as shown in Figure 10, zero unit 500 is arranged on tested rotor 300.Auxiliary
The telltale hole 410 (through-hole) for rz signal transmission is offered on measurement module 400.Subsidiary module 400 is provided with outer
Circular arc or spherical outside surface.Detecting module 100 is generally arranged at 400 outside of subsidiary module, to obtain sensing point in subsidiary
The arc length data l moved on 400 lateral surface arc surface of module or spherical surface.In this embodiment, be zeroed unit 500 and telltale hole
410 both can be in when tested 300 synchronous rotary of rotor (subsidiary module 400 and) on same Radius, can not also be same
(ability is on same Radius when only exporting rz signal by telltale hole 410 on Radius.In the case of this kind, subsidiary mould
There are relative rotary motions with tested rotor 300 for block 400).When the probe of detecting module 100 is in same with telltale hole 410
When radius, i.e., when the probe of detecting module 100, telltale hole 410 and the center of circle are in same straight line, the acquisition of detecting module 100 is used for
Set the arc length data l obtained to 0 rz signal.So set, the rotation where zero unit 500 can be reduced
Radius, reducing rotation is the centrifugal force that zero unit 500 generates, to protect the device of zero unit 500 not broken by centrifugal force
It is bad.Preferably, optical transmitting set (light source) is arranged in zero unit 500, such as light bulb, as the occurring source of rz signal, to improve
The stability and reliability transmitted by the telltale hole (through-hole) being arranged in subsidiary module 400.
In one of the embodiments, as shown in figure 11, the outer of subsidiary module 400 is arranged in zero unit 500
Side.The telltale hole 410 (through-hole) for rz signal transmission is offered in subsidiary module 400.Subsidiary module 400 is set
It is equipped with Inner arc or Internal Spherical Surface.Detecting module 100 is generally arranged between subsidiary module 400 and tested rotor 300, with
Obtain the arc length data l that sensing point moves on 400 medial surface arc surface of subsidiary module or spherical surface.In this embodiment,
Being zeroed unit 500 and telltale hole 410 both can (this kind of situation, subsidiary module 400 be motionless, is tested and turns on same Radius
Kinetoplast 300 surrounds the center of circle, and detecting module 100 is driven to make relative motion or tested rotor with subsidiary module 400
300 and detecting module 100 remain stationary, and subsidiary module 400 is synchronous around the center of circle and detecting module with zero unit 500
100 do relative motion), (can not also only it pass through when telltale hole 410 exports rz signal just same on same Radius
On radius.In the case of this kind, subsidiary module 400 and tested 300 synchronous rotary of rotor are moved, and detecting module 100 with
Zero unit 500 remains stationary).When the probe of detecting module 100 and telltale hole 410 are in Radius, i.e. detecting module
When 100 probe, telltale hole 410 and the center of circle are in same straight line, detecting module 100 obtains the arc length for will obtain
Data l is set as 0 rz signal.Wherein, subsidiary module 400 and tested 300 synchronous rotary of rotor move, and detect
The case where module 100 and zero unit 500 remain stationary, can be avoided zero unit 500 and detecting module 100 rotates generation
Centrifugal force, so that the device of zero unit 500 and detecting module 100 be protected not destroyed by centrifugal force.Preferably, be zeroed unit
500 settings optical transmitting set (light source), such as light bulb pass through subsidiary module 400 as the occurring source of rz signal to improve
The stability and reliability of telltale hole (through-hole) transmission of upper setting.
In one of the embodiments, as shown in figure 12, subsidiary module 400 is Plane of rotation structure, and rotary shaft
It is connected with the rotation overlapping of axles for passing through the tested rotation of rotor 300 center of circle or with the transmission ratio of setting.So set, can lead to
The arc length data that any point is turned over relative to sensing point on measurement 400 Plane of rotation of subsidiary module are crossed, to obtain indirectly
Some puts the arc length data l turned on tested rotor 300, or directly using the arc length data as arc length number of the present invention
According to l, and the distance using the measured point in subsidiary module 400 to the center of circle is passed through as the data r in above-mentioned formula with this
Arc length calculation formula obtain the corresponding angle-data of arc length data that sensing point turns in subsidiary module 400 (know with
The angle-data n that tested rotor 300 turns over is identical) or central angle radian data (know to turn over tested rotor 300
Central angle radian data θ is identical).In addition, attached drawing 12 be intended merely to facilitate understand and wherein some embodiment for doing
Schematic diagram, and in fact, in this embodiment, the relative movement between subsidiary module 400 and sensing point, either auxiliary
Help measurement module 400 that tested rotor 300 is followed to rotate, detecting module 100 is motionless, be also possible to detecting module 100 follow by
It surveys rotor 300 to rotate synchronously, subsidiary module 400 is motionless.
Subsidiary module 400 is Plane of rotation structure in one of the embodiments, and rotary shaft turns with across tested
It is connected between the rotation axis in the rotation of kinetoplast 300 center of circle with the transmission ratio of setting.In this embodiment, subsidiary module 400
Rotation and tested rotor 300 rotation there are gear ratio relations, therefore, can pass through measurement subsidiary module 400 rotate
The arc length data that any point is turned over relative to sensing point in plane, to obtain indirectly, some point is turned on tested rotor 300
Arc length data l, then show that tested rotor 300 is tested the angle-data n that rotor 300 turns over according to arc length calculation formula
Or central angle radian data θ.Alternatively, directly by any point on measurement 400 Plane of rotation of subsidiary module relative to detection
The arc length data that point turns over are as arc length data l of the present invention and with the measured point in subsidiary module 400 to its circle
The distance of the heart obtains sensing point in subsidiary module 400 as the data r in above-mentioned formula, with this by arc length calculation formula
On the corresponding angle-data of arc length data that turns over or central angle radian data conversed tested then according to gear ratio relation
The angle-data n or central angle radian data θ that rotor 300 turns over.
In one of the embodiments, as shown in figure 13, detecting module 100 includes optical transmitting set 110 and photoelectric sensor
120.Optical transmitting set 110 forms speckle on the tested rotor 300 of light beam irradiation for emitting.Photoelectric sensor 120 is for receiving
The speckle signals that speckle is formed, and generate speckle data.In this embodiment, speckle refers to, light beam is irradiated to certain rough object
Surface when, (speckle is mainly each cell area of body surface for many light and dark, the rambling specks and blackening of formation
On be irradiated by light after, interfered between the light wave of scattering it is (constructive or destructive) formed, thus, be not only present in object table
Face exists in the entire space near illuminated surface).In general, in the case where beam incident angle is certain, pair of speckle
More related to the roughness on irradiated object surface than degree, most of articles in people's daily life are able to satisfy to form speckle
Demand, such as desktop, paper, textile, common metal, plastics, ceramics or glass etc..Thus apparatus of the present invention are adoptable
Material range is wide, and alternative product are more, is easy to the implementation of scheme.In addition, light beam irradiation two different zones of object or irradiation are same
Region and when direction of illumination difference, the speckle of formation is different, therefore can be according to this characteristic of speckle, using speckle as visiting
Measuring point measures relative movement distance and direction between body surface and sensing point.In this embodiment, the characteristic of foundation speckle,
The speckle signals that speckle is formed are received using photoelectric sensor, and generate speckle data, can quickly determine sensing point phase
Moving distance and direction for body surface, meanwhile, this pure photo-electric sensing technology customer service needs mechanical device to sense
Various defects so that structure is simple, precision is improved, and response speed is faster, is surveyed for improving modern various precision instruments
The technical feasibility of accuracy of measurement is strong.In addition, the photo-electric sensing mode of apparatus of the present invention can also be changed by further technology
Into raising measurement accuracy and speed.
It in one of the embodiments, include at least two 1 groups of photoelectric sensing unit in photoelectric sensor 120, and two
The acquisition angles of a photoelectric sensing unit are different.So set, the phase difference between two speckle signals can be obtained, it is then sharp
The moving direction of speckle is determined with this phase difference (sequencing of i.e. two signals) and is arranged in this group of photoelectric sensing unit
Component on direction.Therefore the photoelectric sensing unit different using two groups of acquisition directions can determine that speckle is flat in entire two dimension
Moving direction in face, to obtain the phase between sensing point and tested 300 surface of rotor or 400 surface of subsidiary module
To moving direction.In practical applications, the photoelectric sensing unit of preferably two groups orthogonal arrangements.
In one of the embodiments, as shown in figure 14, it is provided in the optical path of the reception of photoelectric sensor 120 speckle signals
Condenser lens 130.Condenser lens 130 belongs to gradient-index lens.Not only with the general characteristic of ordinary optical lens, also have
There is end face to focus and the characteristic of imaging and high-resolution and be easy to get with an equal amount of upright real image characteristic of object etc..
In addition, condenser lens 130 also has columned sShape features, thus it can be applied to a variety of different micro-optics systems
In.It is smaller that apparatus of the present invention use condenser lens 130 that the volume of detecting module 100 is enabled to do, and is allowed to be suitable for more
In miniature angle measurement unit.
Condenser lens 130 is transmission-type focus head in one of the embodiments,.There are two main excellent for transmission-type focus head
Point is penetrated to permission light beam bias or angle deviating first is that light beam is easy to adjust and allow light beam to have the little deviation of bias etc
Enter lens.Second is that transmissive system is relatively simple, optical element used it is less (when laser beam passes through transmission-type lens, lens energy
Enough laser beam along axial focusing to body surface).The present invention uses transmission-type focus head not only to make, and apparatus structure is simple, light
It is simple to learn system structure, also makes the performance of apparatus of the present invention more reliable and more stable, and cost is relatively low.
In one of the embodiments, as shown in figure 15, it is additionally provided in the optical path of the reception of condenser lens 130 speckle signals
Pupil 140.Pupil 140 is provided at least three light holes 141, and the axial line of light hole 141 or center be not the same as always
On line.The front (as shown in figure 13) or rear portion of condenser lens 130 are arranged in along direction of beam propagation for pupil 140.So set,
On the one hand the mobile optical signal sampling of two-dimensional directional can be formed.On the other hand it can be improved the coherence of light source, improve detection
The sensing point that module 100 projects on tested rotor 300 or in subsidiary module 400 obtains optical signal mobile data
Reliability and precision.In addition, Figure 11 only draws two light holes 141 on one-dimensional just for the sake of showing convenient, not
Similarly, which should not be misinterpreted as protection of the invention to the structure in another dimension drawn with the content shown in attached drawing
Range.
In one of the embodiments, as shown in figure 16, collimation is provided with thoroughly in the optical path of the transmitting of optical transmitting set 110 light beam
Mirror 150 and/or diaphragm.Diaphragm is provided with light hole.In this embodiment, collimation lens 150 is set and/or is provided with light passing
The purpose of the diaphragm in hole, which essentially consists in, reduces the region that tested 300 surface of rotor is irradiated by light beam, in order to arc length data l's
Measurement and the use for adapting to more microminiature angle measurement unit.
In one of the embodiments, as shown in figure 16, spectroscope 160 and anti-is provided in the optical path of optical transmitting set 110
Penetrating mirror, (including at least two reflecting mirrors include at least the first reflecting mirror 171 and the second reflecting mirror 172, in general, reflecting mirror
Quantity is identical as light splitting item number).Spectroscope 160 be used for by the light beam that optical transmitting set 110 emits be divided at least two be irradiated to by
It surveys on rotor 300.Reflecting mirror be used for by by spectroscope 160 light splitting after two and two or more light beams converge in by
It surveys on rotor 300.In this embodiment, the light beam that optical transmitting set 110 issues first passes through spectroscope and forms at least two light beams,
Then a bit (or a certain size region) is converged at after reflecting mirror reflects.So set, the present invention detection that can make
Point is more accurate in the sampling of one-dimensional square.Certainly, the light beam after the light splitting of spectroscope 160 can also be led to again by design
Spectroscope (spectroscope can be the same spectroscope 160 herein, be also possible to another spectroscope of setting) is crossed to carry out
Light splitting forms three or more multichannel light beams, can so design apparatus of the present invention and realize that two-dimensional square moves up taking for optical signal
Sample.
Apparatus of the present invention include at least the different detecting module of two detection angles in one of the embodiments, with reality
Existing two-dimensional square moves up the sampling of optical signal.Wherein, the detection angle difference of two detecting modules refers to, detecting module 100
The corresponding central angle of two sensing points on tested rotor 300 or aided detection module 400 is not 0, i.e. detecting module 100
The corresponding sensing point line sensing point line corresponding with another detecting module 100 intersects or space intersection.
So set, enable to apparatus of the present invention obtain rotation of the tested rotor 300 on some any directions angle and
Data relevant to angle.
In the above content, " light beam " can be the electromagnetic wave of any wave band.It, can also be with and either continuously emit
It is discontinuous (i.e. pulse) transmitting.
It is laser, infrared ray or visible that detecting module 100, which detects light beam, in apparatus of the present invention in one of the embodiments,
Any one in light.
Preferably, it is the high frequency bands such as laser that detecting module 100, which detects light beam, in apparatus of the present invention, can be carried with improving
Information content.
The rotational angle measuring device of above-mentioned offer directly or indirectly obtains tested rotation by setting detecting module 100
The arc length data l that any point turns on body 300, and be arranged and connect data processing module 200 with detecting module 100 for basis
The data processing module of the angle-data n that tested rotor 300 turns over and central angle radian data θ is calculated in arc length formula
200.The apparatus structure simple possible, the technology maturation of each synthesizer part being capable of rapid development and the use that puts goods on the market.In addition,
The device is applied widely, and precision is high, installs and simple to operate, and have small in size, light weight, and can quickly ring
Good characteristics should be waited.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (18)
1. a kind of rotational angle measurement method, which is characterized in that the method includes：
Obtain the arc length data l that any point turns on tested rotor；
The angle-data n that the tested rotor turns over is obtained according to the arc length data l, and referring to following formula：
N=180 × [l/ (π × r)]；
Or, obtaining the central angle radian data θ that the tested rotor turns over referring to following formula：
θ=l/r；
Wherein, π is pi；R is the distance between measured point and the rotation center of circle on the tested rotor.
2. the method according to claim 1, wherein the method also includes：
Obtain rz signal；
The rz signal is used to set 0 for the arc length data l obtained.
3. according to the method described in claim 2, it is characterized in that, the method also includes：
Record obtains the number of the rz signal, to obtain the circle number or the tested rotor of the tested rotor rotation
Do the number of arc-shaped reciprocating motion in upper any point.
4. the method according to claim 1, wherein the method also includes：
Record obtains any one section of arc length data △ l during the arc length data l(x)Time △ t used(x)；
△ t is obtained referring to following formula(x)The angular velocity data v of the tested rotor rotation in periodn(x)：
Vn(x)=180 × [△ l(x)/(π×r×△t(x))]；
Or, obtaining △ t referring to following formula(x)The central angle radian change rate data v of the tested rotor rotation in periodθ(x)：
vθ(x)=△ l(x)/(r×△t(x))；
Wherein, the △ l(x)=△ l(x+1)Or the △ t(x)=△ t(x+1)；
The △ l(x)With the △ l(x+1)For two sections of adjacent arc length data；
The arc length data
The x is positive integer；The b is the number of segment that the arc length data l is divided into.
5. according to the method described in claim 4, it is characterized in that, the method also includes：
The angular acceleration data a that the tested rotor rotates is obtained referring to following formulan(x)：
anx=2 × [vn(x+1)-vn(x)]/[△t(x+1)+△t(x)]；
Or, obtaining the central angle radian acceleration information a that the tested rotor rotates referring to following formulaθ(x)：
aθ(x)=2 × [vθ(x+1)-vθ(x)]/[△t(x+1)+△t(x)]。
6. method described in -5 any one according to claim 1, which is characterized in that the arc length data l is vector data.
7. a kind of rotational angle measuring device, which is characterized in that including detecting module and the data being connect with the detecting module
Processing module；
The detecting module is for directly or indirectly obtaining the arc length data l that any point turns on tested rotor；
The data processing module obtains what the tested rotor turned over referring to following formula for obtaining the arc length data l
Angle-data n：
N=180 × [l/ (π × r)]；
Or, obtaining the central angle radian data θ that the tested rotor turns over referring to following formula：
θ=l/r；
Wherein, π is pi；R is the distance between measured point and the rotation center of circle on the tested rotor.
8. device according to claim 7, which is characterized in that further include subsidiary module；
The subsidiary module with the detecting module for doing relative motion, so that the detecting module directly or indirectly obtains
Take the arc length data l that any point is turned over relative to sensing point on the tested rotor.
9. device according to claim 8, which is characterized in that an arc surface or ball is at least arranged in the subsidiary module
Face, and the centre of sphere of the center of circle of the arc surface or the spherical surface is located on the rotation axis of the tested rotor.
10. device according to claim 8, which is characterized in that the subsidiary module is Plane of rotation structure, and is revolved
Shaft is connected with the rotation overlapping of axles for passing through the tested rotor rotation center of circle or with the transmission ratio of setting.
11. device according to claim 8, which is characterized in that further include zero unit；
The zero unit setting is on the tested rotor or in the subsidiary module；
The zero unit is for actively or passively generating rz signal；
When the zero unit is entered in the investigative range of the detecting module, the detecting module is obtained for will obtain
The arc length data l be set as 0 the rz signal.
12. device according to claim 11, which is characterized in that the zero unit is provided with optical transmitting set, photosensitive biography
Sensor, light reflection element or retroreflective regions；
The light reflection element or the retroreflective regions are provided with shape and are different from any other one on the tested rotor
Shape and/or the optical signal of reflection be different from the reflection of the optical signal reflected at any other one on the tested rotor
Face.
13. device according to claim 7, which is characterized in that the detecting module includes optical transmitting set and photoelectric sensing
Device；
The optical transmitting set forms speckle on the light beam irradiation tested rotor for emitting；
The photoelectric sensor is used to receive the speckle signals that the speckle is formed, and generates speckle data.
14. device according to claim 13, which is characterized in that the photoelectric sensor receives the light of the speckle signals
Condenser lens is provided in road.
15. device according to claim 14, which is characterized in that the condenser lens receives the optical path of the speckle signals
In be additionally provided with pupil；
The pupil is provided at least three light holes, and the axial line of the light hole or center are not on the same line；
The front or rear portion of the condenser lens are arranged in along direction of beam propagation for the pupil.
16. device according to claim 13, which is characterized in that be provided in the optical path of the optical transmitting set transmitting light beam
Collimation lens and/or diaphragm；
The diaphragm is provided with light hole.
17. device according to claim 13, which is characterized in that be provided in the optical path of the optical transmitting set spectroscope and
Reflecting mirror；
The spectroscope is irradiated to the tested rotor for the light beam that the optical transmitting set emits to be divided at least two；
The reflecting mirror is used to converge in two and two or more the light beams after spectroscope light splitting described tested
On rotor.
18. device according to claim 13, which is characterized in that including at least the different detection of two detection angles
Module, to realize that two-dimensional square moves up the sampling of optical signal.
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| CN111730259A (en) * | 2020-07-13 | 2020-10-02 | 马鞍山思卡瑞自动化科技有限公司 | Welding arm angular speed change detection device of welding robot and implementation method |
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