CN111623728B - Device and method for measuring rotation angle - Google Patents
Device and method for measuring rotation angle Download PDFInfo
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- CN111623728B CN111623728B CN202010560669.1A CN202010560669A CN111623728B CN 111623728 B CN111623728 B CN 111623728B CN 202010560669 A CN202010560669 A CN 202010560669A CN 111623728 B CN111623728 B CN 111623728B
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- 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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Abstract
The application discloses a device and a method for measuring a rotation angle, and belongs to the technical field of measurement. The device comprises: the device comprises a light source fixing part connected with a measuring reference surface of a target object to be measured, and a first light source and a second light source which are fixed at two ends of the same side of the light source fixing part. The first light source is used for emitting a first light beam which is parallel to the measuring reference surface and is vertical to the vertical central axis of the target object, and the second light source is used for emitting a second light beam which is parallel to the measuring reference surface and is vertical to the vertical central axis of the target object. The measuring device that this application provided simple structure, simple to operate and portable, measurement accuracy receives environmental impact less, and the suitability is stronger. The measuring device does not need to adopt a sensor, so the cost of the device is lower.
Description
Technical Field
The present disclosure relates to measurement technologies, and in particular, to a device and a method for measuring a rotation angle.
Background
With the development of measurement technology, it becomes possible to measure various angles generated by the motion of an object, and the rotation angle of the object is one of the angles. Because the rotation of the object occurs in a three-dimensional space, the rotation angle generated by the rotation is abstract and difficult to be directly measured. Therefore, when measuring the rotation angle of an object, it is often necessary to visualize the rotation angle in order to accurately measure the rotation angle.
In the related art, a plurality of pull line sensors are used to measure a rotation angle of an object. Wherein, one end of each stay wire sensor is connected with a fixed end except for the object to be measured, the other end of each stay wire sensor is connected with the object to be measured, and different stay wire sensors are connected to different positions on the object to be measured. After the object to be measured rotates, the posture of the object to be measured is calculated through the length change of the stay wire sensors, so that the rotation angle of the object to be measured is obtained.
However, in the related art, each pull sensor needs to be connected to the object to be measured and the fixed end, which makes the operation process complicated and reduces the measurement efficiency of the rotation angle.
Disclosure of Invention
The embodiment of the application provides a device and a method for measuring a rotation angle, and aims to solve the problems of complex operation and low measurement efficiency of the related technology. The technical scheme is as follows:
in one aspect, a device for measuring a rotation angle is provided, the device comprising: the light source fixing piece, the first light source and the second light source;
the light source fixing part is connected with a measuring reference surface of a target object to be measured, the first light source and the second light source are respectively fixed at two ends of the same side of the light source fixing part, and the measuring reference surface is a plane for forming a rotation angle;
the first light source is used for emitting a first light beam, the second light source is used for emitting a second light beam, the first light beam and the second light beam are both parallel to a measuring reference surface of the target object, the first light beam is also vertical to a vertical central axis of the target object, and the second light beam is also parallel to the vertical central axis of the target object.
In an exemplary embodiment, the measuring device further comprises: a connecting plate; the connecting plate comprises a first connecting piece, and is connected with the measuring reference surface of the target object through the first connecting piece; the light source fixing piece is connected with the connecting plate.
In an exemplary embodiment, the connecting plate further includes a first slide rail, a size of the first slide rail matches a size of the first connecting member, and the first connecting member is slidably connected to the first slide rail.
In an exemplary embodiment, the first connecting member comprises a clip and a bolt, and the clip comprises a through hole penetrating through the clip; the inner diameter of the through hole and the inner diameter of the first slide rail are both matched with the outer diameter of the bolt, and the bolt sequentially penetrates through the first slide rail, the target object and the through hole.
In an exemplary embodiment, the measuring device further comprises: and one end of the second connecting piece is rotatably connected with the connecting plate, and the other end of the second connecting piece is connected with the light source fixing piece.
In an exemplary embodiment, the connecting plate further comprises an arc-shaped sliding rail, and the device further comprises a third connecting piece matched with the size of the arc-shaped sliding rail; one end of the third connecting piece is connected with the second connecting piece, and the other end of the third connecting piece penetrates through the arc-shaped sliding rail to be connected with the connecting plate.
In an exemplary embodiment, the second connector includes a second slide rail thereon, and the apparatus further includes: an adjustment element; the size of the second sliding rail is matched with that of the adjusting element, one side of the adjusting element is connected with the second sliding rail in a sliding mode, and the other side of the adjusting element is connected with the light source fixing piece.
In an exemplary embodiment, the apparatus further comprises: a processor; the processor is electrically connected with the first light source and the second light source respectively, and the processor is used for determining the rotation angle of the target object based on the first light beam and the second light beam.
In one aspect, a method for measuring a rotation angle is provided, the method comprising:
responding to a target object connected with a measuring device to be in a first state, and acquiring a first projection point of a first light beam emitted by a first light source on a first plane and a second projection point of a second light beam emitted by a second light source on a second plane, wherein the first plane and the second plane are vertical to each other;
responding to the target object rotating to a second state, and acquiring a third projection point of the first light beam on the first plane and a fourth projection point of the second light beam on the second plane;
determining a rotation angle of the target object between the first state and the second state based on the first projection point, the second projection point, the third projection point and the fourth projection point.
In an exemplary embodiment, the determining a rotation angle of the target object between the first state and the second state based on the first projection point, the second projection point, the third projection point, and the fourth projection point includes:
determining a first distance between the first projection point and the third projection point in a first direction, the first direction being a direction parallel to the first plane and the second plane;
determining a second distance between the second projection point and the first plane in a second direction, the second direction being a direction perpendicular to the first plane and parallel to the second plane;
determining a third distance between the second projection point and the fourth projection point in the first direction, and a fourth distance between the second projection point and the fourth projection point in the second direction;
and calculating to obtain the rotation angle of the target object according to the first distance, the second distance, the third distance and the fourth distance.
In an exemplary embodiment, the calculating the rotation angle of the target object according to the first distance, the second distance, the third distance, and the fourth distance includes: according to the first distance, the second distance, the third distance and the fourth distance, calculating to obtain the rotation angle of the target object according to the following formula:
wherein θ is a rotation angle of the target object, L is the second distance, L1Is the first pitch, L3Is the third pitch, L2Is the fourth pitch.
In another aspect, there is provided a rotation angle measuring apparatus, the apparatus including:
the first acquisition module is used for acquiring a first projection point of a first light beam emitted by a first light source on a first plane and a second projection point of a second light beam emitted by a second light source on a second plane in response to the fact that a target object connected with a measuring device is in a first state, wherein the first plane and the second plane are perpendicular to each other;
the second acquisition module is used for responding to the target object rotating to a second state, and acquiring a third projection point of the first light beam on the first plane and a fourth projection point of the second light beam on the second plane;
a determining module, configured to determine a rotation angle of the target object between the first state and the second state based on the first projection point, the second projection point, the third projection point, and the fourth projection point.
In an exemplary embodiment, the determining module is configured to determine a first distance between the first projection point and the third projection point in a first direction, where the first direction is a direction parallel to the first plane and the second plane; determining a second distance between the second projection point and the first plane in a second direction, the second direction being a direction perpendicular to the first plane and parallel to the second plane; determining a third distance between the second projection point and the fourth projection point in the first direction, and a fourth distance between the second projection point and the fourth projection point in the second direction; and calculating to obtain the rotation angle of the target object according to the first distance, the second distance, the third distance and the fourth distance.
In an exemplary embodiment, the determining module is configured to calculate, according to the first distance, the second distance, the third distance, and the fourth distance, a rotation angle of the target object according to the following formula:
wherein θ is a rotation angle of the target object, L is the second distance, L1Is the first pitch, L3Is the third pitch, L2Is the fourth pitch.
The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:
the measuring device that this embodiment provided simple structure, simple to operate and portable, measurement accuracy receives environmental impact less, and the suitability is stronger. The measuring device does not need to adopt a sensor, so the cost of the device is lower.
In this embodiment, not only the measurement for the target object is converted into the measurement for the light source fixture, but also the rotation of the light source fixture is expanded by the light beams emitted by the first light source and the second light source, so that the rotation angle can be calculated by the projection relationship between the light beams. The measuring device reduces the measuring difficulty of the rotation angle, improves the measuring efficiency of the rotation angle and also ensures the measuring accuracy of the rotation angle.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a structural diagram of a rotation angle measuring device provided in an embodiment of the present application;
fig. 2 is a structural diagram of a device for measuring a rotation angle provided in an embodiment of the present application;
fig. 3 is a structural diagram of a device for measuring a rotation angle according to an embodiment of the present application;
fig. 4 is a structural diagram of a device for measuring a rotation angle provided in an embodiment of the present application;
fig. 5 is a structural diagram of a device for measuring a rotation angle according to an embodiment of the present application;
FIG. 6 is a flowchart of a method for measuring a rotation angle according to an embodiment of the present disclosure;
FIG. 7 is a schematic view of the measurement of the rotation angle provided by the embodiment of the present application;
FIG. 8 is a schematic view of the measurement of the rotation angle provided by the embodiment of the present application;
FIG. 9 is a schematic view of the measurement of the rotation angle provided by the embodiment of the present application;
FIG. 10 is a schematic view of the measurement of the rotation angle provided by the embodiment of the present application;
FIG. 11 is a schematic view of the measurement of the rotation angle provided by the embodiment of the present application;
FIG. 12 is a schematic view of the measurement of the rotation angle provided by the embodiment of the present application;
FIG. 13 is a schematic view of the measurement of the rotation angle provided by the embodiment of the present application;
FIG. 14 is a schematic view of the measurement of the rotation angle provided by the embodiment of the present application;
fig. 15 is a schematic structural diagram of a device for measuring a rotation angle according to an embodiment of the present application.
The reference symbols in the drawings are explained as follows:
1-light source fixing piece, 2-first light source, 3-second light source, 4-connecting plate, 5-second connecting piece and 6-adjusting element.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The embodiment of the present application provides a device for measuring a rotation angle, and referring to fig. 1, the device includes: light source mounting 1, first light source 2 and second light source 3. The light source fixing member 1 is connected with a measuring reference surface of a target object to be measured, and the first light source 2 and the second light source 3 are respectively fixed at two ends of the same side of the light source fixing member 1.
The light source fixing member 1 is used for connecting the first light source 2 and the second light source 3 with a measurement reference surface of a target object to be measured. The present embodiment does not limit the shape of the light source fixing member 1. Illustratively, the light source fixture 1 may be a horizontal bar that is horizontal to the ground on which the target object is located. The measurement reference plane of the target object means a plane for forming a rotation angle. The rotation angle formed based on the measurement reference plane means: and an included angle is formed by an intersection line between the measurement reference surface of the target object and the ground before and after the target object rotates. Referring to fig. 1, taking a target object as a wheel as an example, a measurement reference plane of the target object is a circular side surface in the wheel axial direction.
It can be seen that the function of connecting the light source fixture 1 to the measurement reference plane is: the measurement of the measurement reference surface is converted into the measurement of the light source fixing piece 1, which is equivalent to the imaging of the rotation angle so as to facilitate the measurement of the rotation angle. In the case shown in fig. 1 described above, the measurement reference plane is a surface on which the target object actually exists. For example, the measurement reference plane may also be a virtual plane corresponding to the target object. For example, in the case where the target object is a cylindrical object, it is difficult to achieve measurement of the rotation angle by the top surface, the bottom surface, or the side surface where the target object actually exists. Therefore, the axial section of the cylinder can be used as a measurement reference plane. In the latter case, since the light source fixture 1 cannot be directly connected to the virtual measurement reference plane, the first transition piece may be connected to the target object so that the transition piece is parallel to or coincides with the measurement reference plane, and then the light source fixture 1 may be connected to the first transition piece.
Illustratively, the light source fixing member 1 may be connected to the measurement reference plane of the target object in any detachable manner, and the present embodiment does not limit the connection manner of the light source fixing member 1 to the measurement reference plane of the target object. For example, the light source fixture 1 and the measurement reference surface may have screw holes, respectively, and the light source fixture 1 and the measurement reference surface may be screwed together by fastening bolts that are fitted to the screw holes in the light source fixture 1 and the measurement reference surface in sequence. In addition to the screw connection, the light source fixing member 1 and the measurement reference surface may be connected by an adhesive or other means.
In addition, the first light source 2 is used for emitting a first light beam, the second light source 3 is used for emitting a second light beam, the first light beam and the second light beam are both parallel to a measurement reference surface of the target object, the first light beam is also perpendicular to a vertical central axis of the target object, and the second light beam is also parallel to the vertical central axis of the target object. The displacement of the measuring reference surface generated in the rotating process can be amplified through the first light beam emitted by the first light source 2 and the second light beam emitted by the second light source 3, so that the subsequent measurement of the rotating angle is facilitated. Referring to fig. 1, taking the target object as a wheel as an example, the vertical central axis of the target object is a vertical axis perpendicular to the ground. For example, the first light source 2 and the second light source 3 may both be laser light sources, such as laser pens.
In this embodiment, the connection manner between any light source and the light source fixing member 1 is not limited, and the first light source 2 and the second light source 3 may be connected to the light source fixing member 1 in the same connection manner, or may be connected to the light source fixing member 1 in different connection manners. For example, referring to fig. 1, the light source fixing member 1 may be connected to the first light source 2 and the second light source 3 through a second transition piece, taking the first light source 2 as an example for description: the inner wall of the second transition piece is matched with the outer wall of the first light source 2, and two ends of the second transition piece are respectively provided with a through hole. Two through holes penetrating through the light source fixing piece 1 are also formed in the light source fixing piece 1 for fixing the first light source 2, and the through holes in the light source fixing piece 1 and the through holes in the second transition piece are identical in size and are in one-to-one correspondence in position. Bolts matched with the inner diameters of the through holes sequentially penetrate through the through holes corresponding to the positions on the second transition piece and the light source fixing piece 1, so that the first light source 2 can be fixed between the second transition piece and the light source fixing piece 1, and the first light source 2 is connected with the light source fixing piece 1.
In the case shown in fig. 1, the light source fixture 1 is a horizontal rod, and the first light source 2 and the second light source 3 have the same height from the ground where the target object is located. In an exemplary embodiment, the heights of the first light source 2 and the second light source 3 from the ground where the target object is located may be different as long as the second light source 3 does not block the first light beam emitted by the first light source 2. In addition, in the case shown in fig. 1, the first light source 2 is located at a first end of the light source holder 1, and the second light source 3 is located at a second end of the light source holder 1. In an exemplary embodiment, the positions of the first light source 2 and the second light source 3 may be switched, that is, the first light source 2 is located at the second end of the light source holder 1, and the second light source 3 is located at the first end of the light source holder 1. It should be noted that, under the condition of exchanging the positions of the first light source 2 and the second light source 3, it needs to be ensured that the second light source 3 and the target object to be measured do not shield the first light beam emitted by the first light source 2, so as to ensure the normal measurement of the rotation angle.
The light beams emitted by the first light source 2 and the second light source 3 irradiate on other objects to generate projection points, and before and after the target object rotates, the positions of the projection points generated by the light beams emitted by the first light source 2 and the second light source 2 change. In this embodiment, it is the rotation angle of the target object calculated by the position change of the projection point. For the way of calculating the rotation angle according to the position change of the projection point, refer to the following description in step 601-603, which is not repeated herein.
Therefore, the measuring device provided by the embodiment has the advantages of simple structure, convenience in installation and carrying, less environmental influence on the measuring precision and stronger applicability. The measuring device does not need to adopt a sensor, so the cost of the device is lower.
In this embodiment, not only the measurement for the target object is converted into the measurement for the light source fixture, but also the rotation of the light source fixture is expanded by the light beams emitted by the first light source and the second light source, so that the rotation angle can be calculated by the projection relationship between the light beams. The measuring device can reduce the measuring difficulty of the rotating angle, improve the measuring efficiency of the rotating angle and also ensure the measuring accuracy of the rotating angle.
In an exemplary embodiment, the measuring device further comprises: a processor. The processor is electrically connected with the first light source 2 and the second light source 3 respectively, and the processor is used for determining the rotation angle of the target object based on the first light beam and the second light beam. Illustratively, the processor may be connected to the light source fixture 1 so as to be electrically connected to the first light source 2 and the second light source 3, respectively. Alternatively, the processor may be electrically connected to the second light source 2 and the second light source 3 by wireless connection, instead of being directly connected to the light source fixture 1. In the former case, the light source holder 1 may be a hollow structure, and the processor may be located in a cavity inside the light source holder 1 so as to be connected to the light source holder 1.
Just because the processor is electrically connected with the first light source 2 and the second light source 3, respectively, the processor can acquire the related information of the first light beam emitted by the first light source 2 and the second light beam emitted by the second light source 3. Accordingly, the processor may determine the angle of rotation of the target object based on the first beam and the second beam. Illustratively, in response to the first light source 2 and the second light source 3 being able to measure the change in the position of the proxels, the first light source 2 and the second light source 3 send the change in the position of the proxels to the processor through the electrical connection. Or, in response to that the first light source 2 and the second light source 3 do not have the function of measuring the position change of the projection point, the position change of the projection point may be manually measured, and then the measurement of the rotation angle of the target object is achieved by manual calculation or by sending the position change of the projection point obtained by manual measurement to the processor. For the way of calculating the rotation angle according to the position change of the projection point, refer to the following description in step 601-603, which is not repeated herein.
In an exemplary embodiment, the measuring device further comprises: a connecting plate 4. The connecting plate 4 comprises a first connecting piece, the connecting plate 4 is connected with a measuring reference surface of a target object through the first connecting piece, and the light source fixing piece 1 is connected with the connecting plate 4. That is, the light source fixture 1 may not be directly attached to the measurement reference plane of the target object, but indirectly attached to the measurement reference plane through the connection plate 4. Referring to fig. 2, taking the target object as a wheel as an example, the measurement reference surface of the target object is a circular side surface in the axial direction of the wheel, and the circular side surface has a plurality of spokes. The first connecting piece can be connected with the spoke, so that the connection of the connecting plate 4 and the measuring reference surface is realized, and the connection of the light source fixing piece 1 and the measuring reference surface is further realized.
Illustratively, the first connector is a connector that matches a measurement reference plane of the target object. For example, in the case where the above-mentioned measuring reference surface comprises a spoke, the first connection member may be an elastic clip matching the shape of the spoke, which can be snapped onto the spoke so as to connect the web 4 to the measuring reference surface.
When the connection plate 4 and the measurement reference surface are connected, the connection plate 4 and the measurement reference surface need only be attached to each other, and the connection plate 4 and the measurement reference surface do not need to be fastened excessively. The reason is that the connection plate 4 can represent the measurement reference surface after the connection plate 4 is attached to the measurement reference surface, and when the target object is rotated, the rotation angle of the connection plate 4 coincides with the rotation angle of the measurement reference surface. Because the first light source 2 and the second light source 3 are both connected with the connecting plate 4 through the light source fixing piece 1, the rotating angle generated by the connecting plate 4 can be determined through the first light beam and the second light beam in the measuring process, and the rotating angle generated by the measuring reference surface is also determined. In addition, on the premise that the connection plate 4 is attached to the measurement reference surface of the target object, the relative position between the connection plate 4 and the measurement reference surface is not required to be limited in this embodiment. For example, the center of the connection plate 4 may or may not coincide with the center of the measurement reference plane.
In an exemplary embodiment, referring to fig. 2, the connecting plate 4 further includes a first sliding rail, the size of the first sliding rail matches with the size of the first connecting member, and the first connecting member is slidably connected to the first sliding rail. As previously mentioned, the first connection functions to: the connection plate 4 is connected to the measurement reference surface. The positions of the measuring reference surfaces suitable for connection are different for different sizes and different shapes. Therefore, the first connecting member needs to be located at a different position on the connecting plate 4 to connect the connecting plate 4 with the measuring reference surface. Just because the first connecting piece can slide along the first slide rail, the position of the first connecting piece on the connecting plate 4 can be changed, so that the measuring device provided by the embodiment can be connected to the measuring reference surfaces of different target objects, and is suitable for measuring the rotating angles of different target objects.
Of course, the number of the first slide rail and the first connecting member is not limited in this embodiment. The connecting plate 4 may have one or more first sliding rails, and one first sliding rail may have one or more first connecting members connected thereto. In response to the connection plate 4 having a plurality of first slide rails, a portion of the first slide rails may not be connected to the first connection member when the required connection strength between the connection plate 4 and the measurement reference surface is low, and may be connected to one or more first connection members when the required connection strength between the connection plate 4 and the measurement reference surface is high.
In an exemplary embodiment, referring to fig. 3, the first connector includes a clip and a bolt, and the clip includes a through hole extending therethrough. The inner diameter of the through hole and the inner diameter of the first slide rail are both matched with the outer diameter of the bolt, and the bolt sequentially penetrates through the first slide rail, the target object and the through hole. For example, when the first connecting member is connected to the measurement reference surface, the bolt may be first inserted through the first slide rail, the target object, and the through hole in this order, but the bolt is not fastened. The clip is then adjusted to the proper position to ensure that the clip provides adequate connection strength at that location after the bolt is tightened. After the position of the clamping piece is adjusted, the bolt is fastened, so that the target object is clamped between the first slide rail and the clamping piece, and the connection between the connecting plate 4 and the measuring reference surface is realized. Referring to fig. 3, in the case where the target object is a wheel, the corresponding proper position of the clip may be between adjacent spokes in the radial direction of the wheel.
In an exemplary embodiment, referring to fig. 4, the measuring apparatus further includes: and one end of the second connecting piece 5 is rotatably connected with the connecting plate 4, and the other end of the second connecting piece 5 is connected with the light source fixing piece 1. Since one end of the second connecting member 5 is rotatably connected to the connecting plate 4 and the other end is connected to the light source fixing member 1, the second connecting member 5 can adjust the position of the light source fixing member 1 by rotating, thereby affecting the direction of the first light beam emitted from the first light source 2 and the direction of the second light beam emitted from the second light source 3. That is, the second connecting member 5 can be used to adjust the pointing directions of the first light beam and the second light beam.
For example, in the use process, the second connecting member 5 and the connecting plate 4 need to be in a state that relative rotation can be generated, and then the second connecting member 5 is adjusted to enable the directions of the first light beam and the second light beam to meet the requirement. The second connector 5 and the connection plate 4 may then be fastened together such that the first and second light beams remain in a desired orientation.
For example, referring to fig. 4, the end of the second connecting member 5 connected to the connecting plate 4 may have a through hole penetrating through the second connecting member 5, and the connecting plate 4 may have a pin matching the through hole. The pin on the connecting plate 4 passes through the through hole on the second connecting piece 5, so that the second connecting piece 5 can rotate around the pin, and the rotatable connection between the second connecting piece 5 and the connecting plate 4 is realized.
In addition, referring to fig. 4, in the exemplary embodiment, the connecting plate 4 further includes an arcuate rail thereon, and the device further includes a third connector that matches the dimensions of the arcuate rail. One end of the third connecting piece is connected with the second connecting piece 5, and the other end of the third connecting piece penetrates through the arc-shaped sliding rail on the connecting plate 4 to be connected with the connecting plate 4. When the second connecting member 5 is adjusted to a different orientation, the contact position of the second connecting member 5 with the connecting plate 4 is also different, and thus the second connecting member 5 needs to be fastened with the connecting plate 4 at a different contact position. Because the third connecting piece matches with the size of the arc-shaped slide rail, the third connecting piece can be positioned at any position in the arc-shaped slide rail, so that the second connecting piece 5 and the connecting plate 4 can be fixed when the second connecting piece 5 is in different directions. Illustratively, the third connector may be a bolt.
Taking the light source fixing member 1 as a horizontal rod as an example, the second connecting member 5 needs to be adjusted to be perpendicular to the ground where the target object is located, so that the first light source 2 and the second light source 3 fixed by the light source fixing member 1 emit light beams pointing to meet the requirement. For example, the present embodiment may adjust the vertical relationship between the second link 5 and the ground on which the target object is located by a plumb bob. Wherein the second connecting member 5 can be adjusted to be parallel to the plumb bob first, and since the plumb bob is perpendicular to the ground, the second connecting member 5 is also perpendicular to the ground. And then, the second connecting piece 5 and the connecting plate 4 are fastened through the third connecting piece, so that the second connecting piece 5 can continuously keep the direction vertical to the ground unchanged in the subsequent rotation angle measuring process.
In an exemplary embodiment, referring to fig. 5, the second connecting member 5 includes a second sliding rail thereon, and the apparatus further includes: an adjusting element 6. The size of the second slide rail is matched with the size of the adjusting element 6, one side of the adjusting element 6 is connected with the second slide rail in a sliding mode, and the other side of the adjusting element 6 is connected with the light source fixing piece 1. Because the adjusting element 6 is connected with the light source fixing piece 1, when the adjusting element 6 slides along the second slide rail, the light source fixing piece 1 can be driven to slide along the second slide rail, so that the distance between the light source fixing piece 1 and the connecting plate 4 is changed, and the measuring device is suitable for measuring the rotation angles of target objects with different sizes. For example, for a target object with a smaller size, the distance between the light source holder 1 and the connection plate 4 may be shortened by the adjustment member 6, whereas for a target object with a larger size, the distance between the light source holder 1 and the connection plate 4 may be increased by the adjustment member 6. After the adjustment of the distance between the light source fixing member 1 and the connecting plate 4 is completed, the adjusting element 6 and the second connecting member 5 may be fixedly connected by bolts, and the adjusting element may not continuously slide along the second sliding rail, so that the distance between the light source fixing member 1 and the connecting plate 4 is kept unchanged.
It should be noted that, in the case shown in fig. 5, the second slide rail on the second connecting member 5 is a slide rail penetrating through the second connecting member 5, and the adjusting member 6 slides inside the second slide rail. The matching of the dimensions of the second slide rail to the dimensions of the adjusting element 6 therefore means: the inner diameter of the second slide track matches the outer diameter of the adjusting element 6. For example, besides the situation shown in fig. 5, the second slide rail may also be a slide rail protruding out of the plane of the second connecting member 5, for example, an "i" shaped slide rail, and the adjusting element 6 is an element that can be clamped on the "i" shaped slide rail and slide. Thus, the matching of the dimensions of the second sliding track and the dimensions of the adjusting element 6 may refer to: the outer wall of the second slide rail is matched with the inner wall of the adjusting element 6.
In addition, in addition to the above-mentioned case that the second connecting member 5 has a second slide rail, and the adjusting element 6 can slide along the second slide rail, in this embodiment, a third slide rail is disposed on the adjusting element 6, and the second connecting member 5 can slide along the third slide rail, so as to realize the relative sliding of the second connecting member 5 and the adjusting element 6, thereby realizing the adjustment of the distance between the light source fixing member 1 and the connecting plate 4.
Based on the above-mentioned measuring devices shown in fig. 1 to 5, the present embodiment provides a method for measuring a rotation angle, which can be applied to a processor. Referring to fig. 6, the method includes:
For a target object connected with a measuring device, the target object can be placed on a second plane in front of the first plane, and when the target object is placed, the measuring reference plane needs to be perpendicular to the first plane, so that a first light beam emitted by the first light source can be projected on the first plane to obtain a first projection point, and a second light beam emitted by the second light source can be projected on the second plane to obtain a second projection point.
Taking the target object as a wheel as an example, when the rotation angle of the wheel is measured, the vehicle on which the wheel is located can be driven to a second plane before the first plane, the rotation angle of the steering wheel is kept to be 0 degree, and the longitudinal symmetry axis of the vehicle (i.e. the driving direction of the vehicle) is perpendicular to the first plane. Since the wheels are parallel to the longitudinal axis of symmetry of the vehicle at a steering wheel angle of 0 degrees, the wheels are also perpendicular to the first plane.
Illustratively, the first plane may be a wall surface and the second plane may be a ground surface. Alternatively, referring to fig. 7, when the target object is placed on a second plane before the first plane, the target object may be padded up to the reference height on the second plane. The reference height is not limited in this embodiment, and may be 20cm (unit: cm), or other heights set according to needs or experience, for example. The target object pad is used as a reference height: the distance between the projection point of the first light beam on the first plane and the second plane is increased, so that the measurement of the projection point is facilitated, and the measurement precision is improved.
As shown in fig. 7, when the first light source is turned on, the first light source emits a first light beam parallel to the measurement reference plane and the second plane, and the first light beam can be projected on the first plane in front of the target object. Accordingly, when the second light source is turned on, the second light source generates a second light beam parallel to the measurement reference plane and perpendicular to the second plane, and the second light beam can be projected on the second plane where the target object is located. It will be appreciated that in response to shimming the target object to the reference height, the second plane onto which the second beam is projected is referred to as the second plane of the reference height.
After the first light source and the second light source emit light beams, a first projection point of the first light beam on the first plane and a second projection point of the second light beam on the second plane can be obtained when the target object is in the first state. It should be noted that the first state may be a state in which the target object measurement reference plane is perpendicular to the first plane after the target object is placed, or may be another state in which the target object has rotated after being placed. Referring to fig. 7, a first projection point of the first light beam on the first plane is P1. Referring to fig. 8, a second projection point of the second light beam on the second plane is a point P2Point P2The distance from the first plane in front of the target object is L.
It can be understood that, before the target object is placed and the light source is turned on, the measurement device and the target object need to be connected in order to obtain the target object connected with the measurement device. When the connection is carried out, the connection plate and the measuring reference surface of the target object are fixed through the first connecting piece, so that the connection plate and the measuring reference surface are attached to each other. Therefore, the rotation angle formed by the connecting plate and the measuring reference plane is consistent, the connecting plate can represent the measuring reference plane, and the rotation angle of the target object can be determined by measuring the rotation angle of the connecting plate.
And then, the direction of the second connecting piece is adjusted to be consistent with the direction of the plumb bob, a hole at one end of the second connecting piece penetrates through a pin arranged on the connecting plate, and the second connecting piece and the connecting plate are fixed through a third connecting piece. For the other end of the second connection member, it is necessary to connect with an adjustment member. And the adjusting element slides up and down along a second sliding rail on the second connecting piece, and the second connecting piece and the adjusting element are fixed after the position of the adjusting element is determined.
In addition, the adjustment element is also connected to a light source mount, which may be a horizontally directed rod. The adjustment member may be machined with a reference surface to ensure a vertical relationship between the second connector perpendicular to the second plane and the light source mount horizontal to the second plane. The first light source and the second light source are respectively fixed at two ends of the same side of the light source fixing piece, through the installation process, a first light beam emitted by the first light source is parallel to the measuring reference surface and the second plane, and a second light beam emitted by the second light source is parallel to the measuring reference surface and the second plane.
In the measurement process, the target object may be rotated by a human or an auxiliary device, and the rotation manner of the target object is not limited in this embodiment. Taking the target object as a wheel as an example, the target object may be rotated by rotating a steering wheel of a vehicle on which the wheel is located, so that a rotation angle of the steering wheel is changed, and the rotation of the wheel can be realized.
Regardless of the manner of rotating the target object, after the target object is rotated, the third projection point P of the first beam on the first plane can be further obtained1', and a fourth projection point P of the second light beam on the second plane2'. It is understood that the rotation of the target object may be clockwise or counterclockwise. In the case of clockwise rotation, the projection change of the first light beam can be seen in fig. 9, and the projection change of the second light beam can be seen in fig. 10 and 11. In the case of counterclockwise rotation, the projection change of the first light beam can be seen in fig. 12, and the projection change of the second light beam can be seen in fig. 13 and 14.
After the first projection point, the second projection point, the third projection point and the fourth projection point are obtained, the four projection points can be projected to the same plane, and therefore the rotation angle of the target object between the first state and the second state is obtained through calculation according to the relative relation between the four projection points.
In an exemplary embodiment, determining the rotation angle of the target object according to the first projection point, the second projection point, the third projection point, and the fourth projection point includes:
step 6031, determine a first distance between the first projection point and the third projection point in a first direction, where the first direction is parallel to the first plane and the second plane.
Referring to fig. 9 or 12, the first projection point P1And a third projection point P1' the first pitch in the first direction is L1. The first direction is a direction parallel to the first plane and the second plane, and taking the target object as a wheel as an example, the first direction is a direction perpendicular to the longitudinal symmetry axis of the vehicle.
Step 6032 determines a second distance between the second projection point and the first plane in a second direction, the second direction being a direction perpendicular to the first plane and parallel to the second plane.
Referring to fig. 7, a second distance between the second projected point P2 and the first plane in the second direction is L. The second direction is a direction perpendicular to the first plane and parallel to the second plane, and taking the target object as a wheel as an example, the second direction is a direction in which a longitudinal symmetry axis of the vehicle is located. It can be seen that the first direction and the second direction are two directions perpendicular to each other.
Step 6033, a third distance between the second projection point and the fourth projection point in the first direction and a fourth distance between the second projection point and the fourth projection point in the second direction are determined.
Second projection point P2And the fourth projection point P2' the third distance in the first direction is L3And the fourth distance in the second direction is L2. In determining the third and fourth pitches, the second projected point P may be2As the origin O. Referring to fig. 10, 11, 13 and 14, the first direction and the second direction are taken as the X axis and the Y axis, respectively, to establish a coordinate system. And then, determining the third distance and the fourth distance based on the established coordinate system so as to ensure the accuracy of distance determination.
In addition, when the first pitch, the second pitch, the third pitch and the fourth pitch are determined, the present embodiment may perform measurement by a manual measurement method, or may perform measurement by other methods, and the manner of measuring the pitches is not limited in the present embodiment.
And 6034, calculating a rotation angle of the target object according to the first distance, the second distance, the third distance and the fourth distance.
According to a first interval L1A second pitch L and a third pitch L3And a fourth pitch L2When calculation is carried out, a trigonometric function related to the rotation angle can be determined according to the relative position relationship among the four intervals, so that the rotation angle of the target object can be obtained through trigonometric function calculation. In an exemplary embodiment, calculating the rotation angle of the target object according to the first distance, the second distance, the third distance, and the fourth distance includes:
according to the first distance, the second distance, the third distance and the fourth distance, calculating to obtain the rotation angle of the target object according to the following formula:
where θ is the rotation angle of the target object, L is the second distance, L1At a first pitch, L3 is a third pitch, L2Is the fourth pitch.
It should be noted that, when performing the calculation, the signs of the four intervals need to be determined according to the positional relationship among the four intervals, which includes the following four cases:
in the first case: referring to FIG. 10, the fourth proxel is located in the upper left quadrant, L, L, of the coordinate system described above1And L3The corresponding symbols are all positive, L2And if the corresponding sign is a negative sign, calculating the rotation angle according to the following formula:
in the second case: referring to FIG. 11, the fourth proxel is located in the lower left quadrant, L, L, of the coordinate system described above1、L2And L3If the corresponding signs are positive signs, the rotation angle is calculated according to the following formula:
the first case and the second case are both cases in which the target object rotates to the right side (i.e., clockwise in the above) in the advancing direction. It can be seen that in both the first and second cases, the fourth proxel is located in the left quadrant of the coordinate system and not in the right quadrant of the coordinate system.
In the third case: referring to FIG. 13, the fourth proxel is located in the lower right quadrant, L, L, of the coordinate system described above1、L2And L3If the corresponding signs are positive signs, the rotation angle is calculated according to the following formula:
in a fourth case: referring to FIG. 14, the fourth proxel is located in the upper right quadrant of the coordinate system, L, L1And L3The corresponding symbols are all positive, L2If the corresponding symbol is a symbol, the rotation angle is calculated according to the following formula:
the third case and the fourth case are both cases in which the target object rotates to the left side (i.e., counterclockwise in the above) in the advancing direction. It can be seen that in the third and fourth cases, the fourth proxel is located in the right quadrant of the coordinate system, but not in the left quadrant of the coordinate system.
In conclusion, the measuring device provided by the embodiment has the advantages of simple structure, convenience in installation and carrying, less environmental influence on the measuring precision, and stronger applicability. The measuring device does not need to adopt a sensor, so the cost of the device is lower.
In this embodiment, not only the measurement for the target object is converted into the measurement for the light source fixture, but also the rotation of the light source fixture is expanded by the light beams emitted by the first light source and the second light source, so that the rotation angle can be calculated by the projection relationship between the light beams. The measuring device reduces the measuring difficulty of the rotation angle, improves the measuring efficiency of the rotation angle and also ensures the measuring accuracy of the rotation angle.
Referring to fig. 15, an embodiment of the present application further provides a device for measuring a rotation angle, where the device includes:
the first obtaining module 1501 is configured to obtain, in response to that a target object connected with a measuring device is in a first state, a first projection point of a first light beam emitted by a first light source on a first plane and a second projection point of a second light beam emitted by a second light source on a second plane, where the first plane and the second plane are perpendicular to each other.
A second obtaining module 1502 is configured to obtain a third projection point of the first light beam on the first plane and a fourth projection point of the second light beam on the second plane in response to the target object rotating to the second state.
The determining module 1503 is configured to determine a rotation angle of the target object between the first state and the second state based on the first projection point, the second projection point, the third projection point, and the fourth projection point.
In an exemplary embodiment, the determining module 1503 is configured to determine a first distance between the first projection point and the third projection point in a first direction, where the first direction is a direction parallel to the first plane and the second plane; determining a second distance between the second projection point and the first plane in a second direction, wherein the second direction is a direction perpendicular to the first plane and parallel to the second plane; determining a third distance between the second projection point and the fourth projection point in the first direction and a fourth distance between the second projection point and the fourth projection point in the second direction; and calculating to obtain the rotation angle of the target object according to the first distance, the second distance, the third distance and the fourth distance.
In an exemplary embodiment, the determining module 1503 is configured to calculate, according to the first distance, the second distance, the third distance, and the fourth distance, a rotation angle of the target object according to the following formula:
where θ is the rotation angle of the target object, L is the second pitch, L1 is the first pitch, L3 is the third pitch, and L2 is the fourth pitch.
All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present application, and are not described herein again.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (12)
1. A device for measuring a rotation angle, comprising: the light source fixing piece (1), the first light source (2) and the second light source (3);
the light source fixing part (1) is connected with a measuring reference surface of a target object to be measured, the first light source (2) and the second light source (3) are respectively fixed at two ends of the same side of the light source fixing part (1), the measuring reference surface is a plane for forming a rotation angle, and the rotation angle is an included angle formed by an intersection line between the measuring reference surface and the ground before and after the target object rotates;
the first light source (2) is used for emitting a first light beam, the second light source (3) is used for emitting a second light beam, the first light beam and the second light beam are both parallel to a measuring reference surface of the target object, the first light beam is also vertical to a vertical central axis of the target object, and the second light beam is also parallel to the vertical central axis of the target object.
2. The measurement device of claim 1, further comprising: a connecting plate (4);
the connecting plate (4) comprises a first connecting piece, and the connecting plate (4) is connected with the measuring reference surface of the target object through the first connecting piece;
the light source fixing piece (1) is connected with the connecting plate (4).
3. The measuring device according to claim 2, characterized in that the connecting plate (4) further comprises a first slide rail, the size of the first slide rail matches with the size of the first connecting piece, and the first connecting piece is slidably connected with the first slide rail.
4. The measurement device of claim 3, wherein the first connector comprises a clip and a bolt, the clip including a through-hole therethrough;
the inner diameter of the through hole and the inner diameter of the first slide rail are both matched with the outer diameter of the bolt, and the bolt sequentially penetrates through the first slide rail, the target object and the through hole.
5. The apparatus of claim 2, wherein the measuring device further comprises: one end of the second connecting piece (5) is rotatably connected with the connecting plate (4), and the other end of the second connecting piece (5) is connected with the light source fixing piece (1).
6. The device according to claim 5, characterized in that the connecting plate (4) further comprises an arc-shaped sliding rail, and the device further comprises a third connecting piece matched with the size of the arc-shaped sliding rail;
one end of the third connecting piece is connected with the second connecting piece (5), and the other end of the third connecting piece penetrates through the arc-shaped sliding rail to be connected with the connecting plate (4).
7. The device according to claim 5 or 6, characterized in that the second connecting element (5) comprises a second sliding track thereon, the device further comprising: an adjusting element (6);
the size of the second sliding rail is matched with that of the adjusting element (6), one side of the adjusting element (6) is connected with the second sliding rail in a sliding mode, and the other side of the adjusting element (6) is connected with the light source fixing piece (1).
8. The apparatus of any of claims 1-6, further comprising: a processor;
the processor is electrically connected with the first light source (2) and the second light source (3) respectively, and the processor is used for determining the rotation angle of the target object based on the first light beam and the second light beam.
9. A method for measuring a rotation angle, which is applied to the rotation angle measuring apparatus according to any one of claims 1 to 8, the method comprising:
responding to a target object connected with a measuring device to be in a first state, and acquiring a first projection point of a first light beam emitted by a first light source on a first plane and a second projection point of a second light beam emitted by a second light source on a second plane, wherein the first plane and the second plane are vertical to each other;
responding to the target object rotating to a second state, and acquiring a third projection point of the first light beam on the first plane and a fourth projection point of the second light beam on the second plane;
determining a rotation angle of the target object between the first state and the second state based on the first projection point, the second projection point, the third projection point and the fourth projection point.
10. The method of claim 9, wherein determining the angle of rotation of the target object between the first state and the second state based on the first proxel, the second proxel, the third proxel, and the fourth proxel comprises:
determining a first distance between the first projection point and the third projection point in a first direction, the first direction being a direction parallel to the first plane and the second plane;
determining a second distance between the second projection point and the first plane in a second direction, the second direction being a direction perpendicular to the first plane and parallel to the second plane;
determining a third distance between the second projection point and the fourth projection point in the first direction, and a fourth distance between the second projection point and the fourth projection point in the second direction;
and calculating to obtain the rotation angle of the target object according to the first distance, the second distance, the third distance and the fourth distance.
11. The method of claim 10, wherein calculating the rotation angle of the target object according to the first distance, the second distance, the third distance, and the fourth distance comprises:
according to the first distance, the second distance, the third distance and the fourth distance, calculating to obtain the rotation angle of the target object according to the following formula:
wherein θ is a rotation angle of the target object, L is the second distance, L1Is the first pitch, L3Is the third pitch, L2Is the fourth pitch.
12. A rotation angle measuring apparatus, which is applied to the rotation angle measuring apparatus according to any one of claims 1 to 8, comprising:
the first acquisition module is used for acquiring a first projection point of a first light beam emitted by a first light source on a first plane and a second projection point of a second light beam emitted by a second light source on a second plane in response to the fact that a target object connected with a measuring device is in a first state, wherein the first plane and the second plane are perpendicular to each other;
the second acquisition module is used for responding to the target object rotating to a second state, and acquiring a third projection point of the first light beam on the first plane and a fourth projection point of the second light beam on the second plane;
a determining module, configured to determine a rotation angle of the target object between the first state and the second state based on the first projection point, the second projection point, the third projection point, and the fourth projection point.
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