JPH01302106A - Method and device for measuring volume - Google Patents

Abstract

PURPOSE:To rapidly and accurately measure a volume of a virtual hexahedron which a solid occupies by a method wherein distances and angles of an object to be measured from corners which are in contact with three reference planes perpendicular to one another and which are not in contact with a virtual hexahedron of the object to be measured are measured. CONSTITUTION:A cargo N is mounted on a base 1 and pushed against so that a corner of the cargo N is in contact with a corner K2 which is provided by an intersecting line K1 of both side walls 2a, 2b, the base 1 and side walls 2a and 2b. While this position is maintained, a base 4 is swung so that an inner face of a corner cushion material is in contact with a corner P having three axes perpendicular to one another and not touching the side walls 2a, 2b among upper corners of the cargo N, and an arm material 10 is expanded. Then by manipulating a switch 22, length L and angles theta1, theta2 are measured by a length measuring device 15, an angle measuring device 19 and an encoder 21.

Description

[Detailed Description of the Invention] [Objective of the Invention] (Industrial Application Field) The present invention provides, for example, when storing cargo in a limited space, the minimum volume of a virtual hexahedron including the space occupied by the cargo. The present invention relates to a method for measuring volume and an apparatus for measuring volume.

(Prior art) For example, when storing cargo in a limited space such as a warehouse, container, refrigerated truck, l/rack, etc., it may be necessary to know the maximum number of items that can be stored in advance. It is necessary to measure the minimum volume of the virtual hexahedron containing the space.

For example, when storing cargo in a truncated cone-shaped tub, a virtual hexahedron with a square bottom whose side is the diameter of the cargo whose horizontal cross-sectional area is maximum, and the height of the cargo. If you handle curved cargo, you can measure the required volume.

To this end, there are methods to measure the horizontal cross-sectional area of the cargo, the maximum diameter, and the height of the L5 object using a measuring tape, and calculate the volume. There is a method of calculating the volume after measuring the shape of a three-dimensional object using a device that measures the shape of the object or a three-dimensional optical contour measuring device.

(Problem to be Solved by the Invention) In the above-mentioned measurement using a tape measure, if the horizontal cross-section of the three-dimensional object has a shape of II, or if the horizontal cross-section of the three-dimensional object has a shape of If different,
Determining the base of a virtual hexahedron is troublesome.

Further, although the above-described apparatus can accurately measure the shape of a three-dimensional object, there is a problem in that an expensive apparatus is required.

The present invention has been made in view of the problems of the prior art described above, and its first purpose is to provide a method for quickly and accurately measuring the minimum volume of a virtual hexahedron including the space occupied by a three-dimensional object. The second object is to provide a device that quickly and accurately measures the minimum volume of a virtual hexahedron including the space occupied by a three-dimensional object, thereby improving volume measurement efficiency.

[Structure of the Invention] (Means for Solving the Problems) The present invention for achieving the above-mentioned first object is to place a three-dimensional object to be measured on the bottom reference plane of three mutually orthogonal reference planes. Each side of the upper end measurement surface is formed by the upper surface of the object to be measured or by a rectangular temporary plane inscribed with the upper surface of the object to be measured. the distance between a corner that is not in contact with the reference plane and a predetermined point on the line of intersection between the two measuring section reference planes, and the side and a virtual plane that includes the corner and the predetermined point and is perpendicular to the bottom reference plane; Measure the angle between the corner and one of the reference planes, and the angle between the intersection line and the straight line connecting the corner and the predetermined point, and calculate the volume that the solid occupies from the measured values. This is a volume measurement method that calculates

In order to achieve the above second object, the present invention provides a base formed on a flat surface, and a first side wall and a second side wall that are orthogonal to each other are vertically provided, and a solid body placed on the base is provided. The object to be measured, which is in contact with the first side wall and the second side wall, is attached to the object to be measured so as to be formed by the upper surface itself of the object to be measured or by a rectangular temporary plane inscribed with the upper surface of the object to be measured. Length measuring means, comprising an upper measuring surface formed by an abutting measuring aid, and measuring the distance between a corner of the upper end measuring surface that does not touch the curved side walls and a predetermined point on the intersection line where the both side walls intersect. a signal from a first angle measuring means for measuring the angle formed by one of the both side walls and a virtual T that includes the corner and the predetermined point and is perpendicular to the base; and a signal from a second angle measuring means that measures the angle formed by the straight line connecting the part and the predetermined point and the intersection line, and calculates the volume that the solid body occupies from these measured values. This is a volume measuring device configured to input data to calculation means.

The sub-length means includes a telescopic arm member, a measuring tape having holes or recesses formed at predetermined intervals, and a length of the measuring tape measured from the number of holes or recesses through which the measuring tape is pulled out from the main body. It is preferable to include a length detection section and an output section that outputs data from the length detection section to the calculation means.

Furthermore, the first angle measuring stage measures the angle from the number of holes or recesses of the measuring tape using a measuring tape having holes or recesses formed at predetermined intervals and one side of the both side walls. It is preferable that the angle detecting section is configured to include an angle detecting section for detecting an angle, and an output section for outputting data from the angle detecting section to the arithmetic means.

(Function) A first side wall and a second side wall, which are orthogonal to each other, are vertically provided on a base formed on a flat surface, and a three-dimensional object to be measured placed on the base is placed between the first side wall and the second side wall. 2. By forming an upper end measurement surface by a measuring aid that contacts the side wall of the object to be measured and is formed by the upper surface of the object to be measured itself or by a rectangular temporary plane inscribed with this upper surface. , the first plane of the virtual hexahedron containing the space occupied by the object to be measured is determined. Among the corners of the upper end measurement surface of this virtual hexahedron, the distance between the corner that is not in contact with both side walls and a predetermined point on the intersection line where the two side walls intersect is measured with a length measuring element, and the distance between the corner and the A first angle measurement lower stage measures the angle formed between a virtual plane perpendicular to the base including the predetermined point and one of the side walls, and measures the angle between the straight line connecting the corner and the predetermined point and the intersection line. The angle formed by the two angles can be measured by the second angle measurement stage f, and based on these measured values, the volume of the virtual hexahedron can be calculated by the lower calculation stage.

This improves the efficiency of measuring the smallest volume of the virtual hexahedron including the space occupied by the object to be measured.

In addition, in the length measuring means, the arm member is adjusted to expand and contract, and its tip is brought into contact with the corner, and in this state, the length is determined based on the number of holes or recesses in the measuring tape pulled out from the main body. Measured by length detection section. The distance between the corner and the predetermined point can be measured by outputting the data from the length detection section from the output section to the calculation means.

Further, in the first angle measuring means, the rotation angle of the length measuring means is measured by the angle detecting section based on the number of holes or recesses in the measuring tape from one of the both side walls. By outputting the data from the angle detection section from the output section to the display stage, a virtual plane including the corner i and the predetermined point and perpendicular to the base and one of the both side walls are The angle formed by the can be measured.

(Example) Hereinafter, the present invention will be explained based on the drawings.

FIG. 1 is a schematic perspective view showing the configuration of a volume measuring device embodying the volume measuring method and device according to the present invention;
FIG. 2 is an enlarged perspective view showing one embodiment of the length measuring element stage and angle measuring means of this volume measuring device. It should be noted that the virtual lines in the figure indicate rectangular coordinates whose coordinate axes are the X-axis, YllIIll, and Z-axis, and 0 is the origin thereof.

As shown in FIG. 1, this volume measuring device is provided with a base 1 formed on a flat surface, which corresponds to a bottom reference plane, and on which a three-dimensional object to be measured N is placed. Further, the first side wall 2a and the second side wall 2b, which correspond to the reference planes on both sides with which the object to be measured N comes into contact, and which are formed on a flat surface with a height greater than or equal to the height of the object to be measured, are It is vertically installed on the base 1. At 1, a right-angled corner is formed at the intersection line where these side walls 2a and 2b intersect.

At the upper end point (origin) 0 of 1 on the intersection line of the both side walls 2a and 2b, position detection is performed to detect the position of a corner P of the upper end surface of the object to be measured N that is not in contact with each of the side walls 2a and 2b. It is equipped with a device 3.

As shown in FIG. 1, this position detection device 3 is rotatably attached to a base 4 that rotates about an upper end point O in parallel to the XY plane. On a support stand 5 erected on this base 4, a length measuring means 6 for measuring the distance to a predetermined point on the corner P and the intersection line 1 is rotatable about a pin 7. installed. In addition, a first method for measuring an angle θ1 formed between an imaginary table surface including the corner P and a predetermined point A and perpendicular to the base 1 and one of the both side walls 2a and 2b.
An angle measuring means 8 is provided on the pivot axis of the base 4. Furthermore, a second angle measuring stage f 9 is provided coaxially with the pin 7 to measure the angle θ2 formed by the straight line connecting the corner P and the predetermined point A and the intersection line 1.

In this embodiment, the length measuring means 6 has an arm member 10 which is rotatably attached around a pin 7 of the support base 5, as shown in FIG. As shown in FIG. 3, this 7-m member 10 includes a rear arm 10a located on the pin 7 side, a middle part 7-m 10b that slides and expands and contracts inside this rear arm 10a, and a middle part 7-m 10b that extends and contracts inside this rear arm 10a. The front arm 10G slides within the arm 10b. This is k
Therefore, the arm member 10 can be freely expanded and contracted. In addition, the reference numeral 12 in the figure is a stopper that restricts the sliding movement of the middle and front arms 10a and 10b.

In addition, as shown in FIG. 3, inside this arm member 10, in order to measure the distance between the corner P and a predetermined point A on the intersection line 1, there is a A measuring tape 11 that can be freely fed out is built-in. One end of the measuring tape 11 is fixed to the tip of the front arm 10c, and the narrow end is fixed to the rotatable drum 13. This drum 13 is equipped with a spring member (not shown), which allows the measuring tape 11 to be fed out and wound without loosening.

As shown enlarged in FIG. 4, the measuring tape 11
A plurality of holes 14 are opened at regular intervals, and a length detection device measures the length of the tape 11 that has been fed out by detecting the number of holes 14 and stacking them. A length measuring device 15 having a section is built in the rear section 7-10a. Furthermore, this length measuring device 15 is equipped with an output section that outputs data from the length detecting section to a first stage of calculation, which will be described later.

At the tip of the front arm IOC, as shown in FIGS. 2 and 3, a corner support member 16 having three mutually perpendicular surfaces and for positioning the corner P is attached to the joint f-17. It is installed through. The positioning of the corner P by the corner resting member 16 is performed by aligning its inner surface with the three mutually perpendicular axes of the corner P.
6 is set in several lines so that movement around the joint 17 is not restricted.

The arm member 10 is set to expand, contract, and rotate on the XY plane, that is, a plane perpendicular to the base 1 and including the origin O, and the corner resting member 16 is configured to move at least on the base 1.
The length of each arm 10a, b, c is determined so that it can move within the space formed by the side walls 2a, 2b.

In this embodiment, as the first angle measuring means 8 for measuring the angle θ1 formed between the plane on which the arm member 10 extends, contracts and rotates and the first side wall 2a, as shown in FIG. 2, both side walls 2a, 1/4 centered on the 10000 point O on the upper end surface of 2b
A circular measuring tape 11a is attached via support legs 18.

This measuring tape 11a includes, as described above,
A plurality of holes 14a are opened at regular intervals. Also,
An angle measuring device 19 having an angle detecting section that measures the rotation angle θ1 from the first side wall 2a by detecting the number of holes 14a and integrating the numbers is installed coaxially with the rotation axis 20 of the base 14. ing. Furthermore, this angle measuring device 19
is equipped with an output section that outputs data from the corner fragility detection section to a calculation stage to be described later.

Also, the intersection line K between the arm member 10 and both side walls 2a and 2b
An encoder 21 is installed coaxially with the pin 7 as a second angle measuring means 9 for measuring the angle formed by the arm member 1 (Z-axis), that is, the rotation angle θ2 of the arm member about the pin 7.

Incidentally, reference numeral 22 in the figure indicates a switch attached to the arm member 10, and by operating this switch,
The length measuring device 15, the angle measuring device 19, and the encoder 21 measure the angles of lengths L1θ1 and θ2, respectively.

The length and angle data measured in this way are transmitted to the arithmetic processing unit 24 corresponding to one stage of arithmetic processing via the transmission cable 23.
sent to. This arithmetic processing device 24 performs a predetermined calculation based on each day, calculates the volume, and outputs the calculation result.

Next, the principle of the idea will be explained with reference to FIG.

Assume that the volume of a rectangular hexahedron N is determined in rectangular coordinates with the X-axis, Y-axis, and Z-axis as coordinate axes. In addition, the bottom surface of the rectangular hexahedron N is the XY plane, and the two side surfaces are the XZ plane and the Y plane.
Assume that it is in close contact with the ZW surface.

Here, the coordinates of point P are P (x, y, z), the coordinates of point △ are △ (0, O, a), and the coordinates of point B are B (0, O,
Z). In addition, points 11 and 1 and B all exist on a plane perpendicular to the XY plane, for example, plane R, and
7 The angle between the plane and the plane R is θ1, and the straight line ΔB on the plane R
Let the angle between this and the straight line AP be 02. Note that the length of side AP is assumed to be L.

Under the above conditions, if we first focus on the upper end surface of the rectangular hexahedron N, and the length r of the side BP is determined, the values of X and y can be determined. That is, by trigonometry, x=r −cosθ1 y=r and sinθ1 can be easily derived.

Also, if we focus on the triangle A B P, this "r" is
By trigonometry, it is easily derived as r=L-sin θ2.

Similarly, the length S of side AB is 5=L-CO2O3 It can be calculated as

Here, since the coordinates to the point are A (0, O, a), the height Z of the rectangular hexahedron N is Z=a-S=a-L-cos θ2.

To summarize the above, r=L”sinθ2 x=r　−cosθ1 y=rφsinθ1 z=a-L-cosθ2 becomes.

As a result, if θ1, θ2, and a are known, x, y, and z can be found, and by multiplying X, y, and 2, the volume of the rectangular hexahedron N can be found.

Next, for example, a procedure for measuring the volume of a rectangular hexahedral cargo N will be explained.

First, the cargo N' is placed on the base 1, and both side walls 2a and 2b are
1 and 2 and the corners of the cargo are pressed against the intersection line of 1 and 2 and the corners provided by the base 1 and both side walls 2a and 2b. While maintaining this state, attach the corner member to the upper corner of the cargo N, which has three mutually perpendicular axes that are not in contact with the side walls 2a and 2b (corresponding to point P in Fig. 1). The base plate 4 is rotated and the arm member 10 is expanded and contracted so that the inner surfaces of the base plate 16 are brought into close contact with each other. Then, by operating the switch 22, the length measuring device 15, the angle measuring device 19, and the encoder 21 measure the angles of lengths L1θ1 and θ2, respectively.

The length, angle θ1, and θ2 data thus measured are sent to the arithmetic processing device 24 via the transmission cable 23, and the arithmetic processing device 24 performs a predetermined calculation based on the calculation 1 principle described above. Then, the result of the calculation will be output. In this way, the measurement of the volume of the space occupied by the rectangular hexahedral cargo N is completed.

Next, a case will be described in which the volume of a virtual hexahedron that includes the space occupied by the cargo M in a truncated cone-shaped bucket and has the minimum volume is measured.

Since the cargo M does not have a corner having three mutually perpendicular axes, the position detection device 3 cannot be used as is. Therefore, as a measurement aid, for example, as shown in FIG. 6, a cornering aid 25 that virtually forms a corner having three axes perpendicular to each other with respect to the cargo M is required.

The illustrated cornering aid 25 includes a pair of pseudo corner tools 28 that virtually form corners having three mutually perpendicular axes.
28 are provided. Each pseudo corner tool 28 has a top plate 26 having two right-angled sides, a length equal to or less than the height of the cargo M,
It also has two side plates 27 with a length that allows it to come in contact with the maximum width and maximum depth of the cargo M from its upper end surface, and the side plates 27 are arranged at right angles to the two perpendicular sides of the large plate 26. It is attached and formed so as to have a corner part. Roughly speaking, an extendable joint f=29 is attached to the top plate 26 for supporting both pseudo corner fittings 28 and adjusting the distance between the pseudo corner fittings 28 (
Around.

FIG. 7 is a schematic diagram showing how the cornering aid 25 is used.

First, extend the telescopic joint 29 so that the top plate 26 is in contact with the upper end surface of the cargo M, and the corner of one of the pseudo corner fittings 28 is in close contact with the intersection line of the side walls 2a and 2b. Cover. Then, the joint 29 is adjusted to extend or contract so that the two side plates 27 of the other pseudo corner tool 28 come into contact with the maximum width and maximum depth of the cargo M. In this way, among the upper corners of the virtual hexahedron, virtual corners having three mutually perpendicular axes that are not in contact with the side walls 2a and 2b are formed. Once the corner is determined, the position detection device 3 can be used, so from now on, by performing the same procedure as in the case of the rectangular hexahedral cargo N described above, the space occupied by the cargo M can be included and , the volume of the virtual hexahedron with the minimum volume can be measured.

In addition, in the case of a three-dimensional object whose horizontal cross-section is a circle and whose maximum diameter is the top end surface, for example, a cylinder-shaped cargo, a bucket-shaped cargo, etc., the above-mentioned square shape Without using the auxiliary tool 25, the volume of a virtual hexahedron whose virtual base is a square whose side is the maximum diameter can also be measured in the following manner.

The principle of calculation in this case will be explained with reference to FIG.

Y axis, In rectangular coordinates with the Y axis as the coordinate axis, the Y axis and Y
Suppose we want to find the diameter X of a circle that is tangent to the axis.

Here, point O is the origin 0 (0, O), point Q is the center of the circle, and its coordinates are Q (x/2.x/2>, and point N
The coordinates of ' are N-(X,X). The straight line ON- is the angle
It is a bisector of OY, and the coordinates of the intersection point M' with the circumference are M-
(Let m, m>.

First, the coordinates of the intersection R of the perpendicular line from point M- to the Y-axis and the perpendicular line passing through the center point Q and to the Y-axis are point R (X/2.m).

Now, if we focus on the triangle M"QR, the angle M-OR is 45 degrees, so if the length of the side QM- is t and the length of the side QR is U, there is a distance of t between the two by trigonometry. There is a relationship of =n−・U.

The length of each side is t=x/2 u=m-x/2, so by substituting it into the above formula, we get x/2 = ("Y (m-x/2>), and rearranging this, we get X=(2fl/(1+ff>)-m is derived.

As is clear from this equation, once the coordinates of point M- are determined, the diameter X of the circle can be determined, and therefore the coordinates of point N' of a square whose side is the diameter of the circle can be determined.

For example, in the case of cylindrical cargo as shown in Figure 8, the procedure is to calculate the coordinates of this point M- based on the length of the side AM- and the angle θ1 (45 degrees) and the angle θ2. is as described above.

Next, a volume measurement procedure based on the above-mentioned calculation principle will be explained with reference to FIG. 8, which schematically shows it.

In this case, the one-digit corner support member 16 of the arm member 10 is removed so that the tip of the arm member 10 can come into contact with the upper edge of the cylindrical cargo.

Alternatively, as shown in FIG. 10, an edge support member 30 formed of two flat plates having right-angled corners may be attached to the tip of the arm member 10.

First, the tip itself of the arm member 10 or the edge support member 3
The angle measuring device 19 touches the first side wall 2 while maintaining this state.
The position where it is detected that the angle θ1 from a is 45 degrees (
The arm member 10 is rotated to a position corresponding to point M' in FIG. 8.9.

By operating the switch 22, the X, Y, and Z coordinates of this position are determined based on the principle shown in FIG. Therefore, the external appearance corresponding to point M' in FIG. 8.9 will be determined, and the coordinates corresponding to point N- will be determined based on the above-mentioned principle. Based on these coordinates and the Z (height) found earlier, it is possible to find the volume of an imaginary hexahedron whose base is a square whose side is the maximum diameter of this luggage.

In the illustrated embodiment, the base 1 and the arithmetic processing unit 24 are
The base 1 may be placed separately or may be integrated, or the base 1 may be provided with moving means such as casters at the part that contacts the floor to facilitate movement.

In the illustrated embodiment, the bottom reference surface is only a flat base. A flat plate that can be freely moved on the table 1 may be provided.

Furthermore, it is also possible to incorporate a measuring device into the base 1 to measure the weight of the three-dimensional object to be measured, so that the weight is measured at the same time as the volume is measured.

[Effects of the Invention] As described above, according to the present invention, the data necessary to find the minimum volume of a virtual hexahedron that includes the space occupied by a three-dimensional object and whose all angles are right angles is obtained by 1. By automatically measuring with the second angle measuring means and further processing the data with the calculating means, it is possible to improve the sieve accuracy, shorten the length measurement process and volume calculation process, and improve the volume measurement efficiency. improvement can be achieved.

Further, in the sub-length means, necessary length data can be easily measured by adding up the number of holes or recesses in the measuring tape pulled out from the main body.

Furthermore, in the first angle measuring means, the rotation angle of the arm member can be easily measured by adding up the number of holes or recesses in the measuring tape from one of the both side walls.

[Brief explanation of the drawing]

FIG. 1 is a schematic perspective view showing the configuration of the volume measuring device according to the present invention, FIG. 2 is an enlarged perspective view showing an embodiment of the sub-length means and the angle measuring means, and FIG. FIG. 4 is an enlarged perspective view taken along the lV'lV line in FIG. 3, FIG. 5 is an explanatory view for explaining one principle of calculation, and FIG. Enlarged perspective view of cornering aid, No. 7
The figure is a schematic perspective view showing how the cornering aid is used.
The figure is a schematic perspective view showing the volume measurement state of cylindrical cargo;
FIG. 9 is an explanatory view for explaining the principle of calculation for calculating the diameter of a circle, and FIG. 10 is an enlarged perspective view showing the edge support member. DESCRIPTION OF SYMBOLS 1... Base (bottom reference surface), 2a... 1st side wall (side reference surface), 2b... 2nd side wall (side reference surface), 3... Position detection device, 6. ...Length measurement means 8...
・First angle measurement stage 9...Second angle measurement stage f, 10
...Arm member, 11.11a measure tape, 14
．． 14a... Hole portion, 15... Length measuring device, 16...
- Corner resting member, 19... Angle measuring device, 21.
...Encoder, 23...Transmission cable, 24.
... Arithmetic processing device (arithmetic means), 25... Cornering aid (measuring aid). Patent applicant Nishama Co., Ltd. Agent
8 1) Mikio ((t!! 1 person) Figure 1 ↑ Figure 3 Io Figure 10 0c

Claims (4)

[Claims] (1) Bottom reference plane of three mutually orthogonal reference planes (1)
A three-dimensional object to be measured is placed on top, and the object is brought into contact with the reference surfaces (2a, 2b) on both sides, and a rectangular shape inscribed by the upper surface of the object itself or inscribed by the upper surface of the object is placed. A predetermined point on the intersection line (K1) where the corner (P) of the upper end measurement surface formed by a temporary plane that does not touch the side reference planes (2a, 2b) intersects the both side reference planes (2a, 2b). distance (L) from point (A) of , 2b), and the angle (θ1) between the corner (P) and the predetermined point (A
) and the above-mentioned intersection line (K1) make an angle (θ2
), and calculates the volume that the three-dimensional object occupies from the measured value. (2) A first side wall (2a) and a second side wall (2b) that are orthogonal to each other are vertically provided on a base (1) formed on a flat surface, and the base is placed on the base (1). A three-dimensional object to be measured is in contact with the first side wall (2a) and the second side wall (2b), and is formed by the upper surface of the object itself or by a rectangular temporary plane inscribed with this upper surface. The upper measuring surface is formed by the measuring aid (25) that comes into contact with the object to be measured, and the both side walls (2) of the upper end measuring surface
a, 2b) and the corner (P) not in contact with the both side walls (2a, 2b).
2b) and a signal from the length measuring means (6) for measuring the distance (L) to a predetermined point (A) on the intersection line (K1), ) and the base (1
) and one of the side walls (2a, 2b).
) and a second angle measuring means (9) that measures the angle (θ2) formed by the straight line connecting the corner (P) and the predetermined point (A) and the intersection line (K1). A volume measuring device configured to input the signal to a calculation means (24) which calculates the volume occupied by the three-dimensional space from these measured values. (3) The length measuring means (6) includes a telescopic arm member (
10), a measuring tape (11) having holes (14) or recesses formed at predetermined intervals, and this measuring tape (1
1) a length detection section that measures the length from the number of holes (14) or recesses pulled out from the main body; and an output section that outputs data from the length detection section to the calculation means (24). The volume measuring device according to claim 2, comprising: (4) The first angle measuring means (8) includes a measuring tape (11) having holes (14a) or recesses formed at predetermined intervals.
a), and an angle detection unit that measures the angle (θ1) from the number of holes (14a) or recesses of the measuring tape (11a) from one of the both side walls (2a, 2b);
The volume measuring device according to claim 2, further comprising an output section that outputs data from the angle detection section to the calculation means (24).