CN111238436B - Device for measuring rotation angle, apparatus and method of use thereof - Google Patents
Device for measuring rotation angle, apparatus and method of use thereof Download PDFInfo
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- CN111238436B CN111238436B CN202010197523.5A CN202010197523A CN111238436B CN 111238436 B CN111238436 B CN 111238436B CN 202010197523 A CN202010197523 A CN 202010197523A CN 111238436 B CN111238436 B CN 111238436B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/10—Measuring inclination, e.g. by clinometers, by levels by using rolling bodies, e.g. spheres, cylinders, mercury droplets
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/10—Measuring inclination, e.g. by clinometers, by levels by using rolling bodies, e.g. spheres, cylinders, mercury droplets
- G01C2009/102—Measuring inclination, e.g. by clinometers, by levels by using rolling bodies, e.g. spheres, cylinders, mercury droplets cylinders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/10—Measuring inclination, e.g. by clinometers, by levels by using rolling bodies, e.g. spheres, cylinders, mercury droplets
- G01C2009/107—Measuring inclination, e.g. by clinometers, by levels by using rolling bodies, e.g. spheres, cylinders, mercury droplets spheres
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Abstract
A device for measuring a rotation angle belongs to the field of inclination angle measurement. When the device is in a use state, the device rotates relative to a P01 point in an N01 plane, and a N02 vertical plane is arranged through a P01 point, and the device comprises at least two groups of modules which are kept in relative static arrangement and are used for measuring rotation angles; the second projection curve of the predetermined trajectory line corresponding to each set of modules for measuring the rotation angle on the N01 plane forms a first measurement zone of the rotation angle around the point P01, and the first measurement zones of the rotation angle corresponding to the sets of modules for measuring the rotation angle form a second measurement zone of the rotation angle on the N01 plane in succession. An apparatus for measuring a rotation angle, comprising the aforementioned means for measuring a rotation angle mounted on a moving body, the use method of which comprises measuring the position of the moving body of each set of modules for measuring a rotation angle on a predetermined trajectory line matched thereto when all the moving bodies are stationary with respect to point P01; and determining the position of the movable mover on the predetermined trajectory line as a valid point.
Description
Technical Field
The invention relates to the technical field of inclination angle detection, in particular to a device and equipment for measuring a rotation angle and a using method thereof.
Background
The angle measurement is an important component of the geometric measurement. The range of the angle quantity is wide, and the plane angle can be divided into the following according to the space position of the plane: the horizontal angle (or azimuth angle) in the horizontal plane, the vertical angle (or tilt angle) in the vertical plane, and the spatial angle is a composite of the horizontal angle and the vertical angle. Tilt sensors, also known as inclinometers, gradiometers, inclinometers, are often used to measure the angle of a system.
In the application scene of the power grid, the electromagnetic interference is large, and the adoption of the optical fiber sensor is a better choice. The optical fiber sensor has the characteristics of small volume, long transmission distance and excellent anti-electromagnetic interference performance. Currently, there are tilt sensors of an optical fiber type for measuring a tilt angle.
Patent document CN204740023U describes a biconical optical fiber tilt angle sensor including a first optical fiber taper, a second optical fiber taper, and an optical fiber, wherein one end of the first optical fiber taper is fixed, the other end of the first optical fiber taper is connected to one end of the optical fiber, the other end of the optical fiber is connected to one end of the second optical fiber taper, and the other end of the second optical fiber taper is fixed. When the optical fiber is inclined at a certain angle, the optical fiber compresses or stretches the optical fiber cones at two sides, and the inclination angle can be obtained through a strain vector of a cone area, the inclination angle of the optical fiber inclination angle sensor and a frequency shift conversion formula of an interference spectrum.
Disclosure of Invention
One of the objects of the present invention is to provide a module, an apparatus for measuring rotation angle and a method for using the same, so as to provide a new technical route for measuring rotation angle in a plane.
In order to solve the technical problems, the following technical scheme can be selected according to the needs:
a module for measuring rotation angles, which is designed to rotate in a plane N01 with respect to a point P01 in a plane N01 during use, via a point P01, which is a virtual plane N02, comprising a low-point leveling mechanism and a movable-sub position measuring unit, wherein the low-point leveling mechanism comprises a movable sub-guide and a movable sub-guide, wherein the movable sub-guide can move on a predetermined trajectory defined by the movable sub-guide during use, wherein a first projected curve of the predetermined trajectory in the plane N02 belongs to a portion of a fully convex closed curve, and wherein at most one intersection point exists between any normal on the plane N01 and the predetermined trajectory, and wherein the point P01 is correspondingly arranged on a concave side of the first projected curve; the active cell position measurement unit is used for measuring the position of the active cell on the predetermined trajectory line or measuring the projected position of the active cell on the N01 plane. In order to enable the module for measuring the rotation angle to be in an effective use state, an included angle between the N01 plane and the N02 vertical plane is less than 90 degrees, the movable rotor is not supported by two ends of the movable rotor guider and is under the action of gravity, when the movable rotor is static relative to a point P01, the gravitational potential energy of the movable rotor is minimum, the movable rotor is necessarily located at the lowest point of the first projection curve, and the low-point leveling function of the low-point leveling mechanism is effective; meanwhile, the movable child is located at a certain point on the predetermined trajectory line. Generally, the module for measuring the rotation angle is in an effective use period, and if all points on the first projection curve are not higher than the horizontal plane determined by the point P01, the measurement result of the module for measuring the rotation angle is theoretically always effective; if some points on the first projection curve are higher than the horizontal plane defined by point P01, in some special cases the movable sub may be supported by one of its ends by a movable sub guide, but without other means the user cannot find that the module for measuring the rotation angle has been removed from effective use at this time.
Preferably, the movable sub-guider comprises a guide pipe and two limiting plugs, and the movable sub-guider is arranged in a movable space formed by matching the guide pipe and the two limiting plugs.
Furthermore, the movable rotor is spherical, a spherical wave reflecting layer is arranged on the movable rotor, and the spherical center of the wave reflecting layer is superposed with the spherical center of the movable rotor; or the shape of the movable cell is spherical, and the spherical surface of the movable cell can form a wave reflection surface of the wave reflection layer.
Preferably, the N01 plane coincides with the N02 vertical plane. This reduces the difficulty of use.
Further, both ends of the predetermined trajectory line intersect a horizontal plane determined by the point P01. Thus, the module for measuring the angle of rotation can effectively measure angles of rotation of ≥ 90 ° and ≤ 90 ° during the period of effective use of the module for measuring the angle of rotation.
Preferably, the predetermined trajectory line is a plane curve. This can reduce the difficulty of use and expand its applicable scope.
Further, the predetermined trajectory line is a plane curve disposed parallel to the N01 plane.
Preferably, the predetermined trajectory belongs to a portion of a circumference, an ellipse, a parabola or a hyperbola.
Preferably, the movable sub-position measuring unit includes a wave transmitter and a wave receiver, the movable sub-guide includes a guide tube, the guide tube is a wave-conducting tube, the movable sub-is provided with a wave reflecting layer, and the guide tube is matched with the movable sub-to enable a wave beam emitted by the wave transmitter to be received by the wave receiver after being reflected by the wave reflecting layer.
Further, a wave guide member is disposed between the wave transmitter and the guide tube, a beam emitted by the wave transmitter is reflected at a connection surface between the wave guide member and the guide tube to form a first reflected beam, a beam emitted by the wave transmitter is reflected at a wave reflection layer of the movable mover to form a second reflected beam, and the wave receiver is configured to receive the first reflected beam and the second reflected beam.
Further, the wave emitter can emit light waves, the guide tube is a light-transmitting tube, the mover is provided with a light reflecting layer, and the wave receiver is a light receiver; alternatively, the wave transmitter may be capable of emitting sound waves, the conduit is a sound conducting tube, the active cell has a sound reflecting layer, and the wave receiver is a sound receiver; alternatively, the wave transmitter may be capable of emitting an electromagnetic wave, the guide tube may be an electromagnetic wave conductive tube, the movable member may have an electromagnetic wave reflective layer, and the wave receiver may be an electromagnetic wave receiver.
An apparatus for measuring a rotation angle, comprising a moving body and the aforementioned module for measuring a rotation angle; the moving body can rotate relative to a point P01 in the plane N01 in the plane N01, the maximum rotation angle of the moving body relative to the point P01 in the plane N01 is less than 360 degrees, and an included angle of the plane N01 and the plane N02 is less than 90 degrees through a virtual N02 vertical plane P01; the movable rotor guider and the movable body are kept in a relatively static arrangement, a second projection curve of the predetermined trajectory line in the N01 plane forms a first measurement area of a rotation angle around the point P01, the central angle of the first measurement area of the rotation angle is larger than or equal to the maximum rotation angle, and during the rotation of the movable body in the N01 plane relative to the point P01, the low-point leveling mechanism of the module for measuring the rotation angle has a low-point leveling effect when the movable rotor is static relative to the point P01.
Preferably, the maximum rotation angle of the moving body in the N01 plane with respect to the point P01 is 180 DEG or less.
The use method of the aforementioned apparatus for measuring a rotation angle includes the steps of:
when the moving body is at the first rest position and the movable element is at rest relative to the point P01, the movable element is located at the point D1 on the preset track line, when the moving body is at the second rest position and the movable element is at rest relative to the point P01, the movable element is located at the point D2 of the preset track line, and the position of the point D1 and/or the point D2 on the preset track line is equivalently measured by using the movable element position measuring unit, or the projection position of the point D1 and/or the point D2 on the plane N01 is equivalently measured by using the movable element position measuring unit.
The equivalent measurement refers to that a first group of measured physical quantities are converted or calculated by a mathematical method according to a determined conversion method or calculation method, a second group of uniquely corresponding physical quantities can be obtained, and the measurement of the first group of physical quantities is considered to be equivalent to the measurement of the second group of physical quantities. In the method of the invention, the movable sub-guide and the moving body are kept relatively stationary, and when the moving body rotates relative to the point P01 in the plane N01, the movable sub-guide and the defined predetermined trajectory line thereof also rotate synchronously with the moving body. Because the movable rotor can move on the predetermined track line defined by the movable rotor guide, under the action of gravity, when the movable body is at the first position, the projection point of the movable rotor on the vertical plane N02 is located at the lowest point of the first projection curve of the predetermined track line on the vertical plane N02; when the moving body is at the second position, the projection point of the moving body on the vertical plane N02 is at the lowest point of the first projection curve of the predetermined trajectory line on the vertical plane N02. Therefore, after the length between the point D1 and the point D2 of the predetermined trajectory is obtained, and the curve formula of the predetermined trajectory is combined, the projection positions D1 'and D2' of the point D1 and the point D2 on the predetermined trajectory in the plane N01 when the moving body is at the second position can be obtained, and the positions of the points P01 in the plane N01 can be combined to determine the rotation angles formed by connecting the points D1 'and D2' with the point P01 respectively, wherein the rotation angles correspond to the rotation angles of the moving body in the plane N01 relative to the point P01.
Preferably, the movable sub-position measuring unit comprises a wave transmitter and a wave receiver, the movable sub-guider comprises a guide tube, the guide tube is a wave-conducting tube, the movable sub-is provided with a wave reflecting layer, and the guide tube is matched with the movable sub-to enable a wave beam emitted by the wave transmitter to be received by the wave receiver after being reflected by the wave reflecting layer; the method for equivalently measuring the length between the point D1 and the point D2 of the predetermined trajectory line by using the active cell position measuring unit comprises the following steps:
when the moving body is at the first position, the time difference t1 that the wave beam emitted by the wave emitter is reflected by the wave reflection surface and then received by the light receiver is measured, when the moving body is at the second position, the time difference t2 that the wave beam emitted by the wave emitter is reflected by the wave reflection surface and then received by the wave receiver is measured, the length between a D1 point and a D2 point of a predetermined track line is 0.5v (t2-t1) cos alpha, v is the transmission speed of the wave in the waveguide tube, and alpha is the incident included angle between the wave beam in the waveguide tube and the pipeline.
Preferably, the movable sub-position measuring unit includes a wave transmitter and a wave receiver, the movable sub-guide includes a guide tube, the guide tube is a wave-conducting tube, a wave-conducting member is disposed between the wave transmitter and the guide tube, the movable sub-guide is provided with a wave-reflecting layer, and the wave-conducting member and the guide tube are matched with the movable sub-guide, so that a wave beam emitted by the wave transmitter can be received by the wave receiver after being reflected by the wave-reflecting layer; the wave transmitter reflects the wave beam at the connecting surface of the wave guide and the guide tube to form a first reflected wave beam, the wave transmitter reflects the wave beam at the wave reflecting layer of the active cell to form a second reflected wave beam, the wave receiver is used for receiving the first reflected wave beam and the second reflected wave beam, and the method for equivalently measuring the position of the active cell on the preset track line by using the active cell position measuring unit comprises the following steps:
and measuring the phase difference psi between the second reflected beam and the first reflected beam, wherein the length of a predetermined track line between the wave guide and the active cell is 0.5v psi Tcos alpha, v is the transmission speed of the wave in the wave guide, T is the period of the wave beam, and alpha is the incident angle between the wave beam in the wave guide and the pipeline, and combining a curve formula of a predetermined track line to obtain the position of the active cell on the predetermined track line.
The invention has the beneficial effects that:
1. in the module for measuring a rotation angle of the present invention, the first projected curve of the predetermined trajectory line in the vertical plane of N02 is a part of the convex closed curve, so that when the movable sub-guide and the predetermined trajectory line defined by the movable sub-guide rotate with respect to point P01, the movable sub-guide stationary with respect to point P01 always stays at the lowest point of the predetermined trajectory line at that time under the action of gravity, except that the movable sub-guide is supported and limited by both ends of the movable sub-guide.
2. As the technology of optical fiber communication is mature, compared with the acoustic wave technology (especially the ultrasonic wave technology) and the electromagnetic wave technology which are used for measuring the length between the point D2 and the point D1 of the preset track line, the guide pipe is selected to be the light conduction pipe, the movable member is provided with the light reflection layer, and the cost is lower when the light transmitter and the light receiver are used for measuring the length between the point D2 and the point D1 of the preset track line.
3. In the apparatus for measuring a rotation angle of the present invention, by setting the relative positions of the moving body and the module for measuring a rotation angle such that the module for measuring a rotation angle is always in the effective measurement section of the rotation angle in the region where the moving body is rotated relative to P01 point in the N01 plane, the measurement of the rotation angle of the moving body relative to P01 point in the N01 plane can be realized.
4. In the use method of the apparatus for measuring a rotation angle of the present invention, the measurement of the phase difference ψ of the second reflected beam and the first reflected beam is applied at low cost with high accuracy.
Another object of the present invention is to provide a device and an apparatus for measuring rotation angle and a method for using the same, so as to provide a new technical route for measuring rotation angle in a plane.
In order to solve the technical problems, the following technical scheme can be selected according to the needs:
a device for measuring a rotation angle, which is set to rotate relative to a P01 point in an N01 plane in an N01 plane in a use state, and is virtual to be a N02 vertical plane through a P01 point, and comprises at least two groups of the modules for measuring the rotation angle, which are kept to be relatively statically arranged; the second projection curve of the predetermined trajectory line corresponding to each set of modules for measuring the rotation angle on the N01 plane forms a rotation angle first measurement zone around the point P01, and the rotation angle first measurement zones corresponding to the sets of modules for measuring the rotation angle form rotation angle second measurement zones successively on the N01 plane.
Preferably, the central angle of the second measuring region of the angle of rotation is > 180 ° and ≦ 360 °.
Preferably, the predetermined trajectory line is a plane curve.
Further, the plane of the predetermined trajectory line is arranged parallel to the N01 plane.
Preferably, the N01 plane coincides with the N02 vertical plane.
Preferably, on the plane N01, the central angle of the first measuring area of the rotation angle formed by the modules for measuring the rotation angle in each group is less than or equal to 180 degrees.
An apparatus for measuring a rotation angle, comprising a moving body and the aforementioned means for measuring a rotation angle; the moving body can rotate relative to a point P01 in the plane N01 in the plane N01, the maximum rotation angle of the moving body relative to the point P01 in the plane N01 is less than or equal to 360 degrees, and an included angle of the plane N01 and the vertical plane N02 is less than 90 degrees through the vertical plane N01 and the virtual N02; the movable rotor guider of each group of modules for measuring the rotation angle is kept relative to the movable body and is arranged still, the central angle of the second measurement area of the rotation angle is larger than or equal to the maximum rotation angle, and during the rotation of the movable body in the N01 plane relative to the point P01, when all the movable rotors are still relative to the point P01, the low-point leveling mechanism of at least one group of modules for measuring the rotation angle has a low-point leveling effect.
A method of using the aforementioned apparatus for measuring a rotation angle, comprising the steps of:
measuring the position of the mobile member of each set of modules for measuring the rotation angle on the matched predetermined trajectory line thereof when the mobile member is at the rest position and all the mobile members are at rest relative to the point P01;
if the movable son of one of the modules for measuring the rotation angle is not positioned at the two ends of the matched predetermined track line, the position of the movable son of the module for measuring the rotation angle on the predetermined track line is a valid point;
if the projections of the active parts of at least two groups of modules for measuring the rotation angle on the N02 vertical plane are on the vertical line passing through the P01 point, the position of the active part of one of the groups of modules for measuring the rotation angle on the corresponding predetermined trajectory line is taken as a valid point.
Further, when the moving body is in the first rest position and all the moving bodies are still relative to the point P01, the first effective point of the state and the position of the first effective point on the predetermined trajectory line determined by all the modules for measuring the rotation angle are obtained; when the moving body is at a second rest position and all the moving bodies are at rest relative to the point P01, acquiring a second effective point of the state and the position of the second effective point on a predetermined track line determined by all the modules for measuring the rotation angle; all the predetermined trajectory lines determined by the module for measuring the rotation angle and the first and second effective points are projected on the N01 plane, a first calibration ray is formed by taking the point P01 as a starting point through the projected point of the first effective point on the N01 plane, a second calibration ray is formed by taking the point P01 as a starting point through the projected point of the second effective point on the N01 plane, and the rotation angle of the moving body from the first rest position to the second rest position around the point P01 in the N01 plane corresponds to the rotation angle from the first calibration ray to the second calibration ray.
The beneficial effects of the invention include:
1. the device for measuring the rotation angle can be used for measuring the rotation angle which is more than 180 degrees and less than or equal to 360 degrees, and in the measuring interval, even if the moving body changes direction sharply, equipment failure caused by the movable daughter card at one end of the movable rotor guider can be avoided.
2. The characteristics of the device for measuring the rotation angle, such as the fact that the predetermined trajectory line is a plane curve, the plane where the predetermined trajectory line is located is arranged in parallel with the N01 plane, the N01 plane is coincident with the N02 vertical plane and the like, are used singly or in combination, and the calculation amount of the process using the device provided by the invention is reduced.
3. The equipment for measuring the rotation angle limits the relative position relation of the moving body and the device for measuring the rotation angle, and in cooperation with the using method of the equipment, even if the moving body changes direction suddenly in the measuring interval, the equipment cannot be failed due to the fact that the movable daughter card is arranged at one end of the movable rotor guider.
It is another object of the present invention to provide an apparatus for measuring a plane tilt angle, so as to provide a new technical route for measuring a plane tilt angle.
In order to solve the technical problems, the following technical scheme can be selected according to the needs:
an apparatus for measuring the inclination of a plane comprising a moving body and at least two sets of the aforementioned modules for measuring the angles of rotation; the N03 plane of the dynamic body can be inclined relative to a P01 point, an N01 plane, an N02 vertical plane, an N11 plane and an N12 plane are assumed through the P01 point, the included angle between the N01 plane and the N02 vertical plane is less than 90 degrees, and the N11 plane and the N12 plane are both non-horizontal planes and are arranged perpendicularly to each other; in each group of modules for measuring the rotation angle, the movable sub-guide and the moving body are kept in a relatively static arrangement, the predetermined trajectory line is a plane curve arranged in parallel to the N01 plane, and a second projection curve of the predetermined trajectory line on the N01 plane corresponding to each group of modules for measuring the rotation angle forms a first measurement zone of the rotation angle around the point P01; wherein the predetermined trajectory of at least one group of modules for measuring rotation angle is arranged on the parallel plane of the N11 plane and is arranged at the matching position of the moving body, so that the rotation angle first measurement zones corresponding to the groups of modules for measuring rotation angle form a rotation angle third measurement zone on the N11 plane in succession and can be used for measuring the inclination angle of the N03 plane in one dimension; wherein the predetermined trajectory of at least one group of modules for measuring rotation angle is arranged on the parallel plane of the N12 plane and is arranged at the matching position of the moving body, so that the rotation angle first measurement zones corresponding to the groups of modules for measuring rotation angle form a rotation angle fourth measurement zone on the N12 plane in succession and can be used for measuring the inclination angle of the N03 plane in another dimension.
Preferably, the N11 plane and the N12 plane are both perpendicular.
The beneficial effects of the invention include:
1. the apparatus for measuring the inclination angle of a plane of the present invention can be used to measure the inclination angle of the N03 plane with respect to the point P01 by providing at least two sets of the aforementioned mutual positional relationship of the module for measuring the rotation angle and the mover.
2. By setting the N11 plane and the N12 plane as vertical planes, the predetermined trajectory line is configured in at least one set of modules for measuring rotation angles parallel to the N11 plane for measuring the inclination angle of the N03 plane in the N11 plane dimension, and the predetermined trajectory line is configured in at least one set of modules for measuring rotation angles parallel to the N12 plane for measuring the inclination angle of the N03 plane in the N12 plane dimension.
The fourth purpose of the present invention is to provide a device for measuring three-dimensional inclination angle, so as to provide a new technical route for measuring three-dimensional inclination angle.
In order to solve the technical problems, the following technical scheme can be selected according to the needs:
an apparatus for measuring three-dimensional inclination angles, comprising a moving body and at least three of the aforementioned modules for measuring rotation angles; the P11 point of the dynamic body can rotate around the P01 point, but the P11 point of the dynamic body does not rotate in the horizontal plane, the P01 point is defined as an N01 plane, an N02 vertical plane, an N11 plane and an N12 plane, the included angle between the N01 plane and the N02 vertical plane is less than 90 degrees, and the N11 plane and the N12 plane are both non-horizontal planes and are perpendicular to each other; in each group of modules for measuring the rotation angle, the movable sub-guide and the moving body are kept in a relatively static arrangement, the predetermined trajectory line is a plane curve arranged in parallel to the N01 plane, and a second projection curve of the predetermined trajectory line on the N01 plane corresponding to each group of modules for measuring the rotation angle forms a first measurement zone of the rotation angle around the point P01; wherein the predetermined trajectory lines of at least two groups of modules for measuring rotation angles are arranged on parallel planes of the N11 plane and are arranged at matching positions of the moving body, so that the rotation angle first measurement zones corresponding to the groups of modules for measuring rotation angles form a rotation angle third measurement zone on the N11 plane in succession and can be used for measuring the inclination angle of the P11 point in one of the vertical plane dimensions, and the central angle of the rotation angle third measurement zone is more than 180 DEG and less than or equal to 360 DEG; wherein the predetermined trajectory of at least one group of modules for measuring rotation angle is arranged on the parallel plane of the N12 plane and is arranged at the matching position of the moving body, so that the rotation angle first measurement zones corresponding to the groups of modules for measuring rotation angle form a rotation angle fourth measurement zone on the N12 plane in succession and can be used for measuring the inclination angle of the P11 point in another vertical plane dimension.
Preferably, at least four sets of the aforementioned modules for measuring rotation angles are included; wherein the predetermined trajectory lines of at least two groups of modules for measuring rotation angles are arranged on parallel planes of the N11 plane and are arranged at matching positions of the moving body, so that the rotation angle first measurement zones corresponding to the groups of modules for measuring rotation angles form a rotation angle third measurement zone on the N11 plane in succession and can be used for measuring the inclination angle of the P11 point in one of the vertical plane dimensions, and the central angle of the rotation angle third measurement zone is more than 180 DEG and less than or equal to 360 DEG; wherein the predetermined trajectory lines of at least two groups of modules for measuring rotation angles are arranged on parallel planes of the N12 plane and are arranged at matching positions of the moving body, so that the rotation angle first measurement zones corresponding to the groups of modules for measuring rotation angles form a rotation angle fourth measurement zone on the N12 plane in succession and can be used for measuring the inclination angle of the P11 point in another vertical plane dimension, and the central angle of the rotation angle fourth measurement zone is more than 180 degrees and less than or equal to 360 degrees.
Preferably, the N11 plane and the N12 plane are both perpendicular.
The beneficial effects of the invention include:
1. by providing at least three sets of the aforementioned mutual positional relationship of the module for measuring a rotation angle and the moving body, the apparatus for measuring a plane inclination angle of the present invention can be used to measure a rotation angle except that the point P11 of the moving body rotates in a horizontal plane when the point P11 of the moving body rotates around the point P01.
2. By setting the N11 plane and the N12 plane as orthogonal planes, the predetermined trajectory lines are arranged in at least two sets of modules for measuring rotation angles parallel to the N11 plane for measuring the rotation angle of the P11 point in the N11 plane dimension relative to the P01 point, and the predetermined trajectory lines are arranged in at least one set of modules for measuring rotation angles parallel to the N12 plane for measuring the rotation angle of the P11 point in the N12 plane dimension relative to the P01 point.
Drawings
Fig. 1 is a schematic view of a module for measuring a rotation angle according to the present invention.
Fig. 2 is a cross-sectional view of a low point leveling mechanism of a module for measuring a rotation angle of the present invention.
Fig. 3 is a reference diagram of the use state of the low point leveling mechanism of the device for measuring the rotation angle.
Fig. 4 is a top view of a device for measuring a rotation angle according to the present invention.
Fig. 5 is a left side view of fig. 4.
Fig. 6 is a front view of an apparatus for measuring the inclination of a plane according to the present invention.
Fig. 7 is a right side view of fig. 6.
Fig. 8 is a top view of fig. 6.
Fig. 9 is a top view of an apparatus for measuring three-dimensional tilt angle according to the present invention.
Fig. 10 is a left side view of fig. 9.
Fig. 11 is a top view of an apparatus for measuring three-dimensional tilt angle according to the present invention.
Fig. 12 is a left side view of fig. 11.
The reference numbers indicate, 10-guide, 101-pipe wall, 102-pipe, 11-active cell, 12-limiting plug, 13-limiting plug, 14-wave transmitter, 15-wave receiver, 16-wave coupler, 2-first module for measuring tilt angle, 3-first module for measuring tilt angle, 4-first module for measuring tilt angle, and 5-first module for measuring tilt angle.
Detailed Description
The present invention is described below in terms of embodiments in conjunction with the accompanying drawings to assist those skilled in the art in understanding and implementing the present invention. Unless otherwise indicated, the following embodiments and technical terms therein should not be understood to depart from the background of the technical knowledge in the technical field.
First part of the invention
The invention relates to a module for measuring a rotation angle, which is designed to rotate relative to a P01 point in an N01 plane in an N01 plane during use and is supposed to be vertical to an N02 point through a P01 point. Under the normal use state, the included angle between the N01 plane and the N02 vertical plane is less than 90 degrees. As will be readily appreciated by those skilled in the art, the module for measuring rotational angle may also be used in an environment having a non-vertical axis of rotation, where taking a point on the non-vertical axis of rotation may correspond to point P01, and a plane through point P01 and perpendicular to the non-vertical axis of rotation corresponds to the N01 plane.
A module for measuring a rotation angle of the present invention includes a low point leveling mechanism and a movable sub-position measuring unit.
The low-point leveling mechanism comprises a movable rotor and a movable rotor guider. The movable sub-director selects the structure: during use, the movable element can move on a preset track line defined by the movable element guide, a first projection curve of the preset track line in the N02 vertical plane belongs to a part of a full convex closed curve, any normal line on the N01 plane has at most one intersection point with the preset track line, and the P01 point is correspondingly arranged on the concave side of the first projection curve.
The vertical plane N02 is for defining the shape of the predetermined trajectory line, and as long as the first projected curve of the predetermined trajectory line in a certain vertical plane determined by point P01 belongs to a part of the fully convex closed curve, it can be determined that when the module for measuring the rotation angle rotates relative to point P01, the movable member can fall at the lowest point of the predetermined trajectory line if the movable member stationary relative to point P01 is not located at the two ends of the predetermined trajectory line. The dummy method of the N02 vertical plane and the corresponding vertical plane do not influence the realization of the invention. A simple method of a nominal N02 vertical plane is: a horizontal line passing through point P01 in the plane of N01 is first determined, and the vertical plane of N02 is the vertical plane passing through the horizontal line.
The mobile unit can be designed into a column or a sphere, and the mobile unit guider can be a container or a penetrating rod. Through tests, the movable sub-guider selects a container, the movable sub-guider selects a ball, and when the movable sub-guider is arranged in the inner cavity of the movable sub-guider, the movable sub-guider has small resistance and external interference on the movement of the movable sub-guider in the inner cavity of the movable sub-guider, and the low-point leveling effect of the low-point leveling mechanism is good. When the movable element moves on the movable element guider or in the inner cavity, the deformation of the preset track line can cause measurement errors, so that when the movable element moves on the preset track line, the smaller the deformation of the movable element guider is, the better the deformation is, and the smaller the measurement errors caused by the deformation of the preset track line are.
The mover does not have to be a solid, for example, the mover may be a non-wetting liquid, for example, mercury, which is a non-wetting liquid with respect to glass, can also form a wave reflecting layer in the glass tube. Non-wetting refers to the phenomenon that when a solid is in contact with a liquid, the contact surface tends to shrink and the liquid cannot be attached to the solid.
When the moving body rotates around the point P01 only in the plane N01, the predetermined trajectory line can be a plane curve or a curve in a three-dimensional space, as long as the first projection curve of the predetermined trajectory line in the vertical plane N02 belongs to a part of a full convex closed curve, and any normal on the plane N01 has at most one intersection point with the predetermined trajectory line. In use, point P01 is disposed on the concave side of the first projected curve. When the movable sub-guider and the determined predetermined trajectory line thereof rotate to a new position and the movable sub is static relative to the point P01, as long as the two ends of the movable sub-guider do not effectively support the movable sub, under the action of gravity, the projection point of the movable sub on the vertical plane of the N02 is necessarily located at the lowest point of the first projection curve at the moment. At this time, the low point leveling function of the low point leveling mechanism is effective. Meanwhile, "any normal on the N01 plane has at most one intersection with the predetermined trajectory line" ensures that the projection of the mobile son at the same height on the predetermined trajectory line on the N01 plane has only one unique corresponding point.
When the moving body rotates relative to a point P01 in two dimensions of an N01 plane and an N04 plane which are perpendicular to each other, and the N01 plane and the N04 plane are both non-horizontal planes, the predetermined trajectory line should select a plane curve, and a first projection curve of the predetermined trajectory line in the N02 vertical plane belongs to a part of a full-convex closed curve; in use, point P01 is disposed on the concave side of the first projected curve. When the movable sub-guider and the determined predetermined trajectory line thereof rotate to a new position and the movable sub is static relative to the point P01, as long as the two ends of the movable sub-guider do not effectively support the movable sub, the gravitational potential energy of the movable sub at the position is the lowest, and the projection point of the movable sub on the N02 vertical plane matching the corresponding dimension is necessarily located at the lowest point of the first projection curve of the dimension. At this time, the low point leveling function of the low point leveling mechanism is effective.
Wherein the movable sub position measuring unit is used for measuring the position of the movable sub on a predetermined trajectory line or for measuring the projected position of the movable sub on the N01 plane. When the movable sub-position measuring unit is used, at the first position where the low-point leveling function of the low-point leveling mechanism is effective, the movable sub-position measuring unit measures the position of a D1 point of the movable sub on the preset track line; at a second position where the low-point leveling function of the low-point leveling mechanism is effective, the movable sub-position measuring unit measures the position of a D2 point of the movable sub on the preset trajectory line; combining the two-dimensional curve formula or the three-dimensional curve formula of the predetermined trajectory line, the relative position relationship between the predetermined trajectory line and the point P01, and the included angle between the plane N01 and the vertical plane N02, the point D1 and the point D2 on the predetermined trajectory line can be projected to the point D1 'and the point D2' on the plane N01, respectively, so that the rotation angle of the moving body in the plane N001 relative to the point P01 is the rotation angle from the ray P01D1 'to the ray P01D 2'.
If the movable element is used for measuring the projection position of the movable element on the N01 plane, the projection position of the movable element on the N02 vertical plane needs to be converted into the point of the movable element on the predetermined trajectory line by combining a two-dimensional curve formula or a three-dimensional curve formula of the predetermined trajectory line, the relative position relation between the predetermined trajectory line and the point P01 and the included angle between the N01 plane and the N02 vertical plane, and then the rotation angle of the movable element in the N01 plane relative to the point P01 can be calculated by combining the method. The existing projection method includes a developing paper, which may be fixed on the movable sub-guide.
Example 1: a module for measuring rotation angles, which is designed to rotate in the plane N01 relative to the point P01 in the plane N01 during use and to pass through the point P01 to the virtual plane N02, is disclosed, and comprises a low-point leveling mechanism and a movable sub position measuring unit, wherein the low-point leveling mechanism comprises a movable sub 11 and a movable sub guider.
The movable sub-director selects the structure: during use, the mobile member 11 can move on a predetermined trajectory defined by the mobile member guide. A first projected curve of the predetermined trajectory line in a normal plane N02 belongs to a part of a full convex closed curve, any normal line on the plane N01 has at most one intersection point with the predetermined trajectory line, and the P01 point is correspondingly arranged on the concave side of the first projected curve. Generally, two limiting plugs, such as the limiting plug 12 and the limiting plug 13 in fig. 2-3, may be disposed at two ends of the catheter 10, the limiting plugs 12, the limiting plugs 13 and the catheter 10 cooperate to form a movable sub-guide, and the movable sub-guide 11 is disposed in an inner cavity of the movable sub-guide. In this embodiment, the movable element 11 is a sphere, and the sphere diameter of the movable element 11 is smaller than the inner diameter of the conduit 10, so that after the shape of the conduit 10 is fixed, the movable element 11 is supported by the wall 101 of the conduit 10, and when the movable element moves in the space defined by the limiting plug 12, the conduit 10 and the limiting plug 13, the movable trajectory thereof corresponds to the predetermined trajectory.
The active cell position measurement unit is used for measuring the position of the active cell 11 on a predetermined trajectory line or for measuring the projected position of the active cell on the N01 plane. In this embodiment, the movable element position measuring unit includes a wave emitter 14 and a wave receiver 15, the movable element guide includes a guide tube 10, the guide tube 10 is a wave-conducting tube, the movable element 11 is provided with a wave reflecting layer, and the guide tube 10 is matched with the movable element 11, so that a wave beam emitted by the wave emitter 14 can be received by the wave receiver 15 after being reflected by the wave reflecting layer of the movable element 11. Generally, in a waveguide, the less energy a wave loses as it propagates, the better. Such as a light-conducting tube, the light is most effectively propagated by total reflection therein.
It should be understood that the wave emitter 14, the wave receiver 15 and the wave coupler 16 are all physical objects, which also have a limiting function, so that a limiting plug can be replaced.
In order to allow the beam emitted by the wave emitter 14 to be reflected by the wave reflecting layer of the mover 11, the wave reflecting layer is preferably formed to have a wave reflecting cross section slightly smaller than the cross section of the pipe 102 of the guide 10. In this embodiment, the movable element is provided with a spherical wave reflecting layer, the spherical center of the wave reflecting layer coincides with the spherical center of the movable element, and the spherical diameter of the wave reflecting layer is preferably slightly smaller than the inner diameter of the guide tube 10. In other embodiments, it is also possible to select the material of the movable element such that the spherical surface of the movable element forms the wave reflecting surface of the wave reflecting layer, and in this case, the spherical surface of the movable element 11 is preferably slightly smaller than the inner diameter of the guide tube 10.
Generally, the wave emitter 14 may emit light waves, electromagnetic waves, acoustic waves (including ultrasonic waves), and the like. If a wave transmitter capable of emitting light waves is selected, the guide tube is a light transmission tube, the mover is provided with a light reflection layer, and the wave receiver is a light receiver; if a wave transmitter capable of emitting electromagnetic waves is selected, the guide tube is an electromagnetic wave conductive tube, the mover has an electromagnetic wave reflective layer, and the wave receiver is an electromagnetic wave receiver; if a wave transmitter capable of emitting sound waves (ultrasonic waves) is selected, the guide tube is a sound wave transmitting tube, the active cell has a sound wave reflecting layer, and the wave receiver is a sound wave receiver.
In this embodiment, the wave emitter is selected to be an optical emitter capable of emitting a light beam. The common light guide part is an optical fiber, and light beams with specific angles can be totally reflected in the optical fiber, so that the light beams can be guided in the optical fiber. Generally, an optical fiber includes an inner core, an intermediate cladding and an outer coating, and the intermediate cladding is used for enclosing optical signals in the core and transmitting the optical signals and plays a role in protecting the core. That is, the light reflecting layer can be made of the material of the intermediate cladding layer, and the tube formed by the intermediate cladding layer is a light conducting tube. In a specific application, the optical transmitter is connected with the optical coupler through the optical fiber, the optical receiver is connected with the optical coupler through the optical fiber, and the optical coupler is connected with the light transmission pipe.
In this embodiment, the predetermined trajectory is preferably a portion of a circle, an ellipse, a parabola or a hyperbola, so that the function formula of the predetermined trajectory can be easily determined.
Example 2: a module for measuring a rotation angle comprises a low-point leveling mechanism and a movable sub-position measuring unit. As a modification to embodiment 1, this embodiment is added with the following features:
a wave guide member is arranged between the wave transmitter 14 and the conduit 10, a wave beam emitted by the wave transmitter 14 is reflected at a connection surface of the wave guide member and the conduit 10 to form a first reflected wave beam, a wave beam emitted by the wave transmitter 14 is reflected at a wave reflection layer of the movable member 11 to form a second reflected wave beam, and the wave receiver 15 is used for receiving the first reflected wave beam and the second reflected wave beam.
Also for example, the wave transmitter 14 is selected to be a light transmitter, and the wave-conducting member may be selected to be a light-conducting member, such as an optical fiber. An optical fiber transition is arranged between the optical coupler and the catheter 10, and at this time, the middle cladding of the optical fiber needs to be connected with the light-conducting tube in an alignment mode, so that the section of the inner fiber core of the optical fiber is aligned with the section of the tube hole of the light-conducting tube. In the prior art, the optical fiber is connected to the optical fiber by fusion splicing.
Second part of the invention
An apparatus for measuring a rotation angle includes a moving body and a module for measuring a rotation angle of a first part of the present invention.
The moving body can rotate in the N01 plane relative to the P01 point in the N01 plane, and the N01 plane and the N02 plane form an included angle of less than 90 degrees through the P01 point and the virtual N02 vertical plane.
The vertical plane N02 is for defining the shape of the predetermined trajectory line, and as long as the first projected curve of the predetermined trajectory line in a certain vertical plane determined by point P01 belongs to a part of the fully convex closed curve, it can be determined that when the module for measuring the rotation angle rotates relative to point P01, the movable member can fall at the lowest point of the predetermined trajectory line if the movable member stationary relative to point P01 is not located at the two ends of the predetermined trajectory line. The dummy method of the N02 vertical plane and the corresponding vertical plane do not influence the realization of the invention. A simple method of a nominal N02 vertical plane is: a horizontal line passing through point P01 in the plane of N01 is first determined, and the vertical plane of N02 is the vertical plane passing through the horizontal line.
The movable sub-guide and the movable body are kept in a relative static arrangement, a second projection curve of the predetermined track line in the N01 plane forms a first measurement area of a rotation angle around a point P01, the central angle of the first measurement area of the rotation angle is larger than or equal to the maximum rotation angle, and during the rotation of the movable body in the N01 plane relative to a point P01, the low-point leveling mechanism of the module for measuring the rotation angle has a low-point leveling effect when the movable sub-guide is static relative to the point P01.
Generally, the movable sub-guide and the moving body are fixedly connected to each other to keep the movable sub-guide and the moving body relatively stationary. In addition, the movable sub-guide may be formed in a structure of the movable body having a corresponding function, and in this case, the movable sub-guide and the movable body are also relatively stationary.
The rotation angle measurement zone is a zone where two rays are made through two end points of a second projection curve in the N01 plane respectively through a predetermined trajectory line by taking a point P01 as a starting point, and the second projection curve is located in a zone sandwiched by the two rays. The first, second, and subsequent third and fourth are used only to distinguish different regions.
During the rotation of the moving body relative to a point P01 in an N01 plane, the moving body has a plurality of states, one of the states is supported by two ends of the moving body guider under the action of centrifugal force, at the moment, the moving body can drive the moving body guider and the moving body to move, and the moving body cannot be static relative to a point P01; the other is that the moving body stops rotating, the centrifugal force disappears at the moment, the moving body searches for a point on the predetermined trajectory line under the action of gravity, at this point, the moving body may be supported by two ends of the moving body guide, at this moment, the low point leveling function of the low point leveling mechanism may be considered to be invalid, if at this point, the moving body is not supported by two ends of the moving body guide, the projection point of the moving body on the N02 vertical plane may be considered to be located at the lowest point on the first projection curve at this moment, that is, the low point leveling function of the low point leveling mechanism is valid, and has the low point leveling effect.
When the position of the movable element is measured by the movable element position measuring unit, if the position of the movable element does not change for a while, the movable element may be considered to be stationary with respect to point P01. If the position of the movable member is not located at both ends of the predetermined trajectory line, it is considered that both ends of the movable member guide do not support the movable member. If the position of the active cell is at both ends of the predetermined trajectory line, a detailed analysis is required according to the situation. For example, the maximum rotation angle of the moving body in the N01 plane with respect to point P01 is β. By properly setting the relative position relationship between the movable sub-guide and the moving body, when the moving body rotates to the limit position around the point P01 in the plane N01, the movable sub-guide is located at the end point of the predetermined trajectory line, but the two ends of the movable sub-guide do not support the movable sub-guide at this time, in this case, the setting parameters of the equipment can assist a person skilled in the art to judge whether the low-point leveling effect of the low-point leveling mechanism is effective when the position of the movable sub-guide is located at one end of the predetermined trajectory line.
If the maximum rotation angle of the moving body in the plane N01 is > 180 ° and < 360 ° with respect to point P01, measuring the rotation angle of the moving body can also be achieved in some cases by selecting the specifications of the movable sub-guide such that the central angle formed by the predetermined trajectory line around point P01 in the second projection curve of the plane N01 is > 180 °. However, if the moving body moves more violently and the direction changes faster, the moving body may be stuck at one end of the moving body guider due to the inertia effect, and the low-point leveling effect is lost.
If the maximum rotation angle of the moving body in the plane N01 with respect to the point P01 is 180 ° (180 ° is also applicable), the relative positional relationship between the movable sub-guide and the moving body may be set by selecting the specifications of the movable sub-guide such that the central angle formed by the predetermined trajectory line around the point P01 in the second projection curve of the plane N01 is 180 °, and the right end point of the first projection curve is located directly below the point P01 at the left limit position where the moving body rotates around the point P01 in the plane N01. Thus, when the movable body rotates to the right side limit position around the point P01 in the plane N01, the movable rotor guide and the predetermined trajectory line are synchronously driven to rotate to the right side limit position, and when the movable rotor is static relative to the point P01, the movable rotor is at the left end point of the first projection curve and is also positioned right below the point P01.
The moving body described above can rotate around the point P01 in the plane N01. In some special situations, for example, where the moving body rotates relative to point P01 in the plane N01 that does not belong to the horizontal plane, the rotation axis does not coincide with the vertical line, and in this case, a point on the rotation axis can be taken to form point P01. The plane N01 may not coincide with the vertical plane, and after the relative position relationship between the moving body and the movable sub-guide is determined, the relative positions of the point P01, the angle between the plane N01 and the vertical plane N02, the projection point of the movable sub on the plane N01 and the second projection curve of the predetermined trajectory line in the plane N01 at the moment can be uniquely determined.
Example 3: an apparatus for measuring a rotation angle includes a moving body and the module for measuring a rotation angle in embodiment 1 of the present invention.
The moving body can rotate relative to a point P01 in an N01 plane in an N01 plane, the maximum rotation angle of the moving body relative to a point P01 in an N01 plane is less than or equal to 180 degrees, an imaginary N02 vertical plane passes through a point P01, and the included angle between the N01 plane and the N02 vertical plane is less than 90 degrees.
The movable rotor guider is fixedly connected with the movable body, a second projection curve of the predetermined trajectory line in the N01 plane forms a first measurement area of a rotation angle around a point P01, the central angle of the first measurement area of the rotation angle is larger than or equal to the maximum rotation angle, and during the rotation of the movable body in the N01 plane relative to the point P01, the low-point leveling mechanism of the module for measuring the rotation angle has a low-point leveling effect when the movable rotor is static relative to the point P01. To achieve this effect, the relative positional relationship of the movable sub-guide and the movable body is set such that: the moving body is at the left extreme position of rotation about point P01 in the plane N01, with the right end point of the first projected curve being located directly below point P01. Thus, when the moving body rotates to the right side limit position around the point P01 in the plane N01, the moving body guider and the preset track line are synchronously driven to rotate to the right side limit position, and when the moving body is static relative to the point P01, the moving body is positioned right below the point P01 and still at the lowest point of the first projection curve.
The use method of the device for measuring the rotation angle comprises the following steps:
when the moving body, the movable sub-guide and the predetermined trajectory line defined by the movable sub-guide stay at the first rest position, and the movable sub-guide is stationary relative to the point P01, because the movable sub-guide can move on the predetermined trajectory line defined by the movable sub-guide, under the action of gravity, the projection point of the movable sub-guide on the vertical plane N02 is located at the lowest point of the first projection curve of the predetermined trajectory line on the vertical plane N02 at the moment, and the gravitational potential energy of the movable sub-guide is lowest at the moment. Setting the movable sub on a D1 point on the predetermined trajectory line, and equivalently measuring the position of the D1 point on the predetermined trajectory line by using a movable sub position measuring unit;
when the movable body drives the movable sub-guide and the predetermined track line defined by the movable sub-guide to synchronously rotate and stay at the second rest position, and the movable sub-guide is stationary relative to the point P01, the point D1 on the predetermined track line is synchronously rotated to a new position along with the movable body at the moment, but the position of the point D1 relative to the predetermined track line is unchanged. Because the movable rotor can move on the predetermined track line defined by the movable rotor guider, under the action of gravity, the projection point of the movable rotor on the vertical plane N02 is positioned at the lowest point of the first projection curve of the predetermined track line on the vertical plane N02 at the moment, and the gravitational potential energy of the movable rotor is lowest at the moment. Setting the movable sub at the D2 point of the predetermined trajectory line, and equivalently measuring the position of the D2 point on the predetermined trajectory line by using a movable sub position measuring unit;
the projection positions of the points D1 and D2 on the predetermined trajectory line, D1 ' and D2 ' in the plane N01, and the positions of the points P01 in the plane N01, can determine the rotation angles formed by connecting the points D1 and D2 ' with the point P01 respectively, wherein the rotation angles correspond to the rotation angles of the moving bodies in the plane N01 relative to the point P01.
If the plane N01 coincides with the vertical plane N02, the rotation angles formed by connecting the points D1 'and D2' with the point P01 respectively correspond to the rotation angles of the moving body with respect to the point P02 in the plane N01. If the N01 plane has an included angle with the vertical plane of N02, the included angle between the N01 plane and the vertical plane of N02 can be used for converting the rotation angle of the moving body in the N01 plane relative to the P02 point by using a geometric algorithm.
When the moving body, the movable sub-guide and the predetermined trajectory line defined by the moving body stay at the first rest position and the movable sub-guide is stationary relative to the point P01, the device at this time can be set to the initial position, that is, the position of the movable sub-guide on the predetermined trajectory line at this time is known, and then the distance between the point D1 and the point D2 is measured, and the point D2 on the predetermined trajectory line can be converted by combining the curve equation of the predetermined trajectory line.
At some time, for example, if the predetermined trajectory line is an arc in the plane N01 and the point P01 is located at the center of the arc, since the arc length is related to the radius line, after the length (i.e., the arc length) between the point D1 and the point D2 of the predetermined trajectory line is obtained, the central angles of the points D1 and D2 on the predetermined trajectory line can also be obtained in combination with the corresponding radii of the predetermined trajectory line, and since the predetermined trajectory line is an arc in the plane N01, the central angles of the points D1 and D2 on the predetermined trajectory line also correspond to the rotation angle of the moving body in the plane N01 relative to the point P01.
The method for equivalently measuring the length between the point D1 and the point D2 of the predetermined trajectory line by using the active cell position measuring unit comprises the following steps: when the moving body is at the first position, the time difference t1 that the wave beam sent by the wave transmitter is reflected by the wave reflecting surface and then is received by the optical receiver is measured, when the moving body is at the second position, the time difference t2 that the wave beam sent by the wave transmitter is reflected by the wave reflecting surface and then is received by the wave receiver is measured, the length between a point D1 and a point D2 of the predetermined trajectory is 0.5v (t2-t1) cos alpha, v is the transmission speed of the wave in the waveguide pipe, and alpha is the incident angle between the wave beam in the waveguide pipe and the pipeline.
The equivalent measurement refers to that a first group of measured physical quantities are converted or calculated by a mathematical method according to a determined conversion method or calculation method, a second group of uniquely corresponding physical quantities can be obtained, and the measurement of the first group of physical quantities is considered to be equivalent to the measurement of the second group of physical quantities.
Example 4: an apparatus for measuring a rotation angle, comprising a moving body and the module for measuring a rotation angle of embodiment 2.
The moving body can rotate relative to a point P01 in an N01 plane in an N01 plane, the maximum rotation angle of the moving body relative to a point P01 in an N01 plane is less than or equal to 180 degrees, an imaginary N02 vertical plane passes through a point P01, and the included angle between the N01 plane and the N02 vertical plane is less than 90 degrees.
The movable rotor guider is fixedly connected with the movable body, a second projection curve of the predetermined trajectory line in the N01 plane forms a first measurement area of a rotation angle around a point P01, the central angle of the first measurement area of the rotation angle is larger than or equal to the maximum rotation angle, and during the rotation of the movable body in the N01 plane relative to the point P01, the low-point leveling mechanism of the module for measuring the rotation angle has a low-point leveling effect when the movable rotor is static relative to the point P01. To achieve this effect, the relative positional relationship of the movable sub-guide and the movable body is set such that: the moving body is at the left extreme position of rotation about point P01 in the plane N01, with the right end point of the first projected curve being located directly below point P01. Thus, when the moving body rotates to the right side limit position around the point P01 in the plane N01, the moving body guider and the preset track line are synchronously driven to rotate to the right side limit position, and when the moving body is static relative to the point P01, the moving body is positioned right below the point P01 and still at the lowest point of the first projection curve.
The method of using the apparatus for measuring a rotation angle in the present embodiment is substantially the same as the method of using the apparatus for measuring a rotation angle in embodiment 3, except that the method of equivalently measuring the position of the movable mover on the predetermined trajectory line using the movable mover position measuring unit in the present embodiment includes: and measuring the phase difference psi between the second reflected beam and the first reflected beam, wherein the length of a predetermined track line between the wave guide and the movable member is 0.5v psi Tcos alpha, v is the transmission speed of the wave in the wave guide pipe, T is the period of the wave beam, and alpha is the incident angle between the wave beam in the wave guide pipe and the pipeline, and the position of the movable member on the predetermined track line is obtained by combining a curve formula of the predetermined track line. The calculation of the predetermined track line length between the wave-guide and the active cell using the measured phase difference ψ is smaller than the measurement error in embodiment 3.
Third part of the invention
When the device for measuring the rotation angle of the second part of the invention is used, in order to avoid the failure of the low-point leveling function of the low-point leveling mechanism, the motion track line formed by the rotation of the moving body in the N01 plane relative to the point P01 needs to be limited to be not higher than the horizontal plane passing through the point P01. Which limits its range of applications. To this end, the present section provides a device, apparatus and method of use thereof for measuring the rotation angle of a moving body in the plane of N01 relative to point P01.
Example 5: a device for measuring a rotation angle is configured to rotate in a plane N01 with respect to a point P01 in a plane N01 in a use state, and to be positioned so as to be perpendicular to a virtual point N02 via a point P01.
The vertical plane N02 is for defining the shape of the predetermined trajectory line, and as long as the first projected curve of the predetermined trajectory line in a certain vertical plane determined by point P01 belongs to a part of the fully convex closed curve, it can be determined that when the module for measuring the rotation angle rotates relative to point P01, the movable member can fall at the lowest point of the predetermined trajectory line if the movable member stationary relative to point P01 is not located at the two ends of the predetermined trajectory line. The dummy method of the N02 vertical plane and the corresponding vertical plane do not influence the realization of the invention. A simple method of a nominal N02 vertical plane is: a horizontal line passing through point P01 in the plane of N01 is first determined, and the vertical plane of N02 is the vertical plane passing through the horizontal line.
An apparatus for measuring a rotation angle comprises at least two sets of modules for measuring a rotation angle of the first part of the invention, which are kept in a relatively stationary arrangement; the second projection curve of the predetermined trajectory line of each group of modules for measuring the rotation angle on the N01 plane forms a rotation angle first measurement zone around the point P01, and the rotation angle first measurement zones corresponding to the groups of modules for measuring the rotation angle form a rotation angle second measurement zone on the N01 plane in succession. The continuous formation does not necessarily require that two adjacent first measurement regions on the N01 plane meet end to end, but it is also possible that there is a partially overlapping region on the N01 plane.
Preferably, the central angle of the second measuring region of the angle of rotation is > 180 DEG and ≦ 360 deg.
Preferably, the predetermined trajectory line is a plane curve. The plane curve can simplify the calculation amount of the use process of the device for measuring the rotation angle compared with the three-dimensional curve.
Further, the plane in which the predetermined trajectory line is located is disposed parallel to the N01 plane. Such an apparatus can simplify the amount of calculation for the use of the device for measuring the rotation angle.
Preferably, on the plane N01, the central angle of the first measuring area of the rotation angle formed by the modules for measuring the rotation angle in each group is less than or equal to 180 degrees.
Preferably, the N01 plane coincides with the N02 vertical plane.
In order to reduce the difficulty of calculating the rotation angle, the predetermined trajectory line is preferably a planar curve, the plane in which the predetermined trajectory line lies is preferably disposed parallel to the normal to N02, and the plane N01 is preferably disposed coincident with the normal to N02, so that the predetermined trajectory line is identical to the second projected curve.
In general, the second rotation angle effectively measures the central angle of the sector as 360 °, which is more versatile. The two groups of modules are used for measuring the rotation angle, the preset trajectory line selects a plane curve, the plane where the preset trajectory line is located is arranged in parallel with the N01 plane, the central angle of the first measurement area of the rotation angle of each group of modules used for measuring the rotation angle is 180 degrees, and the first measurement areas of the rotation angle of the two groups of modules used for measuring the rotation angle are connected end to form a second measurement area of the rotation angle with the central angle being 360 degrees.
Example 6: an apparatus for measuring a rotation angle, comprising a moving body and the device for measuring a rotation angle of embodiment 5.
The moving body can rotate relative to a point P01 in an N01 plane in an N01 plane, the maximum rotation angle of the moving body relative to a point P01 in an N01 plane is less than or equal to 360 degrees, an imaginary N02 vertical plane passes through a point P01, and the included angle between the N01 plane and the N02 vertical plane is less than 90 degrees;
the movable sub-guider and the moving body of each group of modules for measuring the rotation angle are kept in a static relative arrangement, the central angle of a second measuring area of the rotation angle is larger than or equal to the maximum rotation angle, and during the rotation of the moving body relative to a point P01 in an N01 plane, when all the movable sub-bodies are static relative to a point P01, the low-point leveling mechanism of at least one group of modules for measuring the rotation angle has a low-point leveling effect.
The use method of the device for measuring the rotation angle comprises the following steps:
when the moving body is at a first rest position and the moving sub-bodies of each group of modules for measuring the rotation angle are stationary relative to the point P01, acquiring a first effective point of the state and the position of the first effective point on a predetermined track line determined by all the modules for measuring the rotation angle;
when the moving body is at a second rest position and the moving sub-bodies of each group of modules for measuring the rotation angle are stationary relative to the point P01, acquiring a second effective point of the state and the position of the second effective point on a predetermined track line determined by all the modules for measuring the rotation angle;
all the predetermined trajectory lines determined by the module for measuring the rotation angle and the first and second effective points are projected on the N01 plane, a first calibration ray is formed by taking the point P01 as a starting point through the projected point of the first effective point on the N01 plane, a second calibration ray is formed by taking the point P01 as a starting point through the projected point of the second effective point on the N01 plane, and the rotation angle of the moving body from the first rest position to the second rest position in the N01 plane relative to the point P01 corresponds to the rotation angle from the first calibration ray to the second calibration ray.
When the moving body is at a certain rest position and the moving sub of each group of modules for measuring the rotation angle is stationary relative to point P01, the effective point of the state can be obtained by the following method. The method specifically comprises the following steps:
measuring the position of the movable son of each group of modules for measuring the rotation angle on the matched predetermined track line when the movable body is at the rest position;
if the movable parts of one of the modules for measuring the rotation angle are not positioned at two ends of the matched predetermined track line, and the low-point leveling function of the module for measuring the rotation angle is effective, the position of the movable parts of the module for measuring the rotation angle on the predetermined track line is an effective point;
if the projections of the movable parts of the at least two groups of modules for measuring the rotation angle on the N02 vertical plane are on the vertical line passing through the P01 point, the projections of the movable parts of each group of modules for measuring the rotation angle on the N02 vertical plane cannot be positioned right above the P01, so when the projections of the movable parts of the at least two groups of modules for measuring the rotation angle on the N02 vertical plane are on the vertical line passing through the P01, the projections are necessarily positioned right below the P01, and at the moment, the low-point leveling function of the low-point leveling mechanisms of the groups of modules for measuring the rotation angle is effective, and the positions of the movable parts of the groups of modules for measuring the rotation angle on the corresponding preset track lines are taken as effective points.
After the valid point is obtained, the positions of the valid points on the predetermined trajectory lines determined by all the modules for measuring the rotation angle can be obtained by combining the positions of the predetermined trajectory lines of the same module for measuring the rotation angle on the predetermined trajectory lines determined by all the modules for measuring the rotation angle.
Fourth aspect of the invention
This section provides an apparatus for measuring the inclination of a plane.
Example 7: an apparatus for measuring the inclination of a plane comprising a moving body and at least two sets of modules for measuring the angle of rotation according to the first aspect of the invention.
The N03 plane of the dynamic body can be inclined relative to the P01 point, the P01 point is defined by an N01 plane, an N02 vertical plane, an N11 plane and an N12 plane, the included angle between the N01 plane and the N02 vertical plane is less than 90 degrees, and the N11 plane and the N12 plane are both non-horizontal planes and are arranged perpendicularly to each other. The vertical plane N02 is for defining the shape of the predetermined trajectory line, and as long as the first projected curve of the predetermined trajectory line in a certain vertical plane determined by point P01 belongs to a part of the fully convex closed curve, it can be determined that when the module for measuring the rotation angle rotates relative to point P01, the movable member can fall at the lowest point of the predetermined trajectory line if the movable member stationary relative to point P01 is not located at the two ends of the predetermined trajectory line. The dummy method of the N02 vertical plane and the corresponding vertical plane do not influence the realization of the invention. A simple method of a nominal N02 vertical plane is: a horizontal line passing through point P01 in the plane of N01 is first determined, and the vertical plane of N02 is the vertical plane passing through the horizontal line. Wherein, the plane N01 is a measuring plane for calibrating the module for measuring the rotation angle when the module for measuring the rotation angle is used, the plane N11 and the plane N12 are used for calibrating two dimensions when the moving body inclines relative to the point P01, and the module for measuring the rotation angle is combined with the moving body device through the constraint relation between the plane N01 and the plane N11 or the plane N12.
In each group of modules for measuring the rotation angle, the movable sub-guide and the moving body are kept in a relative static arrangement, the predetermined trajectory line is a plane curve arranged in parallel to the N01 plane, and a second projection curve of the corresponding predetermined trajectory line of each group of modules for measuring the rotation angle on the N01 plane forms a first measurement zone of the rotation angle around the point P01.
The predetermined track lines of at least one group of modules for measuring the rotation angle are arranged on the parallel surface of the N11 plane and are arranged at the matching position of the moving body, so that the projection of the first measurement area of the rotation angle on the N11 plane corresponding to the modules for measuring the rotation angle forms a third measurement area of the rotation angle, and the third measurement area can be used for measuring the inclination angle of the N03 plane in one dimension. In this paragraph, the sets of modules for measuring the rotation angle refer to modules for measuring the rotation angle in which predetermined trajectory lines are arranged on parallel planes of the N11 plane, and the manner in which they are arranged at the matching positions of the moving bodies may refer to the related description set forth in the third section of the present invention.
The predetermined track lines of at least one group of modules for measuring the rotation angle are arranged on the parallel surface of the N12 plane and are arranged at the matching position of the moving body, so that the projection of the first measurement zone of the rotation angle on the N12 plane corresponding to the modules for measuring the rotation angle forms a fourth measurement zone of the rotation angle, and the fourth measurement zone can be used for measuring the inclination angle of the N03 plane in another dimension. In this paragraph, the sets of modules for measuring the rotation angle refer to modules for measuring the rotation angle in which predetermined trajectory lines are arranged on parallel planes of the N12 plane, and the manner in which they are arranged at the matching positions of the moving bodies may refer to the related description set forth in the third section of the present invention.
Preferably, the N11 plane and the N12 plane are both perpendicular. At this time, in the present embodiment, the module for measuring the rotation angle, which is arranged on the parallel surface of the N11 plane, is used to measure the inclination of the N03 plane in the N11 plane dimension, and the module for measuring the rotation angle, which is arranged on the parallel surface of the N12 plane, is used to measure the inclination of the N03 plane in the N12 plane dimension.
Fifth aspect of the invention
This section provides an apparatus for measuring three-dimensional tilt angles for measuring three-dimensional rotation angles.
Example 8: an apparatus for measuring a three-dimensional inclination angle, comprising a moving body and at least three sets of modules for measuring a rotation angle as recited in the first section of the present invention.
The P11 point of the dynamic body can rotate around the P01 point, but the P11 point of the dynamic body does not rotate in the horizontal plane, the P01 point is used for marking an N01 plane, an N02 vertical plane, an N11 plane and an N12 plane, the included angle between the N01 plane and the N02 vertical plane is less than 90 degrees, and the N11 plane and the N12 plane are both non-horizontal planes and are arranged perpendicularly to each other. The vertical plane N02 is for defining the shape of the predetermined trajectory line, and as long as the first projected curve of the predetermined trajectory line in a certain vertical plane determined by point P01 belongs to a part of the fully convex closed curve, it can be determined that when the module for measuring the rotation angle rotates relative to point P01, the movable member can fall at the lowest point of the predetermined trajectory line if the movable member stationary relative to point P01 is not located at the two ends of the predetermined trajectory line. The dummy method of the N02 vertical plane and the corresponding vertical plane do not influence the realization of the invention. A simple method of a nominal N02 vertical plane is: a horizontal line passing through point P01 in the plane of N01 is first determined, and the vertical plane of N02 is the vertical plane passing through the horizontal line. Wherein, the plane N01 is a measuring plane for calibrating the module for measuring the rotation angle when the module for measuring the rotation angle is used, the plane N11 and the plane N12 are used for calibrating two dimensions when the moving body inclines relative to the point P01, and the module for measuring the rotation angle is combined with the moving body device through the constraint relation between the plane N01 and the plane N11 or the plane N12.
In each group of modules for measuring the rotation angle, the movable sub-guide and the moving body are kept in a relative static arrangement, the predetermined trajectory line is a plane curve arranged in parallel to the N01 plane, and a second projection curve of the corresponding predetermined trajectory line of each group of modules for measuring the rotation angle on the N01 plane forms a first measurement zone of the rotation angle around the point P01.
Wherein the predetermined trajectory lines of at least two groups of modules for measuring the rotation angle are arranged on the parallel plane of the N11 plane and are arranged at the matching positions of the moving bodies, so that the projections of the first measurement zones of the rotation angles corresponding to the modules for measuring the rotation angle on the N11 plane form a third measurement zone of the rotation angle in succession and can be used for measuring the rotation angle of the P11 point relative to the P01 point in one of the vertical plane dimensions, and the central angle of the third measurement zone of the rotation angle is more than 180 degrees and less than or equal to 360 degrees. In this paragraph, the sets of modules for measuring the rotation angle refer to modules for measuring the rotation angle in which predetermined trajectory lines are arranged on parallel planes of the N11 plane, and the manner in which they are arranged at the matching positions of the moving bodies may refer to the related description set forth in the third section of the present invention.
The predetermined track lines of at least one group of modules for measuring the rotation angle are arranged on the parallel surface of the N12 plane and are arranged at the matching position of the moving body, so that the rotation angle first measurement zones corresponding to the groups of modules for measuring the rotation angle form a rotation angle fourth measurement zone in a projection connection on the N12 plane and can be used for measuring the rotation angle of a P11 point relative to a P01 point on the other vertical plane dimension. In this paragraph, the sets of modules for measuring the rotation angle refer to modules for measuring the rotation angle in which predetermined trajectory lines are arranged on parallel planes of the N12 plane, and the manner in which they are arranged at the matching positions of the moving bodies may refer to the related description set forth in the third section of the present invention.
Preferably, the N11 plane and the N12 plane are both perpendicular. At this time, in the present embodiment, the module for measuring the rotation angle disposed on the parallel plane of the N11 plane is used to measure the rotation angle of the P11 point in the N11 plane dimension with respect to the P01 point, and the module for measuring the rotation angle disposed on the parallel plane of the N12 plane is used to measure the rotation angle of the P11 point in the N12 plane dimension with respect to the P01 point.
Example 9: an apparatus for measuring a three-dimensional inclination angle includes a moving body and at least four sets of modules for measuring rotation angles.
The P11 point of the dynamic body can rotate around the P01 point, but the P11 point of the dynamic body does not rotate in the horizontal plane, the P01 point is used for marking an N01 plane, an N02 vertical plane, an N11 plane and an N12 plane, the included angle between the N01 plane and the N02 vertical plane is less than 90 degrees, and the N11 plane and the N12 plane are both non-horizontal planes and are arranged perpendicularly to each other. The vertical plane N02 is for defining the shape of the predetermined trajectory line, and as long as the first projected curve of the predetermined trajectory line in a certain vertical plane determined by point P01 belongs to a part of the fully convex closed curve, it can be determined that when the module for measuring the rotation angle rotates relative to point P01, the movable member can fall at the lowest point of the predetermined trajectory line if the movable member stationary relative to point P01 is not located at the two ends of the predetermined trajectory line. The dummy method of the N02 vertical plane and the corresponding vertical plane do not influence the realization of the invention. A simple method of a nominal N02 vertical plane is: a horizontal line passing through point P01 in the plane of N01 is first determined, and the vertical plane of N02 is the vertical plane passing through the horizontal line. Wherein, the plane N01 is a measuring plane for calibrating the module for measuring the rotation angle when the module for measuring the rotation angle is used, the plane N11 and the plane N12 are used for calibrating two dimensions when the moving body inclines relative to the point P01, and the module for measuring the rotation angle is combined with the moving body device through the constraint relation between the plane N01 and the plane N11 or the plane N12.
In each group of modules for measuring the rotation angle, the movable sub-guide and the moving body are kept in a relative static arrangement, the predetermined trajectory line is a plane curve arranged in parallel to the N01 plane, and a second projection curve of the corresponding predetermined trajectory line of each group of modules for measuring the rotation angle on the N01 plane forms a first measurement zone of the rotation angle around the point P01.
Wherein the predetermined trajectory lines of at least two groups of modules for measuring the rotation angle are arranged on parallel planes of the N11 plane and are arranged at matching positions of the moving body, so that the projections of the rotation angle first measurement zones corresponding to the groups of modules for measuring the rotation angle on the N11 plane successively form a rotation angle third measurement zone, and can be used for measuring the rotation angle of the P11 point relative to the P01 point in one of the vertical plane dimensions, and the central angle of the rotation angle third measurement zone is more than 180 degrees and less than or equal to 360 degrees. In this paragraph, the sets of modules for measuring the rotation angle refer to modules for measuring the rotation angle in which predetermined trajectory lines are arranged on parallel planes of the N11 plane, and the manner in which they are arranged at the matching positions of the moving bodies may refer to the related description set forth in the third section of the present invention.
The predetermined track lines of at least two groups of modules for measuring the rotation angle are arranged on the parallel surface of the N12 plane and are arranged at the matching position of the moving body, so that the projection of the first measurement area of the rotation angle on the N12 plane corresponding to the modules for measuring the rotation angle of the groups forms a fourth measurement area of the rotation angle in succession, and can be used for measuring the rotation angle of a P11 point relative to a P01 point on the other vertical surface dimension. In this paragraph, the sets of modules for measuring the rotation angle refer to modules for measuring the rotation angle in which predetermined trajectory lines are arranged on parallel planes of the N12 plane, and the manner in which they are arranged at the matching positions of the moving bodies may refer to the related description set forth in the third section of the present invention.
Preferably, the N11 plane and the N12 plane are both perpendicular. At this time, in the present embodiment, the means for measuring the rotation angle disposed on the parallel plane to the N11 plane is used to measure the rotation angle of the P11 point in the N11 plane dimension with respect to the P01 point, and the means for measuring the rotation angle disposed on the parallel plane to the N12 plane is used to measure the rotation angle of the P11 point in the N12 plane dimension with respect to the P01 point, the central angle of the rotation angle fourth measurement region is > 180 ° and ≦ 360 °.
The invention is described in detail above with reference to the figures and examples. It should be understood that in practice it is not intended to be exhaustive of all possible embodiments, and the inventive concepts of the present invention are presented herein by way of illustration. Without departing from the inventive concept of the present invention and without any creative work, a person skilled in the art should, in all of the embodiments, make optional combinations of technical features and experimental changes of specific parameters, or make a routine replacement of the disclosed technical means by using the prior art in the technical field to form specific embodiments, which belong to the content implicitly disclosed by the present invention.
Claims (8)
1. A device for measuring a rotation angle, which is designed to rotate in a plane N01 relative to a point P01 in a plane N01 when in a use state and to be a virtual N02 vertical plane through a point P01, is characterized by comprising at least two groups of modules for measuring the rotation angle, which are kept in a relatively static arrangement;
each set of modules for measuring the rotation angle comprises a low-point leveling mechanism and a movable sub-position measuring unit, wherein the low-point leveling mechanism comprises a movable sub-and a movable sub-guider, the movable sub-can move on a preset track line defined by the movable sub-guider during use, a first projection curve of the preset track line in the N02 vertical plane belongs to a part of a full convex closed curve, any normal line on the N01 plane has at most one intersection point with the preset track line, the P01 point is correspondingly arranged on the concave side of the first projection curve, and the movable sub-position measuring unit is used for measuring the position of the movable sub-on the preset track line or the projection position of the movable sub-on the N01 plane;
a second projection curve of the corresponding predetermined trajectory line of each set of modules for measuring the rotation angle on the N01 plane forms a rotation angle first measurement zone around the point P01, and the rotation angle first measurement zones of the corresponding sets of modules for measuring the rotation angle form a rotation angle second measurement zone on the N01 plane in succession; the central angle of the second measuring area of the rotation angle is more than 180 degrees and less than or equal to 360 degrees.
2. The apparatus for measuring rotation angle according to claim 1, characterized in that the predetermined trajectory line is a plane curve.
3. An apparatus for measuring a rotation angle, comprising a moving body and the device for measuring a rotation angle according to claim 1 or 2; the moving body can rotate relative to a point P01 in the plane N01 in the plane N01, the maximum rotation angle of the moving body relative to the point P01 in the plane N01 is less than or equal to 360 degrees, and an included angle of the plane N01 and the vertical plane N02 is less than 90 degrees through the vertical plane N01 and the virtual N02; the movable rotor guider of each group of modules for measuring the rotation angle is kept relative to the movable body and is arranged still, the central angle of the second measurement area of the rotation angle is larger than or equal to the maximum rotation angle, and during the rotation of the movable body in the N01 plane relative to the point P01, when all the movable rotors are still relative to the point P01, the low-point leveling mechanism of at least one group of modules for measuring the rotation angle has a low-point leveling effect.
4. An apparatus for measuring rotation angle according to claim 3, characterized in that the plane on which said predetermined trajectory line lies is disposed in parallel with said N01 plane.
5. The apparatus for measuring rotational angle according to claim 3, characterized in that said N01 plane coincides with said N02 vertical plane.
6. An apparatus for measuring rotation angle according to claim 3, characterized in that on said N01 plane, each set of modules for measuring rotation angle forms said rotation angle with a central angle of a first measurement area of the rotation angle being equal to or less than 180 °.
7. Use of a device for measuring the rotation angle according to claim 3, characterized by the steps of:
measuring the position of the mobile member of each set of modules for measuring the rotation angle on the matched predetermined trajectory line thereof when the mobile member is at the rest position and all the mobile members are at rest relative to the point P01;
if the movable son of one of the modules for measuring the rotation angle is not positioned at the two ends of the matched predetermined track line, the position of the movable son of the module for measuring the rotation angle on the predetermined track line is a valid point;
if the projection of the movable son of the at least two groups of modules for measuring the rotation angle on the N02 vertical plane is on the vertical line passing through the P01 point, the position of the movable son of one of the at least two groups of modules for measuring the rotation angle on the corresponding predetermined trajectory line is taken as the effective point.
8. Use of a device for measuring angles of rotation according to claim 7, characterized in that when said moving body is in a first rest position and all said mobile bodies are stationary with respect to said point P01, the position of the first active point of this state, the first active point on all the predetermined trajectory lines determined by the module for measuring angles of rotation, is acquired; when the moving body is at a second rest position and all the moving bodies are at rest relative to the point P01, acquiring a second effective point of the state and the position of the second effective point on a predetermined track line determined by all the modules for measuring the rotation angle; all the predetermined trajectory lines determined by the module for measuring the rotation angle and the first and second effective points are projected on the N01 plane, a first calibration ray is formed by taking the point P01 as a starting point through the projected point of the first effective point on the N01 plane, a second calibration ray is formed by taking the point P01 as a starting point through the projected point of the second effective point on the N01 plane, and the rotation angle of the moving body from the first rest position to the second rest position around the point P01 in the N01 plane corresponds to the rotation angle from the first calibration ray to the second calibration ray.
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