CN112833823A - Novel sensor based on time angle measurement and angle measurement method thereof - Google Patents
Novel sensor based on time angle measurement and angle measurement method thereof Download PDFInfo
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- CN112833823A CN112833823A CN202110202949.XA CN202110202949A CN112833823A CN 112833823 A CN112833823 A CN 112833823A CN 202110202949 A CN202110202949 A CN 202110202949A CN 112833823 A CN112833823 A CN 112833823A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention relates to a novel sensor based on time angle measurement and an angle measurement method thereof, wherein the method comprises the following steps: setting the time t0(j) of the laser adjusted by the optical waveguide array device in each group of measuring head devices to be equal to 0, and recording the time ti (j) of the laser adjusted by the optical waveguide array device reflected to the M measuring photodetectors by the polygonal regular prism; according to the time ti (j) of laser incidence to the measuring photoelectric detector, the relative angles of the polygonal regular prisms corresponding to the group of measuring head devices at the time ti (j) are calculated in sequence
Thereby calculating an angle increment
Said angular increment
The rotation angle of the measured object from the time t (i-1) (j) to the time ti (j) is taken as the rotation angle. The high-frequency change of the laser incidence angle is realized through the optical waveguide array device, the relative rotation angle of the polygonal regular prism is determined through the time difference between the laser incidence to the reference photoelectric detector and the measurement photoelectric detector, and the angle measurement precision is related to the time measurement precision and is not determined by the precision of the photoelectric detector any more.
Description
Technical Field
The invention relates to the technical field of rotation angle measurement, in particular to a novel sensor based on time angle measurement and an angle measurement method thereof.
Background
At present, the grating is often used as a measuring element for high-precision angle measurement, but the grating precision is limited by the grating line density and the line precision, and the measurement precision is difficult to further improve at present. The angle measurement sensor based on the optical arm amplification type proposed by the applicant also depends on a high-precision position sensitive detector, and the device is difficult to manufacture by domestic manufacturers. The time grating invented by professor Pendonglin, university of Chongqing rational engineering, adopts a rotating magnetic field as a motion reference system, and the uniform speed and the stability of the rotating magnetic field influence the measurement precision. Therefore, innovation is carried out from the measurement principle, the requirement of the angle sensor on the precision of the photoelectric detection device is reduced, and the development of a novel high-precision and low-cost high-precision angle measurement sensor is very necessary.
Disclosure of Invention
The invention aims to innovate from a measurement principle, reduce the requirement of an angle sensor on the precision of a photoelectric detector and provide a novel sensor based on time angle measurement.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
the utility model provides a novel sensor based on time angle measurement, includes gauge head device, multilateral regular prism, wherein:
the gauge head device includes:
a laser for emitting laser light to the optical waveguide array device;
the optical waveguide array device is used for carrying out angle change on laser emitted by the laser according to a set frequency F, then emitting the laser to the polygonal regular prism and the reference photoelectric detector, and enabling the laser to be reflected to the measuring photoelectric detector after passing through the polygonal regular prism;
the measuring photoelectric detector is used for receiving laser light emitted by the optical waveguide array device reflected by the polygonal regular prism;
the reference photoelectric detector is used for receiving the laser emitted by the optical waveguide array device;
the processor is used for recording the time t0 when the laser is incident to the reference photoelectric detector and the time t1 when the laser is incident to the measurement photoelectric detector, and calculating the relative angle theta of the polygonal regular prism according to the recorded time difference delta t between the time t1 and the time t2, wherein the relative angle theta is used as the rotating angle of the measured object in the time period delta t;
the polygonal regular prism is used for carrying a measured object to rotate, receiving the laser emitted by the optical waveguide array device and reflecting the laser to the measuring photoelectric detector.
In the above scheme, since the polygonal regular prism does not rotate at a constant speed when carrying the measured object to rotate, the rotation angle of the polygonal regular prism in the time period can be calculated by recording the time when the laser is sequentially incident on the reference photodetector and the time when the laser is incident on the measurement photodetector. After the structural parameters of the novel sensor are determined, any angle of the polygonal regular prism corresponds to a unique time difference, and the corresponding rotation angle of the polygonal regular prism can be obtained through the time difference.
Preferably, the reference photodetector and the measurement photodetector are provided with light intensity thresholds, and when the intensity of the incident laser light exceeds the set light intensity threshold, the light intensity thresholds are set for effective detection signals and for laser signals which can be received by the reference photodetector and the measurement photodetector, so that the influence of stray laser light generated by the optical waveguide array device on the measurement process can be avoided.
Furthermore, the measuring head device and the polygonal regular prism are arranged in the shell, and the laser, the optical waveguide array device, the measuring photoelectric detector and the reference photoelectric detector are fixed relative to the shell.
Furthermore, the measuring head device comprises a plurality of measuring head devices, and when the measuring photoelectric detector of one measuring head device cannot receive laser light within the angle adjusting range of the optical waveguide array device, the relative angle theta of the polygonal regular prism is calculated through the time difference of the reference photoelectric detector and the measuring photoelectric detector of other measuring head devices receiving the laser light.
In the above scheme, when one of the measuring head devices fails to meet the measurement requirement, that is, within one period of angle adjustment of the optical waveguide array device, the measurement photodetector cannot receive the effective laser, and at least one of the other measuring head devices is within the normal measurement range. When including a plurality of gauge head devices, through the dislocation set of a plurality of gauge head devices, realize the continuous angle measurement of testee, when a plurality of gauge head devices are in effective measuring range simultaneously, can ask the average value of relative increment angle, error when can further reduce calculation rotation angle.
For example, the processor of each probe device in the normal measurement range calculates a relative increment angle Δ θ of the polygonal regular prism, where the relative increment angle Δ θ is a difference between the relative angle θ at the current time and the relative angle θ at the previous time, and then calculates an average value of the relative increment angles Δ θ of the polygonal regular prisms calculated by the processors of the plurality of probe devices, as a rotation increment angle of the object to be measured in the time period Δ t.
Furthermore, the angle adjustment range of the optical waveguide array device to the laser is more than or equal to 360 DEG/N, wherein N is the number of sides of the polygonal regular prism.
Furthermore, the optical waveguide array device can be other devices for realizing high-frequency adjustment of the laser angle, such as a high-frequency laser galvanometer and the like.
Furthermore, each measuring head device comprises M measuring photoelectric detectors which are sequentially arranged, wherein M is a positive integer greater than or equal to 2; and the M measuring photoelectric detectors are equiangularly distributed in the laser measuring range.
Further, the reference photodetector is disposed at an angle adjustment boundary of the optical waveguide array device.
In the above scheme, in order to ensure that the reference photodetector can still receive laser light at a certain time after the optical waveguide array device adjusts the emitting angle of the laser light, the reference photodetector needs to be disposed within the angle adjustment range of the optical waveguide array device.
Furthermore, the polygonal regular prism is provided with a hollow groove, so that the polygonal regular prism and the object to be measured are coaxially and fixedly arranged.
In the scheme, the polygonal regular prism and the measured object are relatively and fixedly arranged on the same shaft, and when the measured object rotates, the polygonal regular prism can be coaxially driven to rotate together, so that the rotation angle of the measured object is measured through the sensor.
Preferably, the number of sides of the polygonal regular prism is more than 10.
The scheme also provides an angle measuring method of the novel sensor based on the time angle measurement, which comprises the following steps:
step S1: setting the time t0(j) of the laser light adjusted by the optical waveguide array device in each group of measuring head devices to be equal to 0, and recording the time of the laser light adjusted by the optical waveguide array device reflected to the M measuring photodetectors by the polygonal regular prism to be ti (j), wherein ti (j) represents the time of the laser light in the jth measuring head device to be incident to the ith measuring photodetector of the measuring head device, i is 1, i.e., M, M is the number of the measuring photodetectors, j is 1, K, and K is the number of the measuring head devices;
step S2: according to the time ti (j) of laser incidence to the measuring photoelectric detector, the relative angle theta of the polygonal regular prisms corresponding to the group of measuring head devices at the time ti (j) is calculated in sequencei(j) Thereby calculating an angle increment Delta thetai(j) Is thetai(j)-θi-1(j) Said angular increment Δθi(j) The rotation angle of the measured object from the time t (i-1) (j) to the time ti (j) is taken as the rotation angle.
In the above solution, the sensor has a plurality of measuring head devices, each measuring head device has a plurality of measuring photodetectors, and from time t0(j) when the laser light is incident on the reference photodetector, a time ti (j) is recorded each time the laser light is incident on one measuring photodetector, and each time ti (j) can calculate a relative angle θ i (j), so that a relative angle θ i (j) can be calculated at the previous time t (i-1) (j) as welli-1(j) Thus calculating the angle increment Delta thetai(j)＝θi(j)-θi-1(j) I.e., the angle of rotation of the polygonal regular prism between time ti (j) and time t (i-1) (j). Because each measuring head device in the scheme is provided with M measuring photoelectric detectors, one angle adjusting period of the optical waveguide array device can be further subdivided, so that the influence of high-speed rotation of a measured object on the angle measuring precision is reduced.
Furthermore, a time interval T is set, when the ith measuring photodetector in a certain measuring head device just detects laser incidence, or the ith measuring photodetector detects laser incidence most recently, the relative angle θ i of the polygonal regular prism at the time interval T is calculated, and the rotation increment angle of the measured object in the time interval T can be obtained.
In the scheme, a time interval T is set for calculating the rotation angle of the measured object in a certain time period, the relative angle thetai is calculated once every time interval T, however, since there are gaps between the plurality of measurement photodetectors, which are not completely connected, there may be a case where the laser light is not incident on any of the measurement photodetectors during the time interval T, therefore, the scheme sets that if every time interval T, the laser is just incident on a certain measuring photoelectric detector, calculating the relative angle thetai of the polygonal regular prism at the moment by taking the incidence of the laser on the measuring photoelectric detectors as a standard, and if the laser is not incident on any measuring photoelectric detector, and calculating the relative angle theta i of the polygonal regular prism at the moment by taking the measurement photoelectric detector which is the latest incidence of the laser as a reference, wherein the relative angle difference of two adjacent moments is the rotation increment angle.
Furthermore, in a period of angular adjustment of the optical waveguide array device of the current probe device, any one of the M measuring photodetectors of the probe device cannot receive laser light, or M/2 measuring photodetectors of the M measuring photodetectors of the probe device cannot receive laser light, and then the probe device is switched to another probe device;
in a period of angle adjustment of the optical waveguide array device of the switched measuring head device, all the M measuring photodetectors of the measuring head device can normally receive laser light, or M/2 measuring photodetectors of the M measuring photodetectors of the measuring head device can normally receive laser light, and then the angle increment is delta thetai(j) The switched measuring head device is used for calculation, continuous incremental angle calculation can be realized by accumulating the angle increment at each moment, and finally the rotating angle of the measured object at any moment is calculated.
In the above-mentioned solution, it may be set that when a certain measuring photodetector does not receive the laser light, the probe device is switched to another probe device, or it may be set that when half of the measuring photodetectors receive the laser light, the probe device is switched to another probe device, so that the requirement for the number of probe devices may be reduced even when the measurement accuracy is improved.
In addition, in order to prevent the laser emitted to the polygonal regular prism by the optical waveguide array device from just being incident on the edge angle of the polygonal regular prism or being incident on the reflecting surface of the adjacent polygonal regular prism so as to cause that the group of measuring photoelectric detectors cannot receive the laser, a plurality of groups of measuring head devices are arranged, and each group of measuring head devices are not symmetrically arranged in the polygonal regular prism, namely each group of measuring head devices are arranged in the polygonal regular prism in a staggered manner, so that when most of the measuring photoelectric detectors in one group of measuring head devices cannot receive the laser, the other group of measuring head devices are switched to calculate and measure.
This scheme still provides, a novel sensor based on time angle measurement, including gauge head device, multilateral regular prism, wherein:
the gauge head device includes:
a laser for emitting laser light to the optical waveguide array device;
the optical waveguide array device is used for carrying out angle change on laser emitted by the laser according to a set frequency F, then emitting the laser to the polygonal regular prism and the reference photoelectric detector, and enabling the laser to be reflected to the measuring position sensitive detector after passing through the polygonal regular prism;
the measuring position sensitive detector is used for receiving laser emitted by the optical waveguide array device reflected by the polygonal regular prism;
the reference photoelectric detector is used for receiving the laser emitted by the optical waveguide array device;
a processor for resetting the time when the laser is incident on the reference photodetector, setting a time interval Deltat, and recording the position X of the laser incident on the measurement position sensitive detector at intervals of the time interval DeltatiAccording to the recorded position XiPosition X recorded from a previous time intervali-1Calculating the relative increment angle theta of the polygonal regular prismiSaid relative incremental angle θiAs the rotation increment angle of the measured object in the time period delta t;
the polygonal regular prism is used for carrying a measured object to rotate, receiving laser emitted by the optical waveguide array device and reflecting the laser to the measuring position sensitive detector.
In the above scheme, the measurement Position Sensitive Detector (PSD) is used to calculate the rotation angle of the polygonal regular prism from the position change of the laser incidence.
Compared with the prior art, the invention has the beneficial effects that:
the high-frequency change of the laser incidence angle is realized through the optical waveguide array device, the relative rotation angle of the polygonal regular prism can be determined through the time difference between the laser incidence to the reference photoelectric detector and the measurement photoelectric detector, the angle measurement precision is related to the time measurement precision and is not determined by the precision of the photoelectric detector, and the rotation angle of the polygonal regular prism can be calculated even if the rotation speed of the polygonal regular prism is not constant.
Meanwhile, through the introduction of the optical waveguide array device, the precise angle calculation can be realized by adopting the measuring position sensitive detector to detect the displacement change in the set time interval delta t, and the angle measuring precision is not mainly determined by the precision of the position sensitive detector but mainly determined by the precision of the angle conversion frequency of the optical waveguide array device. The accuracy and technical means of time measurement are easier to realize, for example, currently 1 meter is defined as the distance traveled by light in 1/299792458 seconds in vacuum, and the length is traced to the time measurement. Therefore, the angle measurement precision can be improved by improving the time measurement precision through the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a novel sensor with a single measuring head device in embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of a novel sensor provided with a plurality of measuring head devices according to embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram of a single measuring head device of the novel sensor in embodiment 1 of the present invention, which has a plurality of measuring photodetectors;
fig. 4 is a schematic structural diagram of a novel sensor according to embodiment 1 of the present invention, where the novel sensor includes a plurality of probe devices, and each of the probe devices includes a plurality of measuring photodetectors.
Description of the main elements
The device comprises a laser 1, an optical waveguide array device 2, a reference photoelectric detector 3, a measurement photoelectric detector 4 and a polygonal regular prism 5.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Also, in the description of the present invention, the terms "first", "second", and the like are used for distinguishing between descriptions and not necessarily for describing a relative importance or implying any actual relationship or order between such entities or operations.
Example 1:
the invention is realized by the following technical scheme, as shown in fig. 1, the novel sensor based on time angle measurement comprises a measuring head device and a polygonal regular prism, wherein the measuring head device comprises a laser, an optical waveguide array device, a measurement photoelectric detector, a reference photoelectric detector and a processor, wherein:
the laser is used for emitting laser to the optical waveguide array device.
The optical waveguide array device is used for carrying out angle change on laser emitted by the laser according to a set frequency F, then emitting the laser to the polygonal regular prism and the reference photoelectric detector, and enabling the laser to be reflected to the measuring photoelectric detector after passing through the polygonal regular prism. The reference photoelectric detector and the measuring photoelectric detector are provided with a light intensity threshold, after laser emitted by the laser enters the optical waveguide array device, stray laser can be generated when the optical waveguide array device adjusts the emitting angle of the laser, the stray laser can interfere the measuring result that the laser is reflected to the reference photoelectric detector and the measuring photoelectric detector through the polygonal regular prism, and therefore the light intensity threshold is set, light rays with light intensity smaller than the threshold are shielded, the reference photoelectric detector and the measuring photoelectric detector only recognize laser in the main direction, effective detection signals are received, and the influence of the stray laser generated by the optical waveguide array device on the measuring process is avoided.
The measuring photoelectric detector is used for receiving laser light emitted by the optical waveguide array device reflected by the polygonal regular prism.
The reference photoelectric detector is used for receiving the laser emitted by the optical waveguide array device; by way of example, the measurement photodetector and the reference photodetector may be the same device, which may reduce costs.
The processor is used for recording the time t0 when the laser is incident to the reference photoelectric detector and the time t1 when the laser is incident to the measurement photoelectric detector, and calculating the relative angle theta of the polygonal regular prism according to the recorded time difference delta t between the time t0 and the time t1, wherein the relative angle theta is used as the rotating angle of the measured object in the time period delta t.
The polygonal regular prism is used for carrying a measured object to rotate, receiving the laser emitted by the optical waveguide array device and reflecting the received laser to the measuring photoelectric detector.
It should be noted that, referring to fig. 1, when the polygonal regular prism rotates by any angle (the polygonal regular prism may rotate at a non-uniform speed), the time difference between the laser light incident on the reference photodetector and the laser light incident on the measurement photodetector must be a unique value, because the laser light cannot be incident on the measurement photodetector at all times during the rotation of the polygonal regular prism, and the value is related to the adjustment frequency of the optical waveguide array device to the laser light angle and the rotation angle position of the polygonal regular prism. Because the optical waveguide array device is a known quantity for the laser angle adjustment frequency, the rotation angle value of the polygonal regular prism can be directly calculated, so that the calibration of the relationship between the time difference and the relative angle can be realized by a calibration method, and in the subsequent measurement process, the relative angle can be obtained after the time difference is obtained in a table look-up mode. Because the position of the variable positive prisms is not changed in the calculation principle during the measurement process of a time difference, the higher the laser angle adjustment frequency of the optical waveguide array device is, the lower the influence of the rotation speed of the variable positive prisms on the measurement result is. The optical waveguide array device can realize high-frequency adjustment of the laser angle and meets the frequency requirement of the laser angle adjusting device.
In order to ensure that the transmission of laser is not influenced or interfered by external light, the measuring head device and the polygonal regular prism are arranged in the shell, a laser, an optical waveguide array device, a measuring photoelectric detector and a reference photoelectric detector in the measuring head device are fixed relative to the shell, and the polygonal regular prism rotates relative to the shell and rotates along with an object to be measured.
As an implementable solution, please refer to fig. 2, the solution may include a plurality of probe devices, when one of the probe devices fails to meet the measurement requirement, that is, when the measurement photodetector of the probe device cannot receive the laser light within one period of angle adjustment of the optical waveguide array device, at least another probe device is within the normal measurement range, and the relative angle θ of the polygonal regular prism is calculated by using the reference photodetectors and the time for receiving the laser light by the measurement photodetectors of the other probe devices. For example, when two measuring head devices are provided, one measuring head device is arranged in a staggered manner with the other measuring head device, when the polygonal regular prism rotates, the measuring photoelectric detector of one measuring head device cannot detect incident laser in an angle adjustment period of the optical waveguide array device, and a measuring result of the other measuring head device is used as a rotating angle of the polygonal regular prism in the current time interval.
When including a plurality of gauge head devices, through the dislocation set of a plurality of gauge head devices, realize the continuous angle measurement of testee, when a plurality of gauge head devices are in effective measuring range simultaneously, can ask the average value of relative increment angle, error when can further reduce the calculation rotation increment angle.
For example, the processor of each measuring head device in the normal measuring range calculates a relative increment angle Δ θ of the polygonal regular prism, where the relative increment angle Δ θ is a difference between the relative angle θ at the current moment and the relative angle θ at the previous moment, and then calculates an average value of the relative increment angles Δ θ of the polygonal regular prisms calculated by the processors of the plurality of measuring head devices, and the average value is used as a rotation increment angle of the measured object in the time period Δ t.
As a more optimized implementation, please refer to fig. 3 or fig. 4, each measuring head device in this scheme includes M measuring photodetectors arranged in sequence, where M is a positive integer greater than or equal to 2, and the M measuring photodetectors are equiangularly distributed in a laser measurement range.
The angle adjusting range of the optical waveguide array device to laser is larger than or equal to 360 degrees/N, and N is a variable of the polygonal regular prism. For example, when the number of polygonal regular prisms is 10, the angular adjustment range of the optical waveguide array device for the laser light should be greater than or equal to 36 °.
Since the reference photodetector is used to directly receive the laser light emitted from the optical waveguide array device, the reference photodetector should be disposed within the angular adjustment range of the optical waveguide array device. Preferably, the reference photodetector is disposed at an angle adjustment boundary of the optical waveguide array device.
In the scheme, the polygonal regular prism can be provided with a hollow groove, the hollow shaft and the measured object are simultaneously fixed by using the same shaft, so that the measured object can be conveniently rotated by coaxially driving the polygonal regular prism when rotating, and the rotation angle of the measured object can be measured.
The embodiment also provides an angle measurement method of the novel sensor based on time angle measurement, which comprises the following steps:
step S1: setting the time t0(j) of the laser light adjusted by the optical waveguide array device in each group of measuring head devices to be equal to 0, and recording the time of the laser light adjusted by the optical waveguide array device reflected to the M measuring photodetectors by the polygonal regular prism to be ti (j), wherein ti (j) represents the time of the laser light in the jth measuring head device to be incident to the ith measuring photodetector of the measuring head device, i is 1, i.e., M, M is the number of the measuring photodetectors, j is 1, K, and K is the number of the measuring head devices;
step S2: according to the time ti (j) of laser incidence to the measuring photoelectric detector, the relative angle theta of the polygonal regular prisms corresponding to the group of measuring head devices at the time ti (j) is calculated in sequencei(j) Thereby calculating an angle increment Delta thetai(j) Is thetai(j)-θi-1(j) Said angular increment Δ θi(j) The rotation angle of the measured object from the time t (i-1) (j) to the time ti (j) is taken as the rotation angle.
For example, the sensor is provided with 2 groups of measuring head devices, namely a first measuring head device and a second measuring head device; the first measuring head device is provided with 3 measuring photoelectric detectors which are respectively a first measuring photoelectric detector, a second measuring photoelectric detector and a third measuring photoelectric detector; the time when the laser light enters the reference photodetector of the first probe device is represented as t0(1) being 0, and the time when the laser light enters the first measurement photodetector of the first probe device along with the angle adjustment of the optical waveguide array device on the incident laser light is t1(1), at which time the relative angle θ of the polygonal regular prism corresponding to the time t1(1) of the first probe device can be calculated1(1) (ii) a When the incident laser is continuously adjusted with the angle of the optical waveguide array device, the time for the laser to enter the second measuring photodetector of the first probe unit is t2(1), and at this time, the relative angle θ of the polygonal regular prism corresponding to the time t2(1) of the second probe unit can be calculated2(1) (ii) a In turn, the relative angle θ of the polygonal regular prism corresponding to the second stylus device at time t3(1) can be calculated3(1) (ii) a Thereby calculating the angle increment Delta thetai(j)＝θi(j)-θi-1(j) In that respect Such as delta theta2(1)＝θ2(1)-θ1(1) The incremental rotation angle of the polygonal regular prism between the time t1(1) and the time t2(1), that is, the incremental rotation angle is defined as the rotation angle of the object to be measured.
The positions of the polygonal regular prisms are not changed in the high-frequency angle adjusting period of the optical waveguide array device for the incident laser. Therefore, when the object to be measured rotates at a high speed, the angle adjusting frequency of the optical waveguide array device must be high enough, so that the angle rotation increment of the object to be measured is within the design precision within one adjusting period of the optical waveguide array device.
According to the above method, the incremental rotation angle of the polygonal regular prism between the time t1(2) and the time t2(2) of the second stylus device may be calculated, and the incremental rotation angle calculated by the first stylus device and the incremental rotation angle calculated by the second stylus device may be averaged, thereby further improving the accuracy of measurement of the rotation angle of the object to be measured.
Furthermore, a time interval T is set, when the ith measuring photodetector in a certain measuring head device just detects laser incidence, or the ith measuring photodetector detects laser incidence most recently, the relative angle θ i of the polygonal regular prism at the time interval T is calculated, and the rotation increment angle of the measured object in the time interval T can be obtained.
In a period of angular adjustment of the optical waveguide array device of the current measuring head device, any one of the M measuring photodetectors of the measuring head device cannot receive laser light, or M/2 measuring photodetectors of the M measuring photodetectors of the measuring head device cannot receive laser light, and then the measuring head device is switched to another measuring head device.
In a period of angle adjustment of the optical waveguide array device of the switched measuring head device, all the M measuring photodetectors of the measuring head device can normally receive laser light, or M/2 measuring photodetectors of the M measuring photodetectors of the measuring head device can normally receive laser light, and then the angle increment is delta thetai(j) The switched measuring head device is used for calculation, continuous incremental angle calculation can be realized by accumulating the angle increment at each moment, and finally the rotating angle of the measured object at any moment is calculated.
Example 2:
this scheme is realized through another kind of scheme, a novel sensor based on time angle measurement, its characterized in that: including gauge head device, multilateral regular prism, wherein:
the gauge head device includes:
a laser for emitting laser light to the optical waveguide array device;
the optical waveguide array device is used for carrying out angle change on laser emitted by the laser according to a set frequency F, then emitting the laser to the polygonal regular prism and the reference photoelectric detector, and enabling the laser to be reflected to the measuring position sensitive detector after passing through the polygonal regular prism;
the measuring position sensitive detector is used for receiving laser emitted by the optical waveguide array device reflected by the polygonal regular prism;
the reference photoelectric detector is used for receiving the laser emitted by the optical waveguide array device;
a processor for resetting the time when the laser is incident on the reference photodetector, setting a time interval Deltat, and recording the position X of the laser incident on the measurement position sensitive detector at intervals of the time interval DeltatiAccording to the recorded position XiPosition X recorded from a previous time intervali-1Calculating the relative increment angle theta of the polygonal regular prismiSaid relative incremental angle θiAs the rotation increment angle of the measured object in the time period delta t;
the polygonal regular prism is used for carrying a measured object to rotate, receiving laser emitted by the optical waveguide array device and reflecting the laser to the measuring position sensitive detector.
In this technical solution, the measurement photodetector in embodiment 1 is replaced with the measurement position sensitive detector, and angle measurement is performed through an incident position, and other features are the same as those in embodiment 1, and are not described again.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A novel sensor based on time angle measurement is characterized in that: including gauge head device, multilateral regular prism, wherein:
the gauge head device includes:
a laser for emitting laser light to the optical waveguide array device;
the optical waveguide array device is used for carrying out angle change on laser emitted by the laser according to a set frequency F, then emitting the laser to the polygonal regular prism and the reference photoelectric detector, and enabling the laser to be reflected to the measuring photoelectric detector after passing through the polygonal regular prism;
the measuring photoelectric detector is used for receiving laser light emitted by the optical waveguide array device reflected by the polygonal regular prism;
the reference photoelectric detector is used for receiving the laser emitted by the optical waveguide array device;
the processor is used for recording the time t0 when the laser is incident to the reference photoelectric detector and the time t1 when the laser is incident to the measurement photoelectric detector, and calculating the relative angle theta of the polygonal regular prism according to the recorded time difference delta t between the time t1 and the time t0, wherein the relative angle theta is used as the rotating angle of the measured object in the time period delta t;
the polygonal regular prism is used for carrying a measured object to rotate, receiving the laser emitted by the optical waveguide array device and reflecting the laser to the measuring photoelectric detector.
2. The novel sensor based on time angle measurement as claimed in claim 1, wherein: the measuring head device and the polygonal regular prism are arranged in the shell, and the laser, the optical waveguide array device, the measuring photoelectric detector and the reference photoelectric detector are fixed relative to the shell.
3. The novel sensor based on time angle measurement as claimed in claim 1, wherein: the measuring head device comprises a plurality of measuring head devices, and when a measuring photoelectric detector of one measuring head device cannot receive laser light in the angle adjusting range of the optical waveguide array device, the relative angle theta of the polygonal regular prism is calculated through the time difference of the reference photoelectric detectors and the measuring photoelectric detectors of other measuring head devices receiving the laser light.
4. The novel sensor based on time angle measurement as claimed in claim 1, wherein: the angle adjusting range of the optical waveguide array device to laser is larger than or equal to 360 degrees/N, and N is the number of sides of the polygonal regular prism.
5. The novel sensor based on time angle measurement according to any one of claims 1-4, characterized in that: the measuring head device comprises M measuring photoelectric detectors which are sequentially arranged, wherein M is a positive integer greater than or equal to 2; and the M measuring photoelectric detectors are equiangularly distributed in the laser measuring range.
6. The novel sensor based on time angle measurement as claimed in claim 1, wherein: the reference photodetector is disposed at an angle adjustment range boundary of the optical waveguide array device.
7. An angle measurement method of a novel sensor based on time angle measurement is characterized in that: the method comprises the following steps:
step S1: setting the time t0(j) of the laser light adjusted by the optical waveguide array device in each group of measuring head devices to be equal to 0, and recording the time of the laser light adjusted by the optical waveguide array device reflected to the M measuring photodetectors by the polygonal regular prism to be ti (j), wherein ti (j) represents the time of the laser light in the jth measuring head device to be incident to the ith measuring photodetector of the measuring head device, i is 1, i.e., M, M is the number of the measuring photodetectors, j is 1, K, and K is the number of the measuring head devices;
step S2: according to the time ti (j) of laser incidence to the measuring photoelectric detector, the relative angle theta of the polygonal regular prisms corresponding to the group of measuring head devices at the time ti (j) is calculated in sequencei(j) Thereby calculating an angle increment Delta thetai(j) Is thetai(j)-θi-1(j) Said angular increment Δ θi(j) The rotation angle of the measured object from the time t (i-1) (j) to the time ti (j) is taken as the rotation angle.
8. The angle measurement method of the novel sensor based on the time angle measurement according to claim 7, characterized in that: and setting a time interval T, wherein when the ith measuring photoelectric detector in a certain measuring head device just detects laser incidence or the ith measuring photoelectric detector detects the laser incidence recently, the relative angle theta i of the polygonal regular prism during the time interval T is calculated, and the rotation increment angle of the measured object in the time interval T can be obtained.
9. The angle measurement method of the novel sensor based on the time angle measurement according to claim 7, characterized in that:
in a period of angle adjustment of the optical waveguide array device of the current measuring head device, any one of the M measuring photoelectric detectors of the measuring head device cannot receive laser, or M/2 measuring photoelectric detectors of the M measuring photoelectric detectors of the measuring head device cannot receive laser, and then the measuring head device is switched to another measuring head device;
in a period of angle adjustment of the optical waveguide array device of the switched measuring head device, all the M measuring photodetectors of the measuring head device can normally receive laser light, or M/2 measuring photodetectors of the M measuring photodetectors of the measuring head device can normally receive laser light, and then the angle increment is delta thetai(j) The switched measuring head device is used for calculation, continuous incremental angle calculation can be realized by accumulating the angle increment at each moment, and finally the rotating angle of the measured object at any moment is calculated.
10. A novel sensor based on time angle measurement is characterized in that: including gauge head device, multilateral regular prism, wherein:
the gauge head device includes:
a laser for emitting laser light to the optical waveguide array device;
the optical waveguide array device is used for carrying out angle change on laser emitted by the laser according to a set frequency F, then emitting the laser to the polygonal regular prism and the reference photoelectric detector, and enabling the laser to be reflected to the measuring position sensitive detector after passing through the polygonal regular prism;
the measuring position sensitive detector is used for receiving laser emitted by the optical waveguide array device reflected by the polygonal regular prism;
the reference photoelectric detector is used for receiving the laser emitted by the optical waveguide array device;
a processor for resetting the time when the laser is incident on the reference photodetector, setting a time interval Deltat, and recording the position X of the laser incident on the measurement position sensitive detector at intervals of the time interval DeltatiAccording to the recorded position XiPosition X recorded from a previous time intervali-1Calculating the relative increment angle theta of the polygonal regular prismiSaid relative incremental angle θiAs the rotation increment angle of the measured object in the time period delta t;
the polygonal regular prism is used for carrying a measured object to rotate, receiving laser emitted by the optical waveguide array device and reflecting the laser to the measuring position sensitive detector.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114705138A (en) * | 2022-04-29 | 2022-07-05 | 北方民族大学 | Multi-reflection type angle measurement system and measurement method |
| CN114740218A (en) * | 2022-04-19 | 2022-07-12 | 江苏亮点光电科技有限公司 | Method for measuring speed by laser |
| CN114894124A (en) * | 2022-05-17 | 2022-08-12 | 北方民族大学 | Interferometric angle measuring system and measuring method |
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2021
- 2021-02-23 CN CN202110202949.XA patent/CN112833823A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114740218A (en) * | 2022-04-19 | 2022-07-12 | 江苏亮点光电科技有限公司 | Method for measuring speed by laser |
| CN114705138A (en) * | 2022-04-29 | 2022-07-05 | 北方民族大学 | Multi-reflection type angle measurement system and measurement method |
| CN114705138B (en) * | 2022-04-29 | 2024-04-12 | 天航长鹰(江苏)科技有限公司 | Multi-reflection angle measurement system and measurement method |
| CN114894124A (en) * | 2022-05-17 | 2022-08-12 | 北方民族大学 | Interferometric angle measuring system and measuring method |
| CN114894124B (en) * | 2022-05-17 | 2024-04-12 | 天航长鹰(江苏)科技有限公司 | Interference type angle measurement system and measurement method |
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