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Method and device for obtaining object deflection angle

A technology of deflection angle and object, applied in the direction of measuring device, measuring angle, instrument, etc., can solve the problem that the three-axis rotation direction cannot be guaranteed, and the installation position of the sensor is not fixed and consistent.

Inactive Publication Date: 2020-04-17
成都微思格科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The current method of obtaining the deflection angle of an object is to install a sensor at a specific position of the object, and establish a space Cartesian coordinate system with the sensor as the origin, and then require the deflection direction of the object to be consistent with the three-axis rotation direction of the space Cartesian coordinate system, in order to calculate the object deflection angle, but in real life, the installation position of the sensor is not fixed, and the deflection direction of the object cannot be guaranteed to be consistent with the three-axis rotation direction of the space Cartesian coordinate system, which reduces the applicability of the method

Method used

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  • Method and device for obtaining object deflection angle
  • Method and device for obtaining object deflection angle
  • Method and device for obtaining object deflection angle

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Embodiment 1

[0030] This embodiment provides a method for obtaining the deflection angle of an object, including first installing a six-axis sensor at any position of the object, establishing a spatial rectangular coordinate system with the six-axis sensor as the origin, and obtaining the data collected by the six-axis sensor in the initial state of the object and the object The data collected by the six-axis sensor after the deflection occurs, and the coordinates G of the gravity vector of the object in the initial state of the object and after the deflection of the object in the space Cartesian coordinate system are calculated respectively 1 and G 2 , put the two coordinates into the formula (I) to calculate the deflection angle θ;

[0031]

[0032] In the formula, θ is the deflection angle of the object; G 1 is the coordinate of the gravity vector object in the space Cartesian coordinate system in the initial state, G 2 is the coordinate of the gravity vector object in the space Ca...

Embodiment 2

[0051] This embodiment provides that the device for acquiring the deflection angle of an object includes a six-axis sensor and an information processing unit.

[0052] The six-axis sensor is installed at any position of the object, and is used to collect the angle data between the three axes of the space Cartesian coordinate system established with itself as the origin and the ground, and the range of the angle data is -90°~+90° °.

[0053] The signal processing unit is connected to the six-axis sensor, and is used to acquire data collected by the six-axis sensor, process the data, and calculate the deflection angle θ. In this embodiment, the range of the deflection angle θ can be calculated according to the obtained included angle data. 0~180°.

[0054] In the specific use of this embodiment:

[0055] The six-axis sensor first collects the angle data α, β, and γ between the three axes and the ground in the initial state of the object. At this time, the gravity vector of the...

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Abstract

The invention discloses a method and device for obtaining an object deflection angle. The method comprises the steps of installing a six-axis sensor at any position of an object; establishing a spacerectangular coordinate system by taking six-axis sensing as an original point; acquiring data acquired by a six-axis sensor in an initial state of an object and data acquired by the six-axis sensor after the object deflects, respectively calculating coordinates G1 and G2 of an object gravity vector in a space rectangular coordinate system in the initial state of the object and after the object deflects, and calculating a deflection angle theta through the two coordinates. According to the invention, the six-axis sensor is installed at any position of an object; a space rectangular coordinatesystem is established by taking the six-axis sensor as an original point; and the coordinates G1 and G2 of the object gravity vector in the object initial state and in the space rectangular coordinatesystem after the object deflects are obtained, and the deflection angle theta is calculated through the two coordinates G1 and G2. According to the method, position zero setting automation can be realized, manual adjustment is not needed, and the method is simple, easy to understand, efficient and reliable.

Description

technical field [0001] The invention relates to the technical field of object deflection angle measurement, in particular to a method and device for obtaining an object deflection angle. Background technique [0002] The current method of obtaining the deflection angle of an object is to install a sensor at a specific position of the object, and establish a space Cartesian coordinate system with the sensor as the origin, and then require the deflection direction of the object to be consistent with the three-axis rotation direction of the space Cartesian coordinate system, in order to calculate the object deflection However, in real life, the installation position of the sensor is not fixed, and the deflection direction of the object cannot be guaranteed to be consistent with the three-axis rotation direction of the space Cartesian coordinate system, which reduces the applicability of this method. Contents of the invention [0003] The purpose of the present invention is to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C1/00
CPCG01C1/00
Inventor 王皓民张顺陈峻
Owner 成都微思格科技有限公司