Angle detection device

Abstract

The present invention provides an angle detection device, comprising: a first distance detection device, a first reflection plate, a first connecting member corresponding to a side in a parallelogram system, and a third connecting member corresponding to another side parallel to the side in the parallelogram system, wherein one of two adjacent sides in the parallelogram system can rotate relative to the other; the first distance detection device is connected to the first connecting member, the first reflection plate is connected to the third connecting member, and the first distance detection device is used to detect the distance between the first distance detection device and the first reflection plate. Compared with detecting the rotation angle of the detected device by using a light spot formed by a laser emitted by a laser generator, the rotation angle of the detected device can be continuously detected.

Description

Technical Field

[0001] The present invention relates to the technical field of angle detection, and in particular to an angle detection device. Background Art

[0002] In devices that work by rotating a rotating device, the rotation angle of the rotating device is often used as an important parameter for controlling the operation of the device. Therefore, how to detect the rotation angle of the rotating device has become a research hotspot.

[0003] In the prior art, the rotation angle of a rotating device is often detected using an angle detection device. This device includes a laser generator, a receiver, and a disc that rotates synchronously with the device. The laser generator and receiver are located on either side of the disc, which has multiple holes spaced around the device's axis. Each hole is located on the same arc, centered on the axis, and has a different shape. During operation, the disc rotates a certain angle from its initial position. Laser light from the laser generator passes through the holes and strikes the receiver, which then receives a light spot with the same shape as the hole. The central angle between the hole corresponding to the light spot and the initial position is the rotation angle of the rotating device.

[0004] However, the arrangement of the holes on the disk at intervals makes it difficult to detect the rotation angle of the rotating device when the turntable rotates to a position where the laser generator is aligned with the two holes, resulting in discontinuous detection. Summary of the Invention

[0005] In view of this, the present invention provides an angle detection device to solve the technical problem of discontinuous detection due to the setting of the hole intervals on the disc. When the turntable rotates to the position where the laser generator is directly opposite the two holes, it is difficult to detect the rotation angle of the rotating device.

[0006] The present invention provides an angle detection device, comprising: a first distance detection device, a first reflector, a first connecting member corresponding to a side of a parallelogram system, and a third connecting member corresponding to another side of the parallelogram system that is parallel to the side, wherein one of two adjacent sides of the parallelogram system is capable of rotating relative to the other; the first distance detection device is connected to the first connecting member, the first reflector is connected to the third connecting member, and the first distance detection device is used to detect the distance between the first distance detection device and the first reflector.

[0007] The angle detection device as described above, preferably, further comprises: a second connecting member corresponding to the side of the parallelogram between the side of the parallelogram system corresponding to the first connecting member and the side of the parallelogram system corresponding to the third connecting member, and the second connecting member rotates synchronously with the device under test.

[0008] As described above, in the angle detection device, preferably, the first reflector is connected to the third connecting member via a first bracket, and the distance between the sides of the parallelogram system corresponding to the first reflector and the third connecting member is greater than the length of the side of the parallelogram system corresponding to the second connecting member.

[0009] As described above, in the angle detection device, preferably, the first distance detection device is connected to the first connecting member through a second bracket, and the distance between the side of the parallelogram system corresponding to the first distance detection device and the first connecting member is greater than the length of the side of the parallelogram system corresponding to the second connecting member.

[0010] As described above, the angle detection device preferably further includes a second reflector, a second distance detection device, and a fourth connecting member corresponding to a side of the parallelogram system parallel to the side of the parallelogram system corresponding to the second connecting member, the second reflector is connected to one of the first, second, third, and fourth connecting members, and a preset angle is formed between the second reflector and the first reflector; the second distance detection device is arranged on a connecting member corresponding to a side of the parallelogram parallel to the side of the parallelogram system corresponding to the connecting member where the second reflector is located, for detecting the distance between the second distance detection device and the second reflector.

[0011] In the angle detection device as described above, preferably, the second distance detection device is connected to the first connecting member, and the second reflective plate is connected to the third connecting member.

[0012] The angle detection device as described above, preferably, further comprises: a second connecting member corresponding to a side of the parallelogram between a side of the parallelogram system corresponding to the first connecting member and a side of the parallelogram system corresponding to the third connecting member, and the first connecting member or the third connecting member rotates synchronously with the device under test.

[0013] As described above, the angle detection device preferably further includes a second reflector, a second distance detection device, and a fourth connecting member corresponding to a side of the parallelogram system parallel to the side of the parallelogram system corresponding to the second connecting member; the second reflector is connected to one of the first, second, third, and fourth connecting members, and a preset angle exists between the second reflector and the first reflector; the second distance detection device is arranged on a connecting member corresponding to a side of the parallelogram parallel to the side of the parallelogram system corresponding to the connecting member where the second reflector is located, for detecting the distance between the second distance detection device and the second reflector.

[0014] In the angle detection device as described above, preferably, the second distance detection device is connected to the first connecting member, and the second reflective plate is connected to the third connecting member.

[0015] As for the angle detection device as described above, preferably, the first distance detection device includes a laser sensor, an ultrasonic sensor, an infrared sensor, or a microwave ranging sensor.

[0016] The angle detection device provided by the present invention has a first connecting member corresponding to one side of a parallelogram system, a third connecting member corresponding to another side of the parallelogram system parallel to the side, a first distance detection device connected to the first connecting member, and a first reflector connected to the third connecting member. The first reflector is used to reflect the signal of the first distance detection device to detect the distance between the first connecting member and the third connecting member. According to the distance between the first connecting member and the third connecting member, the rotation angle between the two adjacent sides of the parallelogram system can be calculated using an inverse trigonometric function, and then the rotation angle of any side is obtained by the difference between the rotation angle and the initial angle before rotation, thereby realizing the detection of the rotation angle of the device to be detected; compared with detecting the rotation angle of the device to be detected by using a light spot formed by a laser emitted by a laser generator, the rotation angle of the device to be detected can be continuously detected. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 Schematic diagram of the structure of the angle detection device provided by the embodiment of the present invention Figure 1 ;

[0019] Figure 2 Schematic diagram of the structure of the angle detection device provided by the embodiment of the present invention Figure 2 ;

[0020] Figure 3 Schematic diagram of the structure of the angle detection device provided by the embodiment of the present invention Figure 3 ;

[0021] Figure 4 This is a schematic diagram of the angle detection device provided by an embodiment of the present invention detecting a turntable.

[0022] Description of reference numerals:

[0023] 1: turntable;

[0024] 2: Shell;

[0025] 10: first connecting member;

[0026] 20: second connecting member;

[0027] 30: third connecting piece;

[0028] 40: fourth connecting member;

[0029] 50: first distance detection device;

[0030] 60: first reflector;

[0031] 70: second distance detection device;

[0032] 80: second reflector;

[0033] 101: second bracket;

[0034] 301: First bracket. DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0036] Figure 1 Schematic diagram of the structure of the angle detection device provided by the embodiment of the present invention Figure 1 ; Figure 2 Schematic diagram of the structure of the angle detection device provided by the embodiment of the present invention Figure 2 ; Figure 3 Schematic diagram of the structure of the angle detection device provided by the embodiment of the present invention Figure 3 ; Figure 4 This is a schematic diagram of the angle detection device provided by an embodiment of the present invention detecting a turntable.

[0037] Please refer to Figure 1-Figure 4This embodiment provides an angle detection device, comprising: a first distance detection device 50, a first reflector 60, a first connecting member 10 corresponding to one side of a parallelogram system, and a third connecting member 30 corresponding to another side parallel to the first side of the parallelogram system, wherein one of two adjacent sides of the parallelogram system can rotate relative to the other; the first distance detection device 50 is connected to the first connecting member 10, and the first reflector 60 is connected to the third connecting member 30. The first distance detection device 50 is used to detect the distance between the first distance detection device 50 and the first reflector 60.

[0038] The parallelogram system in this embodiment is a parallelogram system formed by converting the components of the system into straight rods. Two adjacent components of the system are hinged, and when one component rotates, the component opposite it rotates synchronously, while the component adjacent to it moves in translation. In this way, the angle between any adjacent sides of the parallelogram system can be determined based on the distance between the sides of the parallelogram system corresponding to the two translational components, or the distance between the sides of the parallelogram system corresponding to the two rotational components, as well as the length of the sides of the parallelogram system corresponding to each component.

[0039] For ease of description, the following description will take the connecting parts as straight rods as an example. Of course, this embodiment does not limit the shape of the connecting parts. In addition, without affecting the motion principle, the connecting parts in the angle detection device can be omitted virtual connecting parts, or replaced by other devices.

[0040] Continue to refer to Figure 1 For example, the first connecting member 10, the second connecting member 20, the third connecting member 30, and the fourth connecting member 40 are all in the shape of straight rods, and these four connecting members are the four sides of a parallelogram system; the first connecting member 10 is arranged parallel to the third connecting member 30, and the second connecting member 20 is arranged parallel to the fourth connecting member 40, and the adjacent connecting members are hinged; the first distance detecting device 50 is connected to the first connecting member 10, and the first reflecting plate 60 is connected to the third connecting member 30. The first reflecting plate 60 is used to reflect the signal emitted by the first distance detecting device 50 to determine the distance between the first connecting member 10 and the third connecting member 30, and to determine the angle between two adjacent connecting rods. Based on the distance between the first connecting member 10 and the third connecting member 30, and the length of the second connecting member 20 or the fourth connecting member 40, the angle between the second connecting member 20 and the first connecting member 10 can be calculated using inverse trigonometric functions.

[0041] In this embodiment, the second connecting member 20 is described as rotating synchronously with the device under test. Of course, in this embodiment, other connecting members may also rotate synchronously with the device under test. During use, the second connecting member 20 rotates synchronously with the device under test, thereby driving the first connecting member 10 or the third connecting member 30 to move horizontally. At this time, the first distance detection device 50 detects the distance between the first connecting member 10 and the third connecting member 30. Based on the distance between the first connecting member 10 and the third connecting member 30 and the length of the second connecting member 20, the angle between the second connecting member 20 and the first connecting member 10 is calculated using an inverse trigonometric function, thereby obtaining the angle between each adjacent two connecting members. The rotation angle of the second connecting member 20 can be determined based on the angle difference before and after rotation. It is worth noting that by properly setting the positions of the first distance detection device 50 and the first reflector 60, during the rotation of the second connecting member 20, the first reflector 60 can always reflect the signal from the first distance detection device 50 to the first distance detection device 50.

[0042] In this embodiment, the first connecting member 10, the second connecting member 20, the third connecting member 30 and the fourth connecting member 40 are all rigid members to prevent the connecting members from bending under force when the device under test drives the second connecting member 20 to rotate, thereby preventing inaccurate detection results.

[0043] In this embodiment, there can be various first distance detection devices 50 , as long as they can send a signal to the first reflector 60 and then calculate the distance between the first connecting member 10 and the third connecting member 30 according to the signal reflected by the first reflector 60 . An exemplary first distance detecting device 50 may be a laser sensor, which includes a laser generator and a laser receiver arranged on the first connecting member 10. When in operation, the laser generator emits a laser to the first reflector 60, and the laser is reflected on the first reflector 60. The reflected laser is received by the laser receiver, and the time interval from the laser generator emitting the laser to the laser receiver receiving the laser is obtained. Half of the product of the time interval and the speed of light is the distance between the first distance detecting device 50 and the first reflector 60; if the first distance detecting device 50 is arranged on the first connecting member 10 and the first reflector 60 is arranged on the third connecting member 30, then the distance is the distance between the first connecting member 10 and the third connecting member 30; if the first distance detecting device 50 and the first connecting member 10 have a first interval, then the first interval needs to be subtracted from the distance to obtain the distance between the first connecting member 10 and the third connecting member 30; if the first distance detecting device 50 and the first connecting member 10 have a first interval, then the first interval needs to be subtracted from the distance to obtain the distance between the first connecting member 10 and the third connecting member 30; if the first reflector 60 and the third connecting member 30 have a second interval, then the second interval needs to be subtracted from the distance to obtain the distance between the first connecting member 10 and the third connecting member 30.

[0044] Alternatively, the first distance detection device 50 includes an ultrasonic sensor, which has an ultrasonic generator and an ultrasonic receiver; during detection, the ultrasonic generator emits an ultrasonic wave, which is then reflected on the first reflector 60, and the reflected ultrasonic wave is received by the ultrasonic receiver. The time between the emission of the ultrasonic wave and the reception of the ultrasonic wave by the ultrasonic receiver is obtained, and half of the product of the time interval and the propagation speed of the ultrasonic wave is the distance between the first distance detection device 50 and the first reflector 60; if the first distance detection device 50 is arranged on the first connecting member 10 and the first reflector 60 is arranged on the third connecting member 30, then the distance is the distance between the first connecting member 10 and the third connecting member 30; if the first distance detection device 50 and the first connecting member 10 have a first interval, it is necessary to subtract the first interval from the distance to obtain the distance between the first connecting member 10 and the third connecting member 30; if the first distance detection device 50 and the first connecting member 10 have a first interval, it is necessary to subtract the first interval from the distance to obtain the distance between the first connecting member 10 and the third connecting member 30; if the first reflector 60 and the third connecting member 30 have a second interval, it is necessary to subtract the second interval from the distance to obtain the distance between the first connecting member 10 and the third connecting member 30. Of course, the first distance detection device 50 in this embodiment is an infrared sensor, and the infrared sensor includes an infrared emitting tube and an infrared receiving tube. The infrared emitting tube emits infrared rays, which are reflected on the first reflecting plate 60 and then received by the infrared receiving tube. The time interval between the infrared emitting tube emitting infrared rays and the infrared receiving tube receiving infrared rays is obtained, and half of the product of the time interval and the propagation speed of infrared rays is the distance between the first reflecting plate 60 and the first distance detection device 50.

[0045] Continue to refer to Figure 1 The first connecting member 10, the second connecting member 20, the third connecting member 30 and the fourth connecting member 40 form a parallelogram ABCD. The lengths of the first connecting member 10 and the second connecting member 20 are known. At this time, the distance between the first connecting member 10 and the third connecting member 30 detected by the first distance detecting device 50 is the length of DE. In the triangle ADE, the length of AD is the length of the first connecting member 10. At this time, according to ∠BAD=arcsinBE / AB, where sin∠BAD=BE / AB, the lengths of BE and AB are substituted into the above formula to calculate the rotation angle between the first connecting member 10 and the second connecting member 20. The difference between this angle and the initial angle between the first connecting member 10 and the second connecting member 20 before rotation is the rotation angle of the second connecting member 20.

[0046] The angle detection device provided in this embodiment is used as follows: Before the second connecting member 20 rotates with the device under test, the first distance detection device 50 detects the distance between the first connecting member 10 and the third connecting member 30, and an inverse trigonometric function is used to calculate the initial angle between the first connecting member 10 and the second connecting member 20. After the second connecting member 20 rotates with the device under test, the first distance detection device 50 again detects the distance between the first connecting member 10 and the third connecting member 30, and an inverse trigonometric function is used to calculate the rotation angle between the first connecting member 10 and the second connecting member 20. The difference between the rotation angle and the initial angle is the rotation angle of the second connecting member 20.

[0047] The detection device provided in this embodiment has a first connecting member 10 corresponding to one side of a parallelogram system, a third connecting member 30 corresponding to another side parallel to the side of the parallelogram system, a first distance detecting device 50 connected to the first connecting member 10, and a first reflecting plate 60 connected to the third connecting member 30. The first reflecting plate 60 is used to reflect the signal of the first distance detecting device 50 to detect the distance between the first connecting member 10 and the third connecting member 30. According to the distance between the first connecting member 10 and the third connecting member 30, the rotation angle between the two adjacent sides of the parallelogram system can be calculated using an inverse trigonometric function, and then the rotation angle of any side is obtained by the difference between the rotation angle and the initial angle before rotation, thereby realizing the detection of the rotation angle of the device under test; compared with detecting the rotation angle of the device under test by using a light spot formed by a laser emitted by a laser generator, the rotation angle of the device under test can be continuously detected.

[0048] Continue to refer to Figure 2 and Figure 3 In one achievable embodiment, the side of the parallelogram between the side of the parallelogram system corresponding to the first connector 10 and the side of the parallelogram system corresponding to the third connector 30 corresponds to the second connector 20, and the second connector 20 is hinged to the first connector 10 and the third connector 30; the third connector 30 remains stationary relative to a predetermined reference system, and the rotation axis of the device under test is collinear with the axis of the hinge axis between the second connector 20 and the third connector 30. When the second connector 20 rotates, the first connector 10 undergoes translational motion relative to the third connector 30, and the rotation angle between the second connector 20 and the third connector 30 is calculated based on the distance between the first connector 10 and the third connector 30 and the length of the second connector 20. The rotation angle of the second connector 20 is then obtained by calculating the difference between the rotation angle and the initial angle between the second connector 20 and the third connector 30 before the rotation.

[0049] There may be multiple predetermined reference systems. For example, the predetermined reference system may be the earth or other devices moving relative to the earth.

[0050] Specifically, the first reflector 60 is connected to the third connector 30 via the first bracket 301. The distance between the sides of the parallelogram system corresponding to the first reflector 60 and the third connector 30 is greater than the length of the side of the parallelogram system corresponding to the second connector 20. The distance between the first reflector 60 and the third connector 30 is greater than the length of the second connector 20. Under the premise that the third connector 30 remains stationary, no matter how the second connector 20 rotates, the first connector 10, the second connector 20, the third connector 30, and the fourth connector 40 can be ensured to be on one side of the first reflector 60. This prevents collisions between other connecting rods and the first reflector 60 when the second connector 20 rotates. This also prevents the first connector 10, the second connector 20, the third connector 30, and the fourth connector 40 from rotating on both sides of the first reflector 60, which could result in inaccurate detection results.

[0051] In this embodiment, the angle detection device also includes a second reflector 80, a second distance detection device 70, and a fourth connecting member 40 corresponding to the side of the parallelogram system parallel to the side of the parallelogram system corresponding to the second connecting member 20. The second reflector 80 is connected to one of the first, second, third, and fourth connecting members, and there is a preset angle between the second reflector 80 and the first reflector 60; the second distance detection device 70 is arranged on the connecting member corresponding to the side of the parallelogram parallel to the side of the parallelogram system corresponding to the connecting member where the second reflector 80 is located, and is used to detect the distance between the second distance detection device 70 and the second reflector 80.

[0052] Because the same sine function value corresponds to two calculated angles, only one of the two calculated angles is the included rotation angle of the second connecting member 20. In this case, the included rotation angle can be determined from the two calculated angles based on the distance between the second distance detection device 70 and the second reflector 80. This improves the accuracy of the angle detection device.

[0053] It is worth noting that this embodiment does not impose any restrictions on the preset angle, as long as the first reflector 60 is not parallel to the second reflector 80. The second distance detection device 70 has substantially the same structure as the first distance detection device 50.

[0054] For ease of description, this embodiment is described by taking the second reflector 80 connected to the third connector 30 and the second distance detecting device 70 connected to the first connector 10 as an example. Of course, the second distance detecting device 70 in this embodiment can also be provided on other connectors.

[0055] Specifically, the distance between the second connecting member 20 and the third connecting member 30 can be obtained by the first distance detecting device 50. Based on the distance and the length of the second connecting member 20, two calculated angles between the second connecting member 20 and the third connecting member 30 can be calculated, of which only one calculated angle is equal to the rotation angle of the second connecting member 20. At this time, the distance between the second distance detecting device 70 and the second reflector 80 can be obtained by the second distance detecting device 70. At this time, the sine value of the difference between the calculated angle between the second connecting member 20 and the third connecting member 30 and the preset angle is the ratio of the distance between the second distance detecting device 70 and the second reflector 80 to the length of the second connecting member 20. In this way, two calculated angles can also be calculated. Only one of the two calculated angles calculated by the second distance detecting device 70 is consistent with the calculated angle calculated by the first distance detecting device 50. This angle is the rotation angle of the second connecting member 20.

[0056] Continue to refer to Figure 3 In the figure, the first distance detecting device 50 is set at point E1 on the first connecting member 10, and the second distance detecting device 70 is set at point E2 on the first connecting member 10; point F1 is the position where the first distance detecting device 50 transmits a signal, and F2 is the position where the second distance detecting device 70 transmits a signal; the second reflector 80 and the first reflector 60 are both set on the third connecting member 30, and the preset angle between the second reflector 80 and the first reflector 60 is γ.

[0057] For example, the angle between the second connecting member 20 and the third connecting member 30 is θ, the distance between the first reflecting plate 60 and the third connecting member 30 is L1=1.5m, γ=π / 6, the distance between the second reflecting plate 80 and point I is L2=1.6m, the second connecting member 20AB=1m, the first connecting member 10AD=1.2m, and E1F1=E2F2=0.05m. The distance detected by the first distance detecting device 50 is h1, and: h1 = (L1-E1F1) + ABsinθ = 1.45 + sinθ (1); the distance detected by the second distance detecting device 70 is h2, in the right triangle E2IJ, sin∠E2IJ = E2J / E2I = E2J / AB = [(h2+E2F2)-L2] / AB, and θ = ∠E2IJ+γ, so: h2 = (L2-E2F2) + E2Isin(θ-γ) = 1.55 + sin[θ-(π / 6)] (2).

[0058] exist Figure 3 In the test, h2=1.65, according to formula (1), θ=π / 3 or θ=2π / 3 can be calculated; according to formula (2), θ=π / 3 or θ=π can be calculated. Therefore, θ=π / 3 is the rotation angle of the second connecting member 20.

[0059] Continue to refer to Figure 1-Figure 3 In other implementations, the first connecting member 10 remains stationary relative to a predetermined reference system, and the rotation axis of the device under test is collinear with the axis of the hinge between the second connecting member 20 and the first connecting member 10. In this case, the first reflector 60 and the third connecting member 30 undergo translational motion as the second connecting member 20 rotates.

[0060] There may be multiple predetermined reference systems. For example, the predetermined reference system may be the earth or other devices moving relative to the earth.

[0061] Specifically, the first distance detecting device 50 is connected to the first connecting member 10 via the second bracket 101. The distance between the first distance detecting device 50 and the side of the parallelogram corresponding to the first connecting member 10 is greater than the length of the side of the parallelogram corresponding to the second connecting member 20. When the connecting members are straight rods, the distance between the first distance detecting device 50 and the first connecting member 10 is greater than the length of the second connecting member 20. Assuming the first connecting member 10 remains stationary, regardless of the rotation of the second connecting member 20, the first connecting member 10, the second connecting member 20, the third connecting member 30, and the fourth connecting member 40 are all on one side of the first distance detecting device 50, thereby preventing collisions between the other connecting rods and the first distance detecting device 50 when the second connecting member 20 rotates. Furthermore, this prevents inaccurate detection caused by the first connecting member 10, the second connecting member 20, the third connecting member 30, and the fourth connecting member 40 being on both sides of the first distance detecting device 50.

[0062] Furthermore, the angle detection device also includes a second reflector 80, a second distance detection device 70, and a fourth connecting member 40 corresponding to the side of the parallelogram system parallel to the side of the parallelogram system corresponding to the second connecting member 20; the second reflector 80 is connected to one of the first, second, third, and fourth connecting members, and there is a preset angle between the second reflector 80 and the first reflector 60; the second distance detection device 70 is arranged on the connecting member corresponding to the side of the parallelogram parallel to the side of the parallelogram system corresponding to the connecting member where the second reflector 80 is located, and is used to detect the distance between the second distance detection device 70 and the second reflector 80.

[0063] Since the same sine function value corresponds to two calculated angles, only one of the two calculated angles is the rotation angle of the second connecting member 20. In this case, the rotation angle can be determined from the two calculated angles based on the distance between the second distance detection device 70 and the second reflector 80.

[0064] Specifically, the second distance detecting device 70 is disposed on the second bracket 101 .

[0065] The calculation process of this implementation is generally consistent with the calculation process in the above implementation, and will not be repeated here.

[0066] In the above implementation, only the rotation of the second connecting member 20 is described as an example. In this embodiment, the first connecting member 10, the third connecting member 30 and the fourth connecting member 40 can all rotate, and the rotation distance and calculation process are similar.

[0067] For example, the first connecting member 10 or the third connecting member 30 rotates synchronously with the device under test. At this time, the first connecting member 10 and the third connecting member 30 rotate synchronously, so that the first distance detection device 50 can always receive the signal reflected from the first reflector 60, and then detect the distance between the first reflector 60 and the first distance detection device 50. Then, the angle between two adjacent sides of the parallelogram system corresponding to each connecting member is calculated.

[0068] Furthermore, the angle detection device also includes a second reflector 80, a second distance detection device 70, and a fourth connecting member 40 corresponding to the side of the parallelogram system parallel to the side of the parallelogram system corresponding to the second connecting member 20; the second reflector 80 is connected to one of the first, second, third, and fourth connecting members, and there is a preset angle between the second reflector 80 and the first reflector 60; the second distance detection device 70 is arranged on the connecting member corresponding to the side of the parallelogram parallel to the side of the parallelogram system corresponding to the connecting member where the second reflector 80 is located, and is used to detect the distance between the second distance detection device 70 and the second reflector 80.

[0069] Since the same sine function value corresponds to two calculated angles, only one of the two calculated angles is the included rotation angle of the first connecting member 10 and the third connecting member 30. In this case, the included rotation angle can be determined from the two calculated angles based on the distance between the second distance detecting device 70 and the second reflector 80.

[0070] Specifically, the second distance detecting device 70 is connected to the first connecting member 10 , and the second reflecting plate 80 is connected to the third connecting member 30 .

[0071] In this embodiment, the first connecting member 10, the second connecting member 20, the third connecting member 30 and the fourth connecting member 40 can be real rigid rods. Of course, in practical applications, other devices can be used to appropriately replace the connecting rods without changing the motion principle to simplify the structure of the angle detection device; for example, referring to Figure 4When detecting the turntable 1, one end of the third connecting member 30 is hinged to the turntable 1, the first reflector 60 is connected to the third connecting member 30, the other end of the third connecting member 30 is hinged to one end of the fourth connecting member 40, the other end of the fourth connecting member 40 is hinged to the shell 2, the first distance detection device 50 is fixed to the shell 2, part of the turntable 1 replaces the second connecting member 20, the shell 2 replaces the first connecting member 10, and the first connecting member 10 remains stationary with the preset reference system (shell 2); while the turntable 1 rotates, it drives the third connecting member 30 and the fourth connecting member 40 to move; at this time, the angle between the third connecting member 30 and the fourth connecting member 40 can be calculated, and the change in this angle is the rotation angle of the turntable 1. It is worth noting that the third connecting member 30 and the fourth connecting member 40 can be set in different planes to avoid collision between the third connecting member 30 and the fourth connecting member 40.

[0072] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0073] It should be noted that in the description of the present invention, the terms "first" and "second" are used solely to facilitate description of different components and should not be construed as indicating or implying a sequential relationship, relative importance, or implicitly specifying the number of technical features being referred to. Therefore, features defined as "first" or "second" may explicitly or implicitly include at least one such feature.

[0074] In the present invention, unless otherwise expressly provided, terms such as "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, they may refer to fixed connections, detachable connections, or integral molding; mechanical connections, electrical connections, or communication between them; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components, unless otherwise expressly provided. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An angle detection device, characterized in that: include: A first distance detecting device, a first reflecting plate, a first connecting member corresponding to a side of a parallelogram system, and a third connecting member corresponding to another side of the parallelogram system that is parallel to the side, wherein one of two adjacent sides of the parallelogram system can rotate relative to the other; the first distance detecting device is connected to the first connecting member, the first reflecting plate is connected to the third connecting member, and the first distance detecting device is used to detect the distance between the first distance detecting device and the first reflecting plate; The angle detection device further includes: a second connection member corresponding to a side of the parallelogram between a side of the parallelogram system corresponding to the first connection member and a side of the parallelogram system corresponding to the third connection member, and a fourth connection member corresponding to a side of the parallelogram system parallel to the side of the parallelogram system corresponding to the second connection member; One of the first connecting member, the second connecting member and the third connecting member rotates synchronously with the device under test to detect the rotation angle of the device under test; The angle detection device also includes a second reflector and a second distance detection device, wherein the second reflector is connected to one of the first, second, third, and fourth connecting members, and a preset angle is formed between the second reflector and the first reflector; the second distance detection device is arranged on a connecting member corresponding to a side of the parallelogram parallel to a side of the parallelogram system corresponding to the connecting member where the second reflector is located, and is used to detect the distance between the second distance detection device and the second reflector.

2. The angle detection device according to claim 1, characterized in that: The first reflector is connected to the third connecting member via a first bracket, and a distance between sides of the parallelogram system corresponding to the first reflector and the third connecting member is greater than a length of a side of the parallelogram system corresponding to the second connecting member.

3. The angle detection device according to claim 1, characterized in that: The first distance detecting device is connected to the first connecting member via a second bracket, and the distance between the first distance detecting device and the side of the parallelogram system corresponding to the first connecting member is greater than the length of the side of the parallelogram system corresponding to the second connecting member.

4. The angle detection device according to claim 1, characterized in that: The second distance detecting device is connected to the first connecting member, and the second reflecting plate is connected to the third connecting member.

5. The angle detection device according to claim 1, characterized in that: The first distance detection device includes a laser sensor, an ultrasonic sensor, an infrared sensor, or a microwave distance measurement sensor.

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