A rotation angle measurement method and a rotation angle measurement device

Abstract

The present application relates to the technical field of angle measurement, and discloses a rotating angle measurement method and a rotating angle measurement device.The rotating angle measurement method comprises the following steps: rotating a rotating object; rotating a first angle measurement sensor and a second angle measurement sensor in opposite directions; one of the resistance values of the first angle measurement sensor and the second angle measurement sensor becomes smaller, and one becomes larger; one of the voltages of the first angle measurement sensor and the second angle measurement sensor becomes smaller, and one becomes larger; analog-to-digital conversion is performed on the first angle measurement sensor and the second angle measurement sensor; it is judged whether the digital quantity variation trends of the first angle measurement sensor and the second angle measurement sensor are opposite; if yes, the digital quantity difference of the first angle measurement sensor and the second angle measurement sensor is calculated, and the digital quantity after the calculation is displayed or output; and if not, an error is reported.The present application can detect whether the angle measurement sensor has a fault, and the voltage output stroke is increased, so that the accuracy of angle measurement is improved.

Description

A method and device for measuring rotation angle Technical Field

[0001] This invention relates to the field of angle measurement technology, and in particular to a method and device for measuring rotation angle. Background Technology

[0002] Currently, the methods for measuring rotation angle can be roughly divided into the following categories:

[0003] One approach is to use an encoder to measure angles, such as a high-resolution optical encoder. This method utilizes the diffraction of a grating to convert the light signal passing through the code disk during rotation into an electrical signal, and then calculates the rotation angle using the level or number of pulse signals. This approach can achieve high-precision angle measurement, but it also has disadvantages such as high cost and large size.

[0004] Secondly, angle measurement can be achieved using magnetic induction devices, such as Hall elements, AMR elements, and GMR elements. A permanent magnet is placed on a rotating structure near the magnetic induction device. The structure rotates the permanent magnet, changing the direction of the magnetic field lines. The output signal of the magnetic induction device changes with the rotation angle, and the rotation angle can be calculated from the output signal. This method has the advantages of long service life and relatively high measurement accuracy, but it also has disadvantages such as high requirements for the assembly of the permanent magnet and weak anti-interference ability.

[0005] Thirdly, angle measurement can be achieved using a precision potentiometer. A potentiometer is a resistive element with three leads and an adjustable resistance value. When a voltage is applied to the potentiometer, the change in resistance during rotation results in a change in potential. The angle is then measured by converting the potential signal into a digital signal. This method offers advantages such as good stability, high accuracy, and low cost. However, the assembly method introduces varying friction, which can affect the lifespan of the component. Furthermore, if the potentiometer malfunctions, it may be difficult to detect, impacting the normal operation of the device under test. Summary of the Invention

[0006] The purpose of this invention is to provide a rotation angle measurement method and a rotation angle measurement device, which can detect whether the angle measurement sensor is malfunctioning, and increases the voltage output stroke to improve the accuracy of angle measurement.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] A method for measuring rotation angle, comprising:

[0009] The rotating object rotates;

[0010] The first angle measuring sensor and the second angle measuring sensor rotate in opposite directions under the influence of the rotating object;

[0011] The resistance of one of the first angle measuring sensor and the second angle measuring sensor decreases, while the resistance of the other increases;

[0012] The voltage of one of the first angle measuring sensor and the second angle measuring sensor decreases, while the voltage of the other increases;

[0013] The first angle measurement sensor performs analog-to-digital conversion, and the second angle measurement sensor performs analog-to-digital conversion;

[0014] Determine whether the digital changes of the first angle measuring sensor and the second angle measuring sensor have opposite trends. If so, calculate the difference between the digital values ​​of the first angle measuring sensor and the second angle measuring sensor, and display or output the difference in digital change. If not, report an error.

[0015] As a preferred embodiment of a rotation angle measurement method, when the rotating object rotates, the resistance of the first angle measuring sensor increases, and the resistance of the second angle measuring sensor decreases; the voltage of the first angle measuring sensor increases, and the voltage of the second angle measuring sensor decreases.

[0016] As a preferred embodiment of a rotation angle measurement method, the voltage dynamic change ranges of the first angle measuring sensor and the second angle measuring sensor are symmetrical.

[0017] As a preferred embodiment of a rotation angle measurement method, the first angle measuring sensor and the second angle measuring sensor are potentiometers or photoelectric sensors.

[0018] As a preferred embodiment of a rotation angle measurement method, both the first angle measuring sensor and the second angle measuring sensor are rotary potentiometers.

[0019] A rotation angle measuring device is provided, which measures the angle using any of the above-described rotation angle measuring methods. The device includes a first angle measuring sensor, a second angle measuring sensor, a circuit board, a rotating object, and a transmission mechanism. The first angle measuring sensor and the second angle measuring sensor are both mounted on the circuit board. The rotating object drives the first angle measuring sensor and the second angle measuring sensor to rotate through the transmission mechanism, and the first angle measuring sensor and the second angle measuring sensor rotate in opposite directions.

[0020] As a preferred embodiment of the rotation angle measuring device, the first angle measuring sensor and the second angle measuring sensor are installed in opposite directions and are mounted on both sides of the circuit board in a mirror manner; the rotating object is a push rod, the transmission mechanism includes a first transmission shaft, the push rod is fixedly connected to the first transmission shaft, the first angle measuring sensor and the second angle measuring sensor are coaxially connected through the first transmission shaft, and the push rod drives the first angle measuring sensor and the second angle measuring sensor to rotate simultaneously through the first transmission shaft.

[0021] As a preferred embodiment of a rotation angle measuring device, both the first angle measuring sensor and the second angle measuring sensor are rotary potentiometers. The rotary potentiometer is provided with a rotating component, and the rotating component is provided with a D-shaped hole. The first drive shaft is a D-shaped post, and the D-shaped post cooperates with the D-shaped hole to drive the rotating component to rotate.

[0022] As a preferred embodiment of the rotation angle measuring device, the first angle measuring sensor and the second angle measuring sensor are installed in the same direction and are mounted side by side on the same side of the circuit board; the rotating object is a push rod, and the transmission mechanism includes a first gear and a second gear that mesh with each other, with the push rod fixedly connected to the first gear and / or the second gear; a second transmission shaft is provided on the first gear, and the first gear and the first angle measuring sensor are coaxially connected through the second transmission shaft; a third transmission shaft is provided on the second gear, and the second gear and the second angle measuring sensor are coaxially connected through the third transmission shaft; the second transmission shaft is parallel to the third transmission shaft.

[0023] As a preferred embodiment of a rotation angle measuring device, both the first angle measuring sensor and the second angle measuring sensor are rotary potentiometers. The rotary potentiometers are provided with rotating components, and the rotating components are provided with D-shaped holes. The second drive shaft and the third drive shaft are both D-shaped posts, and the D-shaped posts cooperate with the corresponding D-shaped holes to drive the corresponding rotating components to rotate.

[0024] The beneficial effects of this invention are as follows:

[0025] This invention employs a structural design that simultaneously drives two angle measurement sensors to rotate when a rotating object rotates, with the two sensors rotating in opposite directions. This causes the resistance and voltage of one angle measurement sensor to gradually decrease, while the resistance and voltage of the other gradually increase. Analog-to-digital conversion is then performed on the first and second angle measurement sensors, and the system determines whether the trends of their digital values ​​are opposite. If they are not opposite, it indicates that at least one of the angle measurement sensors is damaged, and the system reports an error. If they are opposite, the digital values ​​of the first and second angle measurement sensors are subtracted, and the difference is displayed or output, thus determining the change in the rotation angle of the object. Because the dynamic range of the digital values ​​from the two angle measurement sensors increases after subtraction, the output voltage stroke is extended. With the same rotation angle and a constant number of bits in the analog-to-digital converter, a larger dynamic range of the input voltage signal results in higher system resolution for signal recognition, thereby improving the accuracy of rotation angle measurement, especially for measuring minute angles.

[0026] The rotation angle measuring device provided by this invention has a single fault detection function. When any angle measuring sensor in the device fails, the system will report an error, which facilitates timely fault detection and ensures normal equipment operation. By calculating the difference between the digital values ​​of the two angle measuring sensors, the voltage output stroke is increased, improving the accuracy and reliability of angle measurement. Compared with existing encoder technology, this invention has a lower cost. Compared with magnetic induction devices, this invention is simpler to assemble and has stronger anti-interference capabilities. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0028] Figure 1 is a flowchart of the rotation angle measurement method provided in an embodiment of the present invention;

[0029] Figure 2 is a circuit diagram of the rotation angle measuring device provided in an embodiment of the present invention;

[0030] Figure 3 is an illustration of the accuracy optimization when using two rotating potentiometers to measure angles in an embodiment of the present invention.

[0031] Figure 4 is a schematic diagram of the structure of the rotation angle measuring device provided in the embodiment of the present invention when two rotary potentiometers are coaxially mounted.

[0032] Figure 5 is a schematic diagram of the structure of the rotation angle measuring device provided in the embodiment of the present invention when two rotary potentiometers are installed side by side;

[0033] Figure 6 is a schematic diagram of the structure of the rotary potentiometer provided in an embodiment of the present invention;

[0034] Figure 7 is a schematic diagram of the rotating object and transmission mechanism provided in an embodiment of the present invention.

[0035] The attached figures are labeled as follows:

[0036] 1-Rotating object; 2-First angle measuring sensor; 3-Second angle measuring sensor; 4-Transmission mechanism; 41-First transmission shaft; 42-First gear; 43-Second gear; 44-Second transmission shaft; 45-Third transmission shaft; 5-Circuit board; 6-Rotating component; 61-D-shaped hole. Detailed Implementation

[0037] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0038] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0040] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0041] Example 1

[0042] As shown in Figures 1-3, this embodiment provides a rotation angle measurement method. This method uses two angle measuring sensors, and through structural design, their resistances change in opposite directions. By using the differential signal of the two sensors as the output signal, the voltage output range is increased, thereby improving the measurement accuracy of the rotation angle. Simultaneously, this method can detect whether one of the two angle measuring sensors has malfunctioned, achieving a single fault detection function, facilitating timely maintenance of the equipment. This rotation angle measurement method includes the following steps:

[0043] S1, Begin;

[0044] S2, Rotate object 1;

[0045] In this embodiment, the rotating object 1 can be the object to be detected or a part of the object to be detected. The rotating object 1 is connected to the first angle measuring sensor 2 and the second angle measuring sensor 3 at the same time. When the rotating object 1 rotates, it can simultaneously drive the first angle measuring sensor 2 and the second angle measuring sensor 3 to rotate.

[0046] S3. The first angle measuring sensor 2 and the second angle measuring sensor 3 rotate in opposite directions under the influence of the rotating object 1.

[0047] In this embodiment, the two angle measuring sensors can be installed coaxially in opposite directions, or installed side-by-side in the same direction, to achieve simultaneous rotation of the two angle measuring sensors in opposite directions. Optionally, the rotating object 1 in this embodiment is a push rod, which drives the first angle measuring sensor 2 and the second angle measuring sensor 3 to rotate simultaneously in opposite directions through the transmission mechanism 4.

[0048] Preferably, the first angle measuring sensor 2 and the second angle measuring sensor 3 in this embodiment can be potentiometers or photoelectric sensors. Compared to existing encoder technologies, this invention has lower costs; compared to existing magnetic induction devices, it is simpler to assemble and has stronger anti-interference capabilities. Furthermore, the first angle measuring sensor 2 and the second angle measuring sensor 3 in this embodiment are of the same type, preferably both being rotary potentiometers, to improve measurement stability and accuracy.

[0049] S4. The resistance of the first angle measuring sensor 2 increases, and the resistance of the second angle measuring sensor 3 decreases.

[0050] In this embodiment, exemplarily speaking, when the first angle measuring sensor 2 rotates clockwise, its resistance in the circuit gradually increases due to its own structural characteristics; while when the second angle measuring sensor 3 rotates counterclockwise, its resistance in the circuit gradually decreases due to its own structural characteristics. Through this structural design, the resistance changes of the first angle measuring sensor 2 and the second angle measuring sensor 3 are opposite, that is, the resistance change of the first angle measuring sensor 2 is positive, while the resistance change of the second angle measuring sensor 3 is negative. Of course, in other embodiments, when the rotating object 1 rotates, the resistance of the first angle measuring sensor 2 can also gradually decrease and the resistance of the second angle measuring sensor 3 can gradually increase through structural design, and this embodiment is not the only limitation.

[0051] S5. The voltage of the first angle measuring sensor 2 increases, and the voltage of the second angle measuring sensor 3 decreases.

[0052] As the resistance of the first angle measuring sensor 2 gradually increases in the circuit, the voltage across it also gradually increases. Conversely, the resistance of the second angle measuring sensor 3 gradually decreases in the circuit, resulting in a gradually decreasing voltage across it. That is, the voltage change of the first angle measuring sensor 2 is positive, while the voltage change of the second angle measuring sensor 3 is negative. Of course, in other embodiments, as the rotating object 1 rotates, the voltage of the first angle measuring sensor 2 can also be made to gradually decrease while the voltage of the second angle measuring sensor 3 gradually increases through structural design, and this embodiment is not the only option.

[0053] S6. Analog-to-digital conversion of the first angle measuring sensor 2 and analog-to-digital conversion of the second angle measuring sensor 3;

[0054] In this embodiment, the voltage signals of the first angle measuring sensor 2 and the second angle measuring sensor 3 are converted into corresponding digital signals by an analog-to-digital converter.

[0055] S7. Determine whether the digital change trends of the first angle measuring sensor 2 and the second angle measuring sensor 3 are opposite. If they are not opposite, it indicates that at least one of the two angle measuring sensors is damaged, and the system issues an error message. If they are opposite, calculate the difference between the digital values ​​of the first angle measuring sensor 2 and the second angle measuring sensor 3, and display or output the differenced digital value to obtain the change in the rotation angle of the rotating object 1. Since the dynamic range of the two angle measuring sensors increases after the difference is calculated, the output voltage stroke is increased. With the same rotation angle and a constant number of bits in the analog-to-digital converter, a larger dynamic range of the input voltage signal results in higher resolution for signal recognition by the system, thus improving the accuracy of rotation angle measurement, especially for measuring minute angles.

[0056] S8, End.

[0057] For example, this embodiment uses a rotating potentiometer as an example to illustrate the working principle of the present invention, with both the first angle measuring sensor 2 and the second angle measuring sensor 3 being rotary potentiometers.

[0058] Figure 2 is a circuit diagram of the rotation angle measuring device provided in this embodiment, where Vdd is the internal operating voltage of the device and Vss is the common ground voltage of the circuit. As shown in Figure 2, the resistance values ​​of the two rotary potentiometers (i.e., R1 and R2) change with the rotation of the push rod, and the voltage on the pins of each rotary potentiometer changes. The voltage is then followed by operational amplifiers (i.e., OPA1 and OPA2), and the changing voltage is output to the input pins of analog-to-digital converters (i.e., ADC1 and ADC2). After AD conversion, the microcontroller (MCU) performs fault diagnosis and difference calculation, and then displays or transmits the angle information to the next stage as a digital signal. In this embodiment, because the voltage and angle of the rotary potentiometers have a good linear relationship, the angle measurement can be achieved effectively. Of course, the rotation angle measuring device of the present invention is not limited to the circuit principle shown in Figure 2 to measure the rotation angle. Other circuit principles can also be used, such as the principle of differential operation: first, the voltage signals of the pins on the two rotating potentiometers are collected, then the differential operation amplifier circuit is used to perform subtraction calculation on the collected voltage signals, and then the result of the subtraction calculation is output to the analog-to-digital conversion interface of the microcontroller to achieve analog-to-digital conversion. Thus, differential operation can be realized from the circuit design.

[0059] Figure 3 illustrates the accuracy optimization when using two rotary potentiometers to measure angles in this embodiment. Since the two rotary potentiometers are connected to the rotating object 1, when the rotating object 1 rotates by a certain angle, the resistance of the rotary potentiometers changes, and the voltage changes accordingly. As shown in Figure 3, the voltage values ​​of the two rotary potentiometers change linearly with their rotation angle, and the voltage changes of the two potentiometers are opposite. In Figure 3, straight line L1 represents the voltage-angle change relationship of the first rotary potentiometer; as the rotation angle increases, its voltage value increases from 0 to Vmax (i.e., dynamic range 1). Straight line L2 represents the voltage-angle change relationship of the second rotary potentiometer; as the rotation angle increases, its voltage value decreases from Vmax to 0 (i.e., dynamic range 1). Straight line L3 is the difference between the voltage values ​​of the first and second rotary potentiometers (i.e., L1-L2), and its voltage value increases from -Vmax to Vmax (i.e., dynamic range 2). Obviously, the slope of L3 is larger, thus obtaining a voltage value with a larger dynamic range, improving the accuracy of rotation angle measurement, especially in the measurement of some small angles.

[0060] Preferably, in this embodiment, the voltage dynamic change ranges of the first angle measuring sensor 2 and the second angle measuring sensor 3 are symmetrical. Specifically, two rotary potentiometers with identical structure, model, and size can be used. By making the voltage dynamic change ranges of the two rotary potentiometers symmetrical, the slope of the line L3 obtained after subtraction can be twice the slope of the line L1 and also twice the slope of the line L2, making it easier to calculate the rotation angle of the rotating object 1; it is also more conducive to judging whether the rotary potentiometer has been damaged, thus improving system safety.

[0061] Example 2

[0062] As shown in Figures 4-7, this embodiment provides a rotation angle measuring device, which uses the rotation angle measuring method described in Embodiment 1 to measure angles. The measuring device includes a first angle measuring sensor 2, a second angle measuring sensor 3, a circuit board 5, a rotating object 1, and a transmission mechanism 4. The first angle measuring sensor 2 and the second angle measuring sensor 3 are both mounted on the circuit board 5. The rotating object 1 drives the first angle measuring sensor 2 and the second angle measuring sensor 3 to rotate through the transmission mechanism 4, and the rotation directions of the first angle measuring sensor 2 and the second angle measuring sensor 3 are opposite.

[0063] In this embodiment, when the rotating object 1 rotates, it drives two angle measuring sensors to rotate simultaneously via the transmission mechanism 4. The resistance and voltage of the first angle measuring sensor 2 gradually increase, while the resistance and voltage of the second angle measuring sensor 3 gradually decrease (the dynamic change ranges of the two can be seen in L1 and L2 of Figure 3), and their directions of change are opposite. Then, the voltage difference signal from the first angle measuring sensor 2 and the second angle measuring sensor 3 is used as the output signal, achieving a larger dynamic change range (see L3 in Figure 3). When the rotation angle is the same and the number of bits of the ADC remains constant, the larger the dynamic change range of the input voltage signal, the higher the resolution of signal recognition, thereby improving the accuracy of rotation angle measurement. Furthermore, this embodiment can detect whether the two angle measuring sensors are faulty or damaged by judging whether the digital change trends of the first angle measuring sensor 2 and the second angle measuring sensor 3 are opposite (i.e., one positive and one negative), thus achieving a single fault detection function.

[0064] Optionally, this invention can utilize two angle measuring sensors of the same model or with the same working principle (but different resistance values, structural sizes, etc.) placed superimposed or side-by-side, to achieve angle measurement through the differential voltage signals output by the two angle measuring sensors. The specific solution is as follows:

[0065] As shown in Figure 4, in an optional embodiment of the present invention, the first angle measuring sensor 2 and the second angle measuring sensor 3 are installed in opposite directions and are mounted on both sides of the circuit board 5 in a mirror image manner; the rotating object 1 is a push rod, and the transmission mechanism 4 includes a first transmission shaft 41. The push rod is fixedly connected to the first transmission shaft 41, and the first angle measuring sensor 2 and the second angle measuring sensor 3 are coaxially connected through the first transmission shaft 41. The push rod drives the first angle measuring sensor 2 and the second angle measuring sensor 3 to rotate through the first transmission shaft 41. Further, the transmission mechanism 4 of this embodiment may also include a gear. The push rod is fixedly connected to the gear, and the first transmission shaft 41 is fixed at the center of the gear and passes through the second angle measuring sensor 3, the circuit board 5, and the first angle measuring sensor 2 from bottom to top. In this way, the push rod can drive the gear to rotate, thereby realizing the angle change of the gear. The gear drives the first transmission shaft 41 to rotate, thereby driving the first angle measuring sensor 2 and the second angle measuring sensor 3 to rotate synchronously in opposite directions, so that the first angle measuring sensor 2 and the second angle measuring sensor 3 obtain corresponding voltage values. Preferably, the push rod, gear, and first transmission shaft 41 can be configured as an integral structure, which can be integrally processed to effectively improve the structural strength of the product, simplify the processing technology, and reduce costs. It should be noted that in other embodiments, the second angle measuring sensor 3, gear, circuit board 5, and first angle measuring sensor 2 can also be arranged in the stacking order from bottom to top, which can also achieve the functions of single fault detection and improved angle measurement accuracy of the present invention, and is not limited to this embodiment.

[0066] Further preferably, as shown in Figure 6, both the first angle measuring sensor 2 and the second angle measuring sensor 3 in this embodiment are rotary potentiometers. A rotating component 6 is provided inside the rotary potentiometer, and the rotating component 6 can rotate relative to the housing of the rotary potentiometer. The rotating component 6 has a D-shaped hole 61, and the first drive shaft 41 is a D-shaped post inserted into the D-shaped hole 61. A push rod pushes the D-shaped post to rotate, thereby driving the rotating component 6 to rotate. This configuration is simple in structure, reliable in operation, and reduces costs.

[0067] As shown in Figure 5, in another optional embodiment of the present invention, the first angle measuring sensor 2 and the second angle measuring sensor 3 are installed in the same direction and are installed side by side on the same side of the circuit board 5; the rotating object 1 is a push rod, and the transmission mechanism 4 includes a first gear 42 and a second gear 43 that mesh with each other, and a push rod is fixedly connected to the first gear 42 and / or the second gear 43; the center of the first gear 42 is provided with a second transmission shaft 44, and the first gear 42 and the first angle measuring sensor 2 are coaxially connected through the second transmission shaft 44; the center of the second gear 43 is provided with a third transmission shaft 45, and the second gear 43 and the second angle measuring sensor 3 are coaxially connected through the third transmission shaft 45; the second transmission shaft 44 is parallel to the third transmission shaft 45. In this embodiment, it is preferable to provide two push rods, which are respectively fixed to the first gear 42 and the second gear 43, so that the rotation of either push rod can drive the two angle measuring sensors to rotate. Furthermore, as shown in Figure 7, in this embodiment, a push rod, a first gear 42 and a second transmission shaft 44 can be set as an integral structure, and / or a push rod, a second gear and a third transmission shaft can be set as an integral structure. In this way, the product's structural strength can be effectively improved, the processing technology can be simplified, and the cost can be reduced through integral processing.

[0068] Preferably, in this embodiment, the first gear 42 and the second gear 43 are located on the side of the circuit board 5 away from the first angle measuring sensor 2 and the second angle measuring sensor 3. That is, the second drive shaft 44 passes through the circuit board 5 and the first angle measuring sensor 2 sequentially from bottom to top, and the third drive shaft 45 passes through the circuit board 5 and the second angle measuring sensor 3 sequentially from bottom to top. This arrangement results in a simple structure, convenient installation, and helps save space and reduce the size of the device. Of course, in other embodiments, the first gear 42 and the second gear 43 can also be located on the side of the circuit board 5 closer to the first angle measuring sensor 2 and the second angle measuring sensor 3, which can also achieve the functions of single fault detection and improved angle measurement accuracy of the present invention, and is not limited to this embodiment.

[0069] Further preferably, as shown in Figure 6, both the first angle measuring sensor 2 and the second angle measuring sensor 3 in this embodiment are rotary potentiometers. Each rotary potentiometer has a rotating component 6, which can rotate relative to the potentiometer's housing. The rotating component 6 has a D-shaped hole 61. The second drive shaft 44 and the third drive shaft 45 are both D-shaped posts, each inserted into its corresponding D-shaped hole 61. A push rod pushes the two D-shaped posts to rotate, thereby driving the two rotating components 6 to rotate. This configuration is simple in structure, reliable in operation, and reduces costs.

[0070] The rotation angle measuring device provided by this invention has a single fault detection function. When any angle measuring sensor in the device fails, the system will report an error, which facilitates timely fault detection and ensures normal equipment operation. By calculating the difference between the digital values ​​of the two angle measuring sensors, the voltage output stroke is increased, improving the accuracy and reliability of angle measurement. Compared with existing encoder technology, this invention has a lower cost. Compared with magnetic induction devices, this invention is simpler to assemble and has stronger anti-interference capabilities.

[0071] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A method for measuring rotation angle, characterized in that, include: Rotating object (1) rotates; The first angle measuring sensor (2) and the second angle measuring sensor (3) rotate in opposite directions under the influence of the rotating object (1); the resistance of one of the first angle measuring sensor (2) and the second angle measuring sensor (3) decreases, while the resistance of the other increases; the voltage of one of the first angle measuring sensor (2) and the second angle measuring sensor (3) decreases, while the voltage of the other increases; the first angle measuring sensor (2) performs analog-to-digital conversion, and the second angle measuring sensor (3) performs analog-to-digital conversion; it is determined whether the digital change trends of the first angle measuring sensor (2) and the second angle measuring sensor (3) are opposite. If so, the difference between the digital values ​​of the first angle measuring sensor (2) and the second angle measuring sensor (3) is calculated, and the difference is displayed or output; if not, an error is reported.

2. The rotation angle measurement method according to claim 1, characterized in that, When the rotating object (1) rotates, the resistance of the first angle measuring sensor (2) increases and the resistance of the second angle measuring sensor (3) decreases; the voltage of the first angle measuring sensor (2) increases and the voltage of the second angle measuring sensor (3) decreases.

3. The rotation angle measurement method according to claim 1, characterized in that, The voltage dynamic change ranges of the first angle measuring sensor (2) and the second angle measuring sensor (3) are relatively symmetrical.

4. The rotation angle measurement method according to any one of claims 1-3, characterized in that, The first angle measuring sensor (2) and the second angle measuring sensor (3) are potentiometers or photoelectric sensors.

5. The rotation angle measurement method according to claim 4, characterized in that, Both the first angle measuring sensor (2) and the second angle measuring sensor (3) are rotary potentiometers.

6. A rotation angle measuring device, comprising measuring angles using the rotation angle measuring method according to any one of claims 1-5, characterized in that, The device includes a first angle measuring sensor (2), a second angle measuring sensor (3), a circuit board (5), a rotating object (1), and a transmission mechanism (4). The first angle measuring sensor (2) and the second angle measuring sensor (3) are both mounted on the circuit board (5). The rotating object (1) drives the first angle measuring sensor (2) and the second angle measuring sensor (3) to rotate through the transmission mechanism (4), and the first angle measuring sensor (2) and the second angle measuring sensor (3) rotate in opposite directions.

7. The rotation angle measuring device according to claim 6, characterized in that, The first angle measuring sensor (2) and the second angle measuring sensor (3) are installed in opposite directions and are mounted on both sides of the circuit board (5) in a mirror manner; the rotating object (1) is a push rod, the transmission mechanism (4) includes a first transmission shaft (41), the push rod is fixedly connected to the first transmission shaft (41), the first angle measuring sensor (2) and the second angle measuring sensor (3) are coaxially connected through the first transmission shaft (41), and the push rod drives the first angle measuring sensor (2) and the second angle measuring sensor (3) to rotate simultaneously through the first transmission shaft (41).

8. The rotation angle measuring device according to claim 7, characterized in that, Both the first angle measuring sensor (2) and the second angle measuring sensor (3) are rotary potentiometers. A rotating component (6) is provided on the rotary potentiometer. A D-shaped hole (61) is provided on the rotating component (6). The first transmission shaft (41) is a D-shaped post. The D-shaped post cooperates with the D-shaped hole (61) to drive the rotating component (6) to rotate.

9. The rotation angle measuring device according to claim 6, characterized in that, The first angle measuring sensor (2) and the second angle measuring sensor (3) are installed in the same direction and are installed side by side on the same side of the circuit board (5); the rotating object (1) is a push rod, and the transmission mechanism (4) includes a first gear (42) and a second gear (43) that mesh with each other, and the push rod is fixedly connected to the first gear (42) and / or the second gear (43); a second transmission shaft (44) is provided on the first gear (42), and the first gear (42) and the first angle measuring sensor (2) are coaxially connected through the second transmission shaft (44); a third transmission shaft (45) is provided on the second gear (43), and the second gear (43) and the second angle measuring sensor (3) are coaxially connected through the third transmission shaft (45); the second transmission shaft (44) is parallel to the third transmission shaft (45).

10. The rotation angle measuring device according to claim 9, characterized in that, The first angle measuring sensor (2) and the second angle measuring sensor (3) are both rotary potentiometers. The rotary potentiometers are provided with a rotating component (6). The rotating component (6) is provided with a D-shaped hole (61). The second drive shaft (44) and the third drive shaft (45) are both D-shaped posts. The D-shaped posts cooperate with the corresponding D-shaped holes (61) to drive the corresponding rotating component (6) to rotate.

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