Method and device for determining inclination of large disc of coiling machine
By collecting the target coordinates of the disk when the disk rotates on the winder and determining the motion trajectory curve, the problem of cumbersome measurement of the disk in the prior art is solved, and faster and more accurate measurement is achieved.
Patent Information
- Application Number
- CN202411152922.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-21
- Publication Date
- 2024-12-13
AI Technical Summary
The method for measuring the inclination of the coiler for the prior art is cumbersome and has low accuracy. It requires erecting a bracket and a springboard, which has a long operation time and a large error.
By controlling the rotation of the disk, multiple position coordinates of the target in the spatial rectangular coordinate system are collected, the movement trajectory curve of the target is determined, and the inclination of the disk is calculated. The coordinates are accurately collected using a laser tracker to reduce manual operations and improve measurement accuracy .
The measurement time is shortened to less than 25% of the prior art, the measurement accuracy is improved, manual operation time is saved, and error is reduced, achieving higher measurement accuracy.
Smart Images
Figure CN119124102A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to Measurement The technical field relates particularly to a method and device for determining the inclination of a coiler disk. Background Art
[0002] The Carousel coiler coils the steel coils through the mandrel set on the large plate. Because the large plate of the Carousel coiler has a large diameter and the weight of the steel coil can reach 20 tons, the position of the large plate may change due to long-term stress. The existing technology adopts Figure 1 The method shown in the figure is to lift the plumb bob 102 by the steel wire 101 to make the steel wire 101 vertical, use a micrometer to test the distances X1 and X2 between the steel wire 101 and the large plate 103 at different vertical heights, and then calculate the inclination of the large plate 103 by the formula (X2-X1) / L. Since the diameter L of the large plate 103 is large, about 3840 mm, this method needs to set up a bracket to lift the steel wire and a springboard for operators to work, so the operation is cumbersome, takes a long time, and has low measurement accuracy. Summary of the invention
[0003] In view of the above problems, the present application is proposed to provide a method and device for determining the inclination of a coiler disk that overcomes the above problems or at least partially solves the above problems.
[0004] In a first aspect, a method for determining the inclination of a coiler disc is provided, comprising:
[0005] Control the large plate of the coiler to rotate N times, where N is a positive integer greater than or equal to 1, and a target point is provided on the large plate, and a set distance is formed between the target point and the rotating axis of the large plate;
[0006] Acquire multiple position coordinates of the target point during the rotation of the large disk, the multiple position coordinates including the coordinates of the position of the target point corresponding to each angle when the large disk rotates to the multiple angles;
[0007] Determine the motion trajectory curve of the target according to multiple position coordinates;
[0008] According to the motion trajectory curve of the target, the inclination of the disk is determined.
[0009] Optionally, the method for determining the inclination of the coiler disk as claimed in claim 1 is characterized in that, before obtaining the coordinates of multiple positions that the target point passes through during the rotation of the disk, the method further comprises:
[0010] A spatial rectangular coordinate system is constructed, wherein the horizontal axis and the vertical axis of the spatial rectangular coordinate system intersect with the origin at the horizontal plane, and the vertical axis of the spatial rectangular coordinate system intersects with the origin perpendicularly with the horizontal plane; a plurality of position coordinates are the plurality of position coordinates of the target point in the spatial rectangular coordinate system.
[0011] Optionally, the motion trajectory curve of the target is determined based on multiple position coordinates, including:
[0012] According to the multiple position coordinates, the motion trajectory curve of the target is determined in the spatial rectangular coordinate system;
[0013] According to the target's motion trajectory curve, determine the inclination of the disk, including:
[0014] In a spatial rectangular coordinate system, according to the motion trajectory curve of the target, determine the plane where the motion trajectory curve is located;
[0015] The inclination of the disk is determined according to the angle between the plane where the motion trajectory curve is located and the vertical axis of the spatial rectangular coordinate system.
[0016] Optionally, multiple position coordinates of the target point during the rotation of the disk are obtained, including:
[0017] When the large disk rotates to a plurality of different angles, the position coordinates of the target point when the large disk rotates to each angle collected by a laser tracker are obtained.
[0018] Optionally, the motion trajectory curve of the target is determined based on multiple position coordinates, including:
[0019] For each of the N rotations of the large disk, a motion trajectory curve of the target point is determined based on at least three position coordinates of the target point corresponding to the rotation.
[0020] Optionally, the inclination of the large plate is determined according to the motion trajectory curve of the target, including:
[0021] Based on each of the N circles of rotation of the large disk, the inclination of the large disk corresponding to the circle is determined according to the motion trajectory curve of the target point corresponding to the circle;
[0022] The inclination of the large disk is determined based on the N inclinations corresponding to the large disk rotating N times.
[0023] Optionally, determining the inclination of the disk according to N inclinations corresponding to the disk rotating N times includes:
[0024] The inclination of the large disk is determined based on the average value of N inclinations corresponding to the large disk rotating N times.
[0025] Optional, control the coiler's disc rotation N turns, including:
[0026] The large plate of the coiler is controlled to rotate N times at a set angular velocity, and the set angular velocity is less than or equal to 1.2 degrees per second.
[0027] Optionally, the target point has a set distance from the rotation axis of the large disk, which is greater than or equal to 1 meter and less than or equal to 1.5 meters.
[0028] In a second aspect, a device for determining the inclination of a coiler disc is provided, comprising:
[0029] The large plate rotation control unit is used to control the large plate of the coiler to rotate N times, where N is a positive integer greater than or equal to 1. There is a target point on the large plate, and the target point has a set distance from the rotating axis of the large plate;
[0030] A position coordinate determination unit, used for acquiring a plurality of position coordinates of the target point during the rotation of the large disk, wherein the plurality of position coordinates include, for each angle to which the large disk rotates, the coordinates of the position of the target point corresponding to the angle;
[0031] A motion trajectory curve determining unit, used for determining a motion trajectory curve of a target point according to a plurality of position coordinates;
[0032] The inclination determination unit is used to determine the inclination of the large plate according to the motion trajectory curve of the target point.
[0033] In a third aspect, the present application also provides a server, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the server executes the method provided in the first aspect.
[0034] In a fourth aspect, the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the computer executes the method provided in the first aspect.
[0035] In a fifth aspect, the present application also provides a computer program product, including a computer program, which, when executed by a computer, enables the computer to execute the method provided in the first aspect.
[0036] The technical solution provided by this application has at least the following technical effects or advantages:
[0037] The method and device for determining the inclination of the coiler provided in the present application collects the coordinates of multiple positions of the target point on the coiler when the coiler rotates to multiple angles, thereby obtaining the motion trajectory curve of the target point in the spatial coordinate system, thereby determining the inclination angle of the coiler. Compared with the prior art, the method and device for determining the inclination of the coiler provided in the present application solves the technical problems of poor versatility, low accuracy, and cumbersome steps in the prior art method of manually measuring the inclination of the coiler using a rod micrometer in conjunction with a plumb line and a steel wire. The time for measuring the inclination of the coiler can be shortened to less than 25% of the prior art with higher accuracy, and labor can be saved. .
[0038] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS
[0039] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:
[0040] Figure 1 This is the principle diagram of measuring the inclination of the existing coiler disc;
[0041] Figure 2 This is a flow chart of a method for determining the inclination of a coiler disc in an embodiment of the present application;
[0042] Figure 3 It is a wireframe diagram of a device for determining the inclination of a coiler disk in an embodiment of the present application;
[0043] Figure 4 This is a scene diagram of measuring the inclination of the large plate of the Carousel coiler in the embodiment of the present application;
[0044] Figure 5 A schematic diagram showing the trajectory and normal line of the target ball displayed by the SA software in an embodiment of the present application;
[0045] Figure 6 This is a schematic diagram of a server in an embodiment of the present application. DETAILED DESCRIPTION
[0046] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.
[0047] Various structural schematic diagrams according to embodiments of the present application are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may further design regions / layers with different shapes, sizes, and relative positions according to actual needs.
[0048] In order to better understand the above-mentioned technical scheme, the above-mentioned technical scheme will be described in detail below in combination with specific implementation methods. It should be understood that the embodiments of the present disclosure and the specific features in the embodiments are detailed descriptions of the technical scheme of the present application, rather than limitations on the technical scheme of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.
[0049] The inclination of the large plate of the Carousel coiler has always been a difficult problem to measure, because the weight of the steel coil of the Carousel coiler is about 20 tons, and the force position may change over a long period of time. The large plate has a large diameter of 3840mm, and the bottom of the coiler is suspended. Figure 1 The method shown uses a rod micrometer with a plumb line and a steel wire, which requires setting up a springboard (about 4 hours). The operation is cumbersome and the accuracy is low. During the measurement process, the measurement personnel may make illusions and cause human errors. When recording, the recorder may make recording errors. There are physical errors caused by temperature, light and other reasons, and measurement tool errors. Each measurement takes 8 hours, which is also a long time.
[0050] In view of this, the present application provides a method for determining the inclination of a winder disk, by collecting the coordinates of multiple positions of a target point on the disk when the disk rotates to multiple angles, thereby obtaining the motion trajectory curve of the target point in the spatial coordinate system, thereby determining the inclination angle of the disk.
[0051] The following is a specific example to introduce the method for determining the inclination of the large plate provided by this application. Please refer to Figure 2 , Figure 2 This is a flow chart of a method for determining the inclination of a coiler disk in an embodiment of the present application, comprising:
[0052] S201, controlling the large plate of the coiler to rotate N times, where N is a positive integer greater than or equal to 1. A target point is provided on the large plate, and a set distance exists between the target point and the rotating axis of the large plate.
[0053] S202, obtaining multiple position coordinates of the target point during the rotation of the large disk. The multiple position coordinates include the coordinates of the position of the target point corresponding to each angle when the large disk rotates to the multiple angles.
[0054] S203, determining a motion trajectory curve of the target point according to the multiple position coordinates.
[0055] S204, determining the inclination of the disk according to the motion trajectory curve of the target.
[0056] It can be understood that the above-mentioned coiler can be a Carousel coiler or other coilers with a large disc, and the specific model and size of the coiler are not limited here.
[0057] In some optional implementations, before executing the operation of S201 to obtain the coordinates of multiple positions that the target passes through during the rotation of the large disk, the method further includes:
[0058] A spatial rectangular coordinate system is constructed, wherein the horizontal axis and the vertical axis of the spatial rectangular coordinate system intersect with the origin at the horizontal plane, and the vertical axis of the spatial rectangular coordinate system intersects with the origin perpendicularly with the horizontal plane; a plurality of position coordinates are the plurality of position coordinates of the target point in the spatial rectangular coordinate system.
[0059] The degree of inclination of the market is usually judged by its inclination compared to the horizontal plane or vertical line. A spatial rectangular coordinate system is constructed with the horizontal plane and the vertical line to facilitate subsequent operations.
[0060] In some optional implementations, executing the operation of S203 specifically includes: determining a motion trajectory curve of the target in a spatial rectangular coordinate system according to a plurality of position coordinates.
[0061] In some optional implementations, performing the operation of S204 specifically includes:
[0062] The first step is to determine the plane where the motion trajectory curve is located according to the motion trajectory curve of the target in the spatial rectangular coordinate system.
[0063] The second step is to determine the inclination of the disk based on the angle between the plane where the motion trajectory curve is located and the vertical axis of the spatial rectangular coordinate system.
[0064] The relative positions of the target and the platter are relatively fixed, so the plane where the target's motion trajectory is located is parallel to the platter. The above operation, by drawing lines with points and then drawing lines with lines, determines the plane where the target is located when the platter rotates. The inclination of this plane in the spatial rectangular coordinate system is the inclination of the platter.
[0065] In some optional implementations, executing the operation of S202 specifically includes: when the large disk rotates to multiple different angles, acquiring the position coordinates of the target point when the large disk rotates to each angle collected by using a laser tracker.
[0066] In some optional implementations, the operation of the first step in S202 is performed, specifically including: for each rotation of the large disk N circles, determining the motion trajectory curve of the target point according to at least three position coordinates of the target point corresponding to the circle.
[0067] The operation of the first step in S202 is specifically performed, including: determining the inclination of the disk corresponding to each N-rotation circle of the disk according to the motion trajectory curve of the target point corresponding to the circle. Determining the inclination of the disk according to the N inclinations corresponding to the N-rotation circle of the disk. Determining the inclination of the disk according to the average value of the N inclinations corresponding to the N-rotation circle of the disk.
[0068] In order to avoid errors, the inclination of the disk is calculated by taking the average value of multiple measurements.
[0069] In some optional embodiments, the operation of S201 is performed, specifically including: controlling the large plate of the coiler to rotate N times at a set angular velocity. If the speed of the large plate is too fast, it is not conducive to collecting the coordinates of the target point, and if it is too slow, the test takes a long time. To avoid this problem, the angular velocity is set to be less than or equal to 1.2 degrees per second.
[0070] Exemplarily, the set angular velocity is 1.2 degrees per second, that is, it takes 5 minutes for the disk to rotate one circle. If the position coordinates of 4 targets are collected in each circle, that is, when the disk rotates to 90 degrees, 180 degrees, 270 degrees and 360 degrees, the position coordinates of one target point are used, and the interval time for collecting two adjacent position coordinates is 1.25 minutes. This speed can accurately collect the position coordinates of the target point and it does not take long.
[0071] In some optional embodiments, the target point has a set distance from the rotation axis of the large disk, which is greater than or equal to 1 meter and less than or equal to 1.5 meters. Taking the use of a laser tracker to collect the target point position coordinates as an example, it is usually necessary to install a target ball at the target point, and the laser tracker can collect the coordinates of the target ball. If the distance between the target point and the rotation axis of the large disk is too short, the linear speed of the target ball is too fast, which is not conducive to the accurate collection of the position coordinates. If the distance between the target point and the rotation axis of the large disk is too long, the edge of the large disk vibrates during rotation, which may cause the target ball to vibrate and shift, which is also not conducive to the accurate collection of the position coordinates.
[0072] Based on the same inventive concept, the present application also provides a device for determining the inclination of a coiler disc, please refer to Figure 3 , Figure 3 This is a wireframe diagram of a device for determining the inclination of a coiler disk in an embodiment of the present application. The device 300 for determining the inclination of a coiler disk includes:
[0073] The large disc rotation control unit 301 is used to control the large disc of the coiler to rotate N times, where N is a positive integer greater than or equal to 1. There is a target point on the large disc, and the target point has a set distance from the rotating axis of the large disc.
[0074] The position coordinate determining unit 302 is used to obtain multiple position coordinates of the target point during the rotation of the large disk, and the multiple position coordinates include the coordinates of the position of the target point corresponding to each angle when the large disk rotates to multiple angles.
[0075] The motion trajectory curve determining unit 303 is used to determine the motion trajectory curve of the target point according to a plurality of position coordinates.
[0076] The inclination determination unit 304 is used to determine the inclination of the large plate according to the motion trajectory curve of the target point.
[0077] The device for determining the inclination of the coiler disk provided in the embodiment of the present application can be used to implement the method for determining the inclination of the coiler disk provided in the above-mentioned embodiment. By collecting the coordinates of multiple positions of the target point on the disk when the disk is rotated to multiple angles, the motion trajectory curve of the target point in the spatial coordinate system is obtained to determine the inclination angle of the disk. Compared with the prior art, the device for determining the inclination of the coiler disk provided in the present application solves the technical problems of poor versatility, low accuracy and complicated steps in the prior art method of manually measuring the inclination of the disk using a rod micrometer in combination with a plumb line and a steel wire. It can shorten the time for measuring the inclination of the disk to less than 25% of the prior art with higher accuracy and can also save labor.
[0078] Taking the measurement of the inclination of the large plate of the Carousel coiler as an example, the following introduces how to use the above-mentioned large plate inclination determination device of the coiler to realize the inclination of the large plate of the Carousel coiler.
[0079] The first step, such as Figure 4 As shown, two reference points A and B are preset outside the Carousel coiler disc 401, wherein point A and point B are on the same horizontal plane, and a spatial rectangular coordinate system is established with point A as the origin and the line AB as the X-axis.
[0080] The second step is still Figure 4 As shown, a laser tracker 402, such as a Leica AT500 laser tracker, is set up by a tripod at a position where the large plate 401 of the Carrousel winder and the reference points A and B can be seen through. The tripod can be reinforced with a hot melt glue gun to stabilize the position of the laser tracker 402;
[0081] The third step is to fix the target ball 403 on the magnetic base, and absorb the magnetic base on the Carousel winder disc 401. The diameter of the Carousel winder disc 401 is about 3840 mm. Use a hot melt glue gun to reinforce the magnetic base to fix the position of the target ball 403. The target ball 403 is between 1 and 1.5 m from the center of the disc, for example, it can be 1 m, 1.2 m, 1.3 m or 1.5 m.
[0082] The fourth step is to establish a spatial rectangular coordinate system through SA software.
[0083] The fifth step is to collect data by rotating the Carousel coiler plate 401. Figure 4 At the eight points shown, the coordinates of the target sphere 403 are collected.
[0084] The rotating carousel coiler disc 401 can be rotated 3 to 5 times to collect multiple coordinates of the target ball 403. For example, the rotating carousel coiler disc 401 rotates 3 times to collect three sets of coordinates of the target ball 403. The angular velocity of the carousel coiler disc 401 is less than or equal to 1.2 degrees per second. On the basis that the laser tracker 402 can accurately collect the coordinates of the target ball 403, the carousel coiler disc 401 can rotate at a constant speed or at a variable speed, which is not specifically limited here.
[0085] Step 6: Figure 5 As shown, the coordinates of the eight target balls 403 collected are fitted into a circle through SA software. This circle is the running track 501 of the target ball 403. The inclination of the large plate is determined by checking the circumferential normal 502 of the circle. The large plate 401 of the Carousel coiler rotates 3 times, and three groups of coordinates of the target balls 403 are collected correspondingly. By repeating this step through SA software, the inclination of the large plate 401 of the Carousel coiler for each rotation can be obtained. The average of the three inclinations can more accurately determine the inclination of the large plate 401 of the Carousel coiler.
[0086] The device and method for determining the inclination of the coiler disk provided in the embodiment of the present application utilize a laser tracker for measurement. No springboard needs to be set up, and only the disk needs to be rotated. The measurement accuracy is high (15um+6um), and each measurement can be completed in 2 hours.
[0087] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a computer, the computer executes the method provided in the above embodiment.
[0088] The present application also provides a server, such as Figure 6 As shown, the server 600 includes a memory 601, a processor 602, and a computer program 603 stored in the memory 601 and executable on the processor 602. When the processor 602 executes the computer program 603, the server 600 executes the method provided in the above embodiment.
[0089] The embodiments of the present application also provide a computer program product, including a computer program. When the computer program is executed, the computer executes the method provided in the above embodiments.
[0090] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.
[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned 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 application.
[0092] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.
Claims
1. A method for determining the inclination of a coiler plate, It is characterized in that The method comprises: Controlling the large disk of the coiler to rotate N times, where N is a positive integer greater than or equal to 1, and a target point is provided on the large disk, and a set distance is formed between the target point and the rotating axis of the large disk; Acquire multiple position coordinates of the target point during the rotation of the large disk, wherein the multiple position coordinates include, for each angle of the large disk rotated to multiple angles, the coordinates of the position of the target point corresponding to the angle; Determining a motion trajectory curve of the target point according to the multiple position coordinates; The inclination of the large plate is determined according to the motion trajectory curve of the target point.
2. The method for determining the inclination of the coiler disc according to claim 1, It is characterized in that Before obtaining the coordinates of a plurality of positions that the target passes through during the rotation of the disk, the method further includes: A spatial rectangular coordinate system is constructed, wherein the horizontal axis and the vertical axis of the spatial rectangular coordinate system intersect with the origin in a horizontal plane, and the vertical axis of the spatial rectangular coordinate system intersects with the origin at right angles to the horizontal plane; the multiple position coordinates are the multiple position coordinates of the target point in the spatial rectangular coordinate system.
3. The method for determining the inclination of the coiler disc according to claim 2, It is characterized in that Determining the motion trajectory curve of the target point according to the multiple position coordinates includes: Determining a motion trajectory curve of the target point in the spatial rectangular coordinate system according to the multiple position coordinates; Determining the inclination of the large plate according to the motion trajectory curve of the target point includes: In the spatial rectangular coordinate system, according to the motion trajectory curve of the target point, determining the plane where the motion trajectory curve is located; The inclination of the large disk is determined according to the angle between the plane where the motion trajectory curve is located and the vertical axis of the spatial rectangular coordinate system.
4. The method for determining the inclination of the coiler disc according to claim 1, It is characterized in that The step of obtaining the coordinates of a plurality of positions of the target point during the rotation of the large disk includes: When the large disk is rotated to a plurality of different angles, the position coordinates of the target point when the large disk is rotated to each angle collected by a laser tracker are obtained.
5. The method for determining the inclination of the coiler disc according to claim 1, It is characterized in that Determining the motion trajectory curve of the target point according to the multiple position coordinates includes: For each of the N rotations of the large disk, a motion trajectory curve of the target point is determined according to at least three position coordinates of the target point corresponding to the rotation.
6. The method for determining the inclination of the coiler disc according to claim 5, It is characterized in that Determining the inclination of the large plate according to the motion trajectory curve of the target point includes: Based on each rotation of the large disk N circles, the inclination of the large disk corresponding to the circle is determined according to the motion trajectory curve of the target point corresponding to the circle; The inclination of the large disk is determined according to the N inclinations corresponding to the large disk rotating N times.
7. The method for determining the inclination of the coiler disc according to claim 6, It is characterized in that Determining the inclination of the large disk according to N inclinations corresponding to the large disk rotating N times includes: The inclination of the large disk is determined according to an average value of N inclinations corresponding to N rotations of the large disk.
8. The method for determining the inclination of the coiler disc according to claim 1, It is characterized in that The control of the coiler's large disc to rotate N times comprises: The large plate of the coiler is controlled to rotate N times at a set angular velocity, and the set angular velocity is less than or equal to 1.2 degrees per second.
9. The method for determining the inclination of the coiler disc according to claim 1, It is characterized in that The target point has a set distance from the rotation axis of the large disk, which is greater than or equal to 1 meter and less than or equal to 1.5 meters.
10. A device for determining the inclination of a coiler plate, It is characterized in that include: A large plate rotation control unit, used to control the large plate of the coiler to rotate N times, where N is a positive integer greater than or equal to 1, and a target point is provided on the large plate, and a set distance is formed between the target point and the rotating shaft of the large plate; A position coordinate determination unit, used for acquiring a plurality of position coordinates of the target point during the rotation of the large disk, wherein the plurality of position coordinates include, for each angle to which the large disk rotates, the coordinates of the position of the target point corresponding to the angle; A motion trajectory curve determining unit, used for determining the motion trajectory curve of the target point according to the multiple position coordinates; The inclination determination unit is used to determine the inclination of the large plate according to the motion trajectory curve of the target point.