An angle measuring device and method

Abstract

The application discloses a kind of included angle measuring devices, it is related to mechanical transmission detection technical field, including computing component and reflection component.Computing component is detachably arranged on universal shaft and can rotate with universal shaft synchronously, it includes laser ranging unit, inertial measurement unit and processor, processor is electrically connected with laser ranging unit and inertial measurement unit respectively;Reflection component is detachably arranged on universal joint and rotates with universal joint synchronously, it is oppositely arranged with laser ranging unit, to reflect the laser that laser ranging unit emits.Processor is configured to calculate the space included angle θ between universal shaft and universal joint according to the detection data of laser ranging unit and inertial measurement unit.The device is simple and fast to install and remove, does not need to stop machine and dismount universal shaft when measuring, realizes fast measurement;It is not limited by the characteristics of three-dimensional rotational motion of universal shaft simultaneously, need not to guarantee that two shafts are coplanar in advance, realizes the fast and accurate digitization measurement of three-dimensional space included angle θ of universal shaft and universal joint.

Description

Technical Field

[0001] This application relates to the field of mechanical transmission testing technology, and in particular to an angle measuring device and method. Background Technology

[0002] The automotive industry contains numerous rotating mechanisms that transmit power via universal joints, such as the drive shaft between the engine and the final drive, the half-shaft between the rear axle and the wheel hub, and universal drive shaft systems on various test benches. The angle between the universal joint and the universal shaft directly affects transmission efficiency, operational smoothness, and coupling lifespan, and significantly impacts test results on the test bench. However, due to the rotational motion characteristics of the universal joint in three-dimensional space, its true angle is difficult to measure directly; furthermore, the universal joint must be disassembled and reassembled before and after each test, resulting in deviations in the angle after each installation, making it difficult to reproduce. While existing coordinate measuring machines (CMMs) can improve measurement accuracy, they are not portable and require significant upfront time for installation and coordinate system establishment, leading to a long measurement cycle.

[0003] Therefore, how to quickly and accurately measure the angle between the universal joint and the universal axis has become a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] This application proposes an angle measuring device and method that can quickly and accurately measure the angle between a universal joint and a universal shaft.

[0005] To achieve the above objectives, this application discloses the following technical solutions:

[0006] In a first aspect, this application provides an angle measuring device, comprising: a calculation component, which is detachably mounted on a universal joint and can rotate synchronously with the universal joint; the calculation component includes a laser ranging unit, an inertial measurement unit, and a processor, the processor being electrically connected to the laser ranging unit and the inertial measurement unit respectively; a reflecting component, which is detachably mounted on a universal joint and can rotate synchronously with the universal joint, the reflecting component being arranged opposite to the laser ranging unit to reflect the laser emitted by the laser ranging unit; the processor is configured to calculate the spatial angle θ between the universal joint and the universal joint based on the detection data of the laser ranging unit and the inertial measurement unit.

[0007] In some embodiments, the processor includes:

[0008] The difference calculation module is configured to obtain the difference ΔS between the maximum and minimum distance values ​​based on the distance data between the laser ranging unit and the reflecting component collected by the laser ranging unit during one rotation of the universal joint.

[0009] The radius calculation module is configured to obtain the rotation radius R based on the centripetal acceleration and angular velocity measured by the inertial measurement unit;

[0010] The included angle calculation module is configured to calculate the spatial included angle θ according to the formula θ=arctan(ΔS / 2R).

[0011] In some embodiments, the computing component is detachably fixed to the universal joint via a first connecting portion, and the reflecting component is detachably fixed to the universal joint via a second connecting portion.

[0012] In some embodiments, the computing component further includes a mounting body, which is fixedly connected to the first connecting portion;

[0013] The laser ranging unit, inertial measurement unit, and processor are directly or indirectly fixedly connected to the mounting body.

[0014] In some embodiments, the computing component also includes a display screen electrically connected to the processor and fixed to the mounting body to display measurement-related information.

[0015] In some embodiments, the processor is also configured to calculate the adjustment direction and adjustment amount based on the difference between the spatial angle θ and the preset target angle, and to display the adjustment direction and adjustment amount on a display screen.

[0016] In some embodiments, the computing component further includes a wireless communication module electrically connected to the processor for uploading measurement-related information to an external database.

[0017] In some embodiments, the computing component also includes a control panel electrically connected to the processor and fixed to the outside of the mounting body.

[0018] In some embodiments, the computing component further includes a power module electrically connected to the laser ranging unit, the inertial measurement unit, the processor, the display screen, and the wireless communication module, respectively, for providing power.

[0019] In some embodiments, the reflective component includes a reflector;

[0020] The reflector is arranged perpendicular to the rotation axis of the universal joint and is fixedly connected to the second connecting part.

[0021] As can be seen from the above technical solution, when measuring the angle between a universal joint and a universal axis, the angle measuring device provided in this solution can be used. The calculation component is detachably mounted on the universal joint and rotates synchronously with it, while the reflecting component is detachably mounted on the universal joint and rotates synchronously with it. The installation and disassembly process is simple and quick, and the universal joint does not need to be disassembled or reassembled during measurement, significantly shortening the measurement cycle and enabling rapid measurement of the angle between the universal joint and the universal axis. The laser ranging unit and the inertial measurement unit rotate synchronously with the universal joint, collecting distance and inertial data during rotation. The processor calculates the spatial angle θ between the universal joint and the universal axis based on the detection data from both. This measurement method is not limited by the rotational motion characteristics of the universal joint in three-dimensional space and does not require prior assurance that the two axes are coplanar, thus achieving accurate digital measurement of the three-dimensional spatial angle between the universal joint and the universal axis. Therefore, this angle measuring device can simultaneously achieve rapid and accurate measurement of the angle between the universal joint and the universal axis.

[0022] Secondly, this application provides an angle measurement method for the angle measuring device described in any of the above-mentioned claims, comprising the following steps:

[0023] S1: The computing component is detachably mounted on the universal joint, and the reflecting component is detachably mounted on the universal joint;

[0024] S2: During the synchronous rotation of the universal joint and the universal axis, the distance data between the laser ranging unit and the reflecting component is collected by the laser ranging unit, and the centripetal acceleration and angular velocity of the calculation component are collected by the inertial measurement unit.

[0025] S3: The processor calculates the spatial angle θ between the universal joint and the universal axis based on distance data, centripetal acceleration, and angular velocity.

[0026] In some embodiments, step S3 specifically includes:

[0027] S31: Based on the distance data collected by the laser ranging unit during one rotation of the universal joint, the difference ΔS between the maximum and minimum distance values ​​is obtained;

[0028] S32: Based on the centripetal acceleration a and angular velocity ω measured by the inertial measurement unit, the radius of rotation R = a / ω² is obtained;

[0029] S33: The spatial angle θ is calculated using the formula θ=arctan(ΔS / 2R).

[0030] In some embodiments, step S4 is also included: displaying the spatial angle θ on a display screen.

[0031] In some embodiments, step S5 is further included: calculating the adjustment direction and adjustment amount based on the difference between the spatial angle θ and the preset target angle, and displaying the adjustment direction and adjustment amount on the display screen.

[0032] In some embodiments, step S6 is also included: uploading the spatial angle θ, adjustment direction, and adjustment amount to an external database via a wireless communication module.

[0033] The included angle measurement method provided in this application is applicable to any of the included angle measuring devices mentioned above, and therefore possesses all the technical effects of the aforementioned included angle measuring devices, which will not be elaborated further here. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort, and this application can be applied to other similar scenarios based on the provided drawings, all of which fall within the scope of protection of this application. Unless obvious from the linguistic context or otherwise specified, the same reference numerals in the drawings represent the same structure or operation.

[0035] Figure 1 A state diagram showing the farthest distance measured by an angle measuring device provided in this application embodiment;

[0036] Figure 2 A state diagram showing the closest distance measured by an angle measuring device provided in an embodiment of this application;

[0037] Figure 3 A detailed perspective view of an angle measuring device provided in an embodiment of this application;

[0038] Figure 4 A perspective view of the computing component provided in an embodiment of this application;

[0039] Figure 5 A perspective view of the computing component provided in an embodiment of this application;

[0040] Figure 6 An exploded perspective view of the computing component provided in an embodiment of this application;

[0041] Figure 7 An exploded perspective view of the reflective component provided in the embodiments of this application;

[0042] The annotations in the attached figures are explained as follows:

[0043] 10-angle measuring device;

[0044] 100 Computing Unit; 110 Laser Ranging Unit; 120 Inertial Measurement Unit; 130 Processor; 140 Mounting Body; 150 Display Screen; 160 Wireless Communication Module; 170 Control Panel; 180 Power Supply Module;

[0045] 2 million universal joints;

[0046] 300 reflective component; 310 reflective plate;

[0047] 4 million universal joints;

[0048] 500 First connecting part;

[0049] 600 Second connecting part. Detailed Implementation

[0050] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. The described embodiments are only a part of the embodiments of the present application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without inventive effort are within the scope of protection of the present application.

[0051] This application discloses an angle measuring device 10 and a method that can quickly and accurately measure the angle between the universal joint 200 and the universal joint 400.

[0052] See Figure 1 , Figure 2 and Figure 6 To achieve the above objectives, this application discloses the following technical solutions:

[0053] This application provides an angle measuring device 10, comprising: a calculation unit 100, which is detachably mounted on a universal joint 200 and can rotate synchronously with the universal joint 200; the calculation unit 100 includes a laser ranging unit 110, an inertial measurement unit 120, and a processor 130, the processor 130 being electrically connected to the laser ranging unit 110 and the inertial measurement unit 120 respectively; a reflecting unit 300, which is detachably mounted on a universal joint 400 and can rotate synchronously with the universal joint 400, the reflecting unit 300 being arranged opposite to the laser ranging unit 110 to reflect the laser emitted by the laser ranging unit 110; the processor 130 being configured to calculate the spatial angle θ between the universal joint 200 and the universal joint 400 based on the detection data of the laser ranging unit 110 and the inertial measurement unit 120.

[0054] As can be seen from the above technical solution, when measuring the angle between the universal joint 200 and the universal joint 400, the angle measuring device 10 provided in this solution can be used. The calculation component 100 is detachably mounted on the universal joint 200 and rotates synchronously with the universal joint 200. The reflecting component 300 is detachably mounted on the universal joint 400 and rotates synchronously with the universal joint 400. The installation and disassembly process is simple and quick. There is no need to stop the machine to disassemble the universal joint 200 during measurement, which greatly shortens the measurement cycle and realizes the angle between the universal joint 200 and the universal joint 400. Rapid measurement of the 0° angle: The laser ranging unit 110 and the inertial measurement unit 120 rotate synchronously with the universal joint 200, acquiring distance and inertial data during rotation. The processor 130 calculates the spatial angle between the universal joint 200 and the universal joint 400 based on the detection data. This measurement method is not limited by the rotational motion characteristics of the universal joint 200 in three-dimensional space, and does not require prior assurance that the two axes are coplanar, thus achieving accurate digital measurement of the three-dimensional spatial angle between the universal joint 200 and the universal joint 400. Therefore, this angle measuring device 10 can simultaneously achieve rapid and accurate measurement of the angle between the universal joint 200 and the universal joint 400.

[0055] To further clarify how the processor 130 calculates the spatial angle θ based on the detection data, the processor 130 further includes a difference calculation module, a radius calculation module, and an angle calculation module.

[0056] The difference calculation module is configured to obtain the difference ΔS between the maximum distance value and the minimum distance value based on the distance data between the laser ranging unit 110 and the reflecting component 300 collected by the laser ranging unit 110 during one rotation of the universal axis 200.

[0057] See Figure 1 and Figure 2 Specifically, during one rotation of the universal joint 200, due to the spatial angle θ between the universal joint 200 and the universal joint 400, the distance between the reflecting component 300 and the laser ranging unit 110 changes periodically. The minimum distance value L is obtained when the reflecting component 300 rotates to the position closest to the laser ranging unit 110. min The maximum distance value L is obtained when the rotation reaches the farthest position. max The difference calculation module filters L from all the collected distance data. max and L min And calculate ΔS=L max -L min .

[0058] The radius calculation module is configured to obtain the rotation radius R based on the centripetal acceleration a and angular velocity ω measured by the inertial measurement unit 120. Specifically, the inertial measurement unit 120 measures the centripetal acceleration a and angular velocity ω in real time during the rotation of the calculation unit 100 with the universal joint 200, and the radius calculation module calculates the rotation radius R according to the formula R=a / ω².

[0059] The included angle calculation module is configured to calculate the spatial included angle θ according to the formula θ=arctan(ΔS / 2R).

[0060] Through the division of labor and cooperation of the above three modules, the processor 130 can automatically and accurately calculate the spatial angle between the universal joint 200 and the universal joint 400 without manual intervention, eliminating the errors caused by visual judgment and manual reading. The measurement results are presented in digital form, with high accuracy and repeatability.

[0061] In order to enable the detachable installation of the computing component 100 and the reflecting component 300, based on the above embodiment, the computing component 100 is detachably fixedly connected to the universal joint 200 through the first connecting part 500, and the reflecting component 300 is detachably fixedly connected to the universal joint 400 through the second connecting part 600.

[0062] In a preferred embodiment, the first connecting portion 500 and the second connecting portion 600 may employ a magnetic connection structure. See also Figure 3 Specifically, the first connecting part 500 is a magnetic base located at the bottom of the computing component 100, which contains a permanent magnet and can be attracted to the surface of the ferromagnetic universal joint 200; the second connecting part 600 is a magnetic base located at the bottom of the reflecting component 300, which also contains a permanent magnet and can be attracted to the surface of the ferromagnetic universal joint 400. The magnetic connection structure has the advantages of quick installation and convenient disassembly. During installation, simply bringing the computing component 100 or the reflecting component 300 close to the surface of the universal joint 200 or the universal joint 400 will automatically attract and fix it. During disassembly, only a certain pulling force is needed to separate them.

[0063] Of course, the first connecting part 500 and the second connecting part 600 can also adopt quick-release structures such as clamp structure, quick-lock buckle structure, and tight strap structure, all of which have the advantages of convenient and flexible disassembly and assembly, which will not be elaborated on in this article.

[0064] The first connecting part 500 and the second connecting part 600 are key structures for achieving a detachable fixed connection. They allow the calculating component 100 and the reflecting component 300 to be quickly installed on the universal joint 200 and the universal axis 400, and quickly removed after measurement, without the need for any tools or modifications to the universal joint 200 or the universal axis 400. This detachable connection method ensures that the device can be quickly transferred between different equipment and workstations, greatly improving its flexibility and convenience.

[0065] See Figure 4 and Figure 5 In order to stably integrate the various functional units within the computing unit 100 into a whole, based on the above embodiment, the computing unit 100 also includes a mounting body 140. The mounting body 140 is fixedly connected to the first connecting part 500, and the laser ranging unit 110, the inertial measurement unit 120 and the processor 130 are respectively directly or indirectly fixedly connected to the mounting body 140.

[0066] The mounting body 140 provides a unified support and fixing foundation for the various functional units of the computing component 100. The laser ranging unit 110 can be directly fixed to the mounting body 140 by screws or clips; the inertial measurement unit 120 and the processor 130 can be soldered onto a circuit board, which is then fixed to the mounting body 140 by screws. This direct or indirect fixing method ensures that each unit maintains a stable relative position during the high-speed rotation of the universal joint 200, and will not be displaced due to vibration or centrifugal force, thereby ensuring the accuracy and reliability of the measurement data.

[0067] To facilitate real-time monitoring of measurement results by installers, the calculation unit 100, based on the above embodiment, also includes a display screen 150. See also... Figure 5 and Figure 6 The display screen 150 is electrically connected to the processor 130 and is fixed on the mounting body 140 for displaying measurement-related information.

[0068] The measurement information includes, but is not limited to, the spatial angle θ calculated by the processor 130, the equipment's operating status, and battery level. During or after the rotation of the universal joint 200, installers can directly read the current spatial angle value from the display screen 150 without connecting to an external computer or other display device, achieving real-time visualization of the measurement results. This greatly improves the convenience of on-site operation, allowing installers to monitor the current angle at any time and providing a clear basis for subsequent adjustments.

[0069] To further assist installers in adjusting the angle between the universal joint 200 and the universal joint 400 to the target value, based on the above embodiment, the processor 130 is also configured to calculate the adjustment direction and adjustment amount based on the difference between the spatial angle θ and the preset target angle, and display the adjustment direction and adjustment amount on the display screen 150.

[0070] In one specific embodiment, the preset target angle is typically set to 0°. This means the installer aims to adjust the angle between the universal joint 200 and the universal shaft 400 as close to 0° as possible to reduce efficiency loss, improve transmission smoothness, and extend the coupling's service life. The processor 130 compares the measured spatial angle θ with the preset target angle, calculates the difference, and further calculates the required adjustment direction (up, down, left, or right) and the specific adjustment amount based on this difference. This information is presented graphically or numerically on the display screen 150, allowing the installer to quickly adjust the angle to the target value by following the on-screen instructions. This function solves the problem in existing technologies where installers can only rely on repeated attempts based on experience, significantly improving adjustment efficiency and accuracy.

[0071] To enable electronic storage and traceability of measurement data, in addition to the above embodiments, the computing unit 100 further includes a wireless communication module 160. See also... Figure 5 and Figure 6 The wireless communication module 160 is electrically connected to the processor 130 and is used to upload measurement-related information to an external database.

[0072] In a preferred embodiment, the wireless communication module 160 can be a WiFi module or a Bluetooth module, etc. After the measurement is completed, the processor 130 sends the measurement-related information, such as the spatial angle θ, adjustment direction, and adjustment amount, to an external database for storage and management via the wireless communication module 160. This function meets the requirements for electronic data storage and traceability in the Industry 4.0 environment, facilitates subsequent quality analysis, process optimization, and report generation, and also provides convenience for centralized monitoring and data management of multiple devices.

[0073] To facilitate user operation and control of the device, in addition to the above embodiments, the computing component 100 also includes a control panel 170. The control panel 170 is electrically connected to the processor 130 and is fixed to the outside of the mounting body 140.

[0074] See Figure 5 and Figure 6 The control panel 170 is equipped with one or more operating elements for receiving user commands. These operating elements can be buttons, switches, or touch-sensitive units, etc.

[0075] As a specific embodiment, the control panel 170 is equipped with a multi-function button. This multi-function button performs different functions through different operating methods. For example, a short press triggers the power on / off function, controlling the device's on / off state; a long press exceeding a preset time, such as 3 seconds, triggers the reset function, clearing the current measurement data and restarting the measurement. This design, integrating the power on / off and reset functions into a single button, simplifies the structure of the control panel 170, reduces the number of operating components, lowers manufacturing costs, and also makes operation more concise and intuitive.

[0076] In another specific embodiment, the control panel 170 is equipped with independent power on / off buttons and a reset button. The power on / off button is used to control the device to turn on and off, while the reset button is used to clear the current measurement data and restart the measurement. This independent arrangement makes the labels of each function button clearer, facilitating quick identification and operation by the user.

[0077] Preferably, the control panel 170 is also equipped with an upload button, which is used to trigger the wireless communication module 160 to upload the measurement data to an external database.

[0078] The control panel 170 is located on the outside of the installation body 140, making it easy for installers to access and operate during the process, thus improving the convenience of human-computer interaction.

[0079] To ensure the normal operation of each power module within the device, based on the above embodiment, the computing component 100 further includes a power supply module 180. See also... Figure 6 The power module 180 is electrically connected to the laser ranging unit 110, the inertial measurement unit 120, the processor 130, the display screen 150 and the wireless communication module 160, respectively, to provide power.

[0080] For example, the power module 180 can be a rechargeable lithium battery or a dry cell battery compartment, providing operating voltage to all power-consuming units within the device. The power module 180 enables the device to have independent power supply capabilities, eliminating the need for an external power cord and further enhancing its portability and field applicability. The switch button on the control panel 170 is connected in series in the main output circuit of the power module 180, used to control the power on and off of the entire device.

[0081] See Figure 7 To ensure that the reflective component 300 can effectively reflect the laser signal, the reflective component 300 includes a reflective plate 310. The reflective plate 310 is arranged perpendicular to the rotation axis of the universal joint 400 and is fixedly connected to the second connecting part 600.

[0082] The reflector 310 is made of a diffuse reflective material, such as white ceramic or a high-reflectivity diffuse reflective patch, to ensure that it can effectively reflect laser light at different incident angles.

[0083] The reflector 310 is arranged perpendicular to the rotation axis of the universal joint 400. This arrangement ensures that when the universal joint 400 rotates synchronously with the universal shaft 200, the plane containing the reflector 310 remains perpendicular to the rotation axis of the universal joint 400, thus forming a stable reflective reference surface during rotation. This arrangement ensures a clear geometric correspondence between the distance data collected by the laser ranging unit 110 and the spatial angle θ between the universal shaft 200 and the universal joint 400, facilitating angle calculation by the processor 130. Furthermore, when installers adjust the universal shaft 200 according to the adjustment direction and amount displayed on the display screen 150, the linear relationship between the adjustment amount and the angle change, due to the reflector 310's perpendicularity to the universal joint 400 axis, allows installers to make precise adjustments intuitively based on the displayed values ​​without additional geometric calculations, improving adjustment efficiency and accuracy.

[0084] The above describes the specific structure of the included angle measuring device 10. Another aspect of this application provides an included angle measuring method, comprising the following steps:

[0085] S1: The computing component 100 is detachably mounted on the universal joint 200, and the reflecting component 300 is detachably mounted on the universal joint 400. No modification is required to the universal joint 200 or the universal joint 400, and the installation and disassembly process is quick and easy.

[0086] S2: During the synchronous rotation of the universal joint 200 and the universal joint 400, the distance data between the laser ranging unit 110 and the reflecting component 300 is collected by the laser ranging unit 110, and the centripetal acceleration and angular velocity of the calculation component 100 are collected by the inertial measurement unit 120. The synchronous collection of distance and inertial data during the synchronous rotation of the universal joint 200 and the universal joint 400 achieves in-situ measurement without requiring machine shutdown or disassembly.

[0087] S3: The processor 130 calculates the spatial angle θ between the universal joint 200 and the universal shaft 400 based on distance data, centripetal acceleration, and angular velocity. The processor 130 automatically completes the angle calculation, eliminating the need for manual reading or calculation and thus eliminating human error. The entire method is simple to operate and highly automated, enabling rapid and accurate measurement of the spatial angle between the universal joint 200 and the universal shaft 400.

[0088] Based on the above method, step S3 specifically includes:

[0089] S31: Based on the distance data collected by the laser ranging unit 110 during one rotation of the universal joint 200, the difference ΔS between the maximum and minimum distance values ​​is obtained. By collecting complete distance data for one rotation of the universal joint 200 and filtering the maximum and minimum values, the periodic distance change information during the rotation process is fully utilized, avoiding the random errors of single-point measurement.

[0090] S32: Based on the centripetal acceleration a and angular velocity ω measured by the inertial measurement unit 120, the rotation radius R = a / ω² is obtained. No additional tools or manual measurement of the rotation radius is required, simplifying the operation process.

[0091] S33: The spatial angle θ is calculated using the formula θ=arctan(ΔS / 2R). This geometrically based calculation formula transforms the distance difference ΔS and the rotation radius R into the spatial angle θ. The calculation model is simple, the physical meaning is clear, and the measurement results are highly accurate and repeatable.

[0092] Based on the above method, step S4 is also included: displaying the spatial angle θ on the display screen 150. The advantage of this step is that the spatial angle θ calculated by the processor 130 is presented intuitively in digital form on the display screen 150. The installer can read the current angle value in real time without connecting external equipment, which makes it easy to understand the angle status between the universal joint 200 and the universal joint 400 in a timely manner, providing a direct basis for subsequent adjustment decisions and improving the convenience and real-time nature of on-site operation.

[0093] To help installers quickly adjust the angle between the universal joint 200 and the universal joint 400 to the target value, this method also includes step S5: calculating the adjustment direction and adjustment amount based on the difference between the spatial angle θ and the preset target angle, and displaying the adjustment direction and adjustment amount on the display screen 150.

[0094] The advantage of this step is that it not only displays the current angle value, but also calculates the direction and specific adjustment amount that the installer needs to make, and presents it on the display screen 150 in graphical or numerical form. Installers no longer need to rely on experience and repeatedly try different angles; they can quickly adjust the angle to the target value simply by following the instructions on the display screen 150. This significantly reduces the difficulty and time of adjustment, and improves calibration efficiency and accuracy.

[0095] In order to realize the electronic storage and remote traceability of measurement data, the method above also includes step S6: uploading the spatial angle θ, adjustment direction and adjustment amount to an external database through the wireless communication module 160.

[0096] The advantage of this step is that it wirelessly uploads key data from the measurement and adjustment process to an external database, enabling electronic storage and remote access to the measurement data. This data can be used for subsequent quality analysis, process optimization, and report generation, meeting the data traceability requirements of Industry 4.0 and providing a data foundation for centralized monitoring of multiple devices and long-term trend analysis.

[0097] In the above context, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0098] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. "And / or" in this article is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone.

[0099] It should be noted that, for ease of description, only the parts relevant to the application are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0100] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed, and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. The scope of this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described application concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. An angle measuring device, characterized in that, include: A computing unit (100) is detachably mounted on a universal joint (200) and can rotate synchronously with the universal joint (200); the computing unit (100) includes a laser ranging unit (110), an inertial measurement unit (120), and a processor (130), the processor (130) being electrically connected to the laser ranging unit (110) and the inertial measurement unit (120) respectively; A reflective component (300) is detachably mounted on a universal joint (400) and can rotate synchronously with the universal joint (400). The reflective component (300) is arranged opposite to the laser ranging unit (110) to reflect the laser emitted by the laser ranging unit (110). The processor (130) is configured to calculate the spatial angle θ between the universal joint (400) and the universal axis (200) based on the detection data of the laser ranging unit (110) and the inertial measurement unit (120).

2. The included angle measuring device as described in claim 1, characterized in that, The processor (130) includes: The difference calculation module is configured to obtain the difference ΔS between the maximum distance value and the minimum distance value based on the distance data between the laser ranging unit (110) and the reflective component (300) collected by the laser ranging unit (110) during the rotation of the universal joint (200) once. A radius calculation module is configured to obtain the rotation radius R based on the centripetal acceleration and angular velocity measured by the inertial measurement unit (120); Angle calculation module, which is configured to calculate the spatial angle θ according to the formula θ=arctan(ΔS / 2R).

3. The included angle measuring device as described in claim 1, characterized in that, The computing component (100) is detachably fixed to the universal joint (200) via the first connecting part (500), and the reflecting component (300) is detachably fixed to the universal joint (400) via the second connecting part (600).

4. The included angle measuring device as described in claim 3, characterized in that, The computing component (100) further includes a mounting body (140), which is fixedly connected to the first connecting part (500); The laser ranging unit (110), the inertial measurement unit (120), and the processor (130) are respectively directly or indirectly fixedly connected to the mounting body (140).

5. The included angle measuring device as described in claim 4, characterized in that, The computing unit (100) also includes a display screen (150), which is electrically connected to the processor (130) and fixed on the mounting body (140) to display measurement-related information.

6. The included angle measuring device as described in claim 5, characterized in that, The processor (130) is also configured to calculate the adjustment direction and adjustment amount based on the difference between the spatial angle θ and the preset target angle, and the display screen (150) displays the adjustment direction and the adjustment amount.

7. The included angle measuring device as described in claim 6, characterized in that, The computing unit (100) also includes a wireless communication module (160), which is electrically connected to the processor (130) and is used to upload the measurement-related information to an external database.

8. The included angle measuring device as described in claim 4, characterized in that, The computing unit (100) also includes a control panel (170), which is electrically connected to the processor (130) and fixed to the outside of the mounting body (140).

9. The included angle measuring device as described in claim 7, characterized in that, The computing unit (100) also includes a power module (180), which is electrically connected to the laser ranging unit (110), the inertial measurement unit (120), the processor (130), the display screen (150) and the wireless communication module (160) respectively, and is used to provide power.

10. The included angle measuring device as described in claim 3, characterized in that, The reflective component (300) includes a reflector (310); The reflector (310) is arranged perpendicular to the rotation axis of the universal joint (400) and is fixedly connected to the second connecting part (600).

11. A method for measuring included angles, used in the included angle measuring device as described in any one of claims 1 to 10, characterized in that, Includes the following steps: S1: The calculation component (100) is detachably mounted on the universal joint (200), and the reflection component (300) is detachably mounted on the universal joint (400); S2: During the synchronous rotation of the universal joint (200) and the universal joint (400), the distance data between the laser ranging unit (110) and the reflecting component (300) is collected by the laser ranging unit (110), and the centripetal acceleration and angular velocity of the calculation component (100) are collected by the inertial measurement unit (120). S3: The processor (130) calculates the spatial angle θ between the universal joint (200) and the universal joint (400) based on the distance data, centripetal acceleration and angular velocity.

12. The angle measurement method as described in claim 11, characterized in that, Step S3 specifically includes: S31: Based on the distance data collected by the laser ranging unit (110) during the rotation of the universal joint (200) one revolution, the difference ΔS between the maximum distance value and the minimum distance value is obtained; S32: Based on the centripetal acceleration a and angular velocity ω measured by the inertial measurement unit (120), the rotation radius R = a / ω² is obtained; S33: The spatial angle θ is calculated according to the formula θ=arctan(ΔS / 2R).

13. The angle measurement method as described in claim 11, characterized in that, It also includes step S4: displaying the spatial angle θ on the display screen (150).

14. The angle measurement method as described in claim 13, characterized in that, It also includes step S5: calculating the adjustment direction and adjustment amount based on the difference between the spatial angle θ and the preset target angle, and displaying the adjustment direction and adjustment amount on the display screen (150).

15. The angle measurement method as described in claim 14, characterized in that, It also includes step S6: uploading the spatial angle θ, the adjustment direction and the adjustment amount to an external database via the wireless communication module (160).

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