JPS61148318A - Method and apparatus for measuring angle - Google Patents

Abstract

PURPOSE:To measure angles at a high accuracy, by processing angular velocity signal generated while one measuring plane of a sensor section provided with a plurality of gyros with the input shafts perpendicular to one another abuts against the other plane to be measured after doing on one plane to be measured. CONSTITUTION:A sensor section I having an X gyro Ix, a Y gyro Iy and a Z gyro Iz perpendicular to one another is provided in a box body 10 finished with one side (q) as plane. The output of the sensor section I is sent out to a processing section II to calculate an angle. First, a calculator 7 is reset with the side (q) abutting on a surface P1 and then, the sensor section I is moved softly in inversion to make the side (q) abut on a surface P2 to be measured. Meanwhile, X, Y and Z components wx, wy and wz of the rotation angle velocity of the sensor section I are detected to obtain angle increments integrated with V/F converters 3x-3z. The angle increment values are taken into a calculator 7 to calculate an angle, which is shown on a proper display while being recorded. Thus, highly accurate measurement of angles can be performed.

Description

[Detailed Description of the Invention] [Industrial Field of Application] This invention relates to an angle measuring method and device, and is particularly useful for measuring angles between two planes formed by structures separated from each other at construction sites, shipyards, etc. The present invention relates to an angle measuring method and apparatus for measuring the angle of.

[Conventional technology]

Conventionally, there have been methods and devices for measuring this angle mechanically using the surfaces of seven flanges connected to both ends of a joint pipe having a fixed angle, and methods and devices such as using a protractor. I was listening.

[Problem that the invention seeks to solve]

The conventional angle measurement methods and devices described above have the problems that the measurement work is complicated and time-consuming, and highly accurate results cannot be obtained.

The present invention was made to solve these problems, and an object of the present invention is to provide an angle measuring method and apparatus that can obtain highly accurate measurement results with simple operations.

[Ninth way to solve the problem]

The angle measuring method according to the present invention uses a sensor section having a plurality of gyros whose input axes are orthogonal to each other and one measurement plane, and uses a sensor section that is generated while the measurement planes are brought into contact with a number of measurement planes respectively. The angular velocity signal is processed and calculated to measure the angle between the fixed co-planes.

Further, the angle measuring device according to the present invention includes a sensor section that houses a plurality of gyros whose input axes are orthogonal to each other and is a housing having one plane, and a sensor section that processes an angular velocity signal from the sensor section and processes the gyro to be measured. and a processing section having a calculator for calculating the angle between the two.

[Operation] In the method of the present invention, the computer is reset with the flat surface of the casing in contact with one of the surfaces to be measured, and then the casing is quietly moved to bring the flat surface of the casing into contact with the other surface to be measured. comes into contact with. During this time, the X, Y, and Z components of the rotation angle of the sensor section are detected by the gyro, and the angle between the a measurement surfaces is determined by the processing section.

Further, in the device of the present invention, the angular increment is detected from the voltage corresponding to the rotational angular velocity of the sensor section detected by the gyro, and the pre-programmed calculator
, Y, and Z axes, the angular relationship between one surface to be measured is calculated in real time according to a certain algorithm, and output.

〔Example〕

Ninth, to facilitate understanding of the present invention, a detailed explanation of the present invention will be given before describing embodiments. In Fig. 2, P is a plane to be measured.

Let P be the rectangular seat system fixed to each one.

Let Y, Z and X, Y, Z. X and Y axes on P plane, 1
1 22! 11
? If the X and Y axes are placed on the P plane, the 2.2 axes are normals to the P and P planes, respectively.

Now, consider a rectangular coordinate system X, Y, and Z that can be rotated arbitrarily. Initially, it coincides with X, Y, and Z, but as a result of some rotational movement, it coincides with X, Y, and Z. Think of it as something.

The equation representing the rotation of the X, Y, Z coordinate system is B=B・
It is expressed as Ω (1). Here, B is the direction cosine matrix of the X, Y, and Z axes, which is usually called the B matrix, and Ω is the rotational angular velocity of the two-coordinate system.

Y, Z component ω, ω1. It is expressed as a matrix with ω2 as an element.

When the X, Y, Z coordinate axes coincide with A direction remainder ltt 222 chord matrix B is obtained.

This invention based on the above principle is based on the angular velocity ω8 of the three axes of the X, Y, and Z systems. ω1. ω2 is detected by a gyro and C1
) is used to measure a desired angle by calculating the differential equation in real time.

Considering the angle detection accuracy, from the viewpoint of minimum detection ability, resolution, linearity, drift, etc., the gyro should be three floating type integral gyros with medium accuracy, or one chained dry type with medium accuracy. Four gyros are suitable, but a spring-restrained rate gyro is insufficient. Additionally, computers that process gyro signals include 16-bit computers that are currently readily available.
It is sufficient to consider a storage unit of about the size of ROM, /KW-RAM.

An embodiment of the present invention based on the principle and general configuration described above will be described in detail below.

[Embodiments of the invention]

In FIG. 2, the sensor parts are X gyro lx% Y gyro l, 2 gyro 12, and torque amplifier units connected to their outputs, respectively.

and a v/y converter JX, , 7Y, which further converts the voltage into a pulse train.3. and a first interface, and a Do/A (!converter S) for supplying power to the gyro.The processing unit consisting of a computer, a power supply, and an operation unit includes a first interface 6 and a memory. The computer is composed of a DO/'DC converter t to which a battery power source is applied to the third interface g1.The DO/DO converter 9 functions as a power source necessary for the sensor section I and the processing section (2).

Figure 3 shows the configuration of the sensor section I using a floated integral gyro, and the housing IO with one side surface finished flat.
Inside X gyro/xSY gyro/Y, Z gyro l,
are arranged perpendicularly to each other, and Torukaampco,,co. ,J V/IF converter 3x, ,7Y, J,,first interface 4! , a DC/AC converter S, etc., as appropriate. l is a required cable connected via connectors i and y.

Next, the measurement method and operation of the apparatus will be explained with reference to FIG. In FIG. 1, one surface q of the housing IO of the sensor section I is finished flat. First, reset the calculator with its side q in contact with the surface to be measured P) (B
Let the initial value of be l). Next, the center section (2) is gently reversed and the side surface (q) is brought into contact with the surface to be measured P. Meanwhile, the rotational angular velocity of the sensor section ■ is X! .

Two-component ω-work, ω1. ω and gyro lx respectively.

Both lY and lzK are detected.

A voltage that is exactly proportional to the human power angular velocity around the X axis is obtained from the X gyro lx ten Torkaa/Pukoe loop (same for Y gyro/Y, Z gyro l, etc.).

A v/y converter JX converts this voltage into a pulse train. Since the input circuit of the V/IP converter has an integral characteristic, a unit output pulse corresponds to a minute integral value of the input angular velocity, that is, an angular increment.

The computer inputs the angular increments around the Calculate and output.

This output is displayed and recorded by a suitable display.

Therefore, B at the moment when the side surface q comes into contact with the surface to be measured P,
The value of is the direction cosine matrix B itself indicating the angular relationship between P and P.

Note that the gyro uses the earth's rotational angular velocity (t !r'/hr"
There is a problem in that it also detects 7 o, o OII co'/sec).

Therefore, it is desirable to reduce the time it takes to move the sensor section (2) from the surface to be measured P, to P2 as short as possible, to about several positions per second or less. For example, if it takes 1 minute to travel, the maximum error angle is 7.1 minutes. Also,
In order to remove the influence of the earth's rotation, it is necessary to accurately know the relative positional relationship between the sensor unit and the earth. However, although it is not impossible to know this, from the viewpoint of simplifying the device, it is better to cover it with the measurement operation as described above.

〔Effect of the invention〕

As is clear from the above description, the method of the present invention measures the angle between the surfaces to be measured by sequentially bringing one plane of the sensor section into contact with the two surfaces to be measured.
Measurement work is significantly simplified and measurement results can be obtained easily and quickly.

Further, since the device of the present invention is composed of a sensor section that houses a gyro in a housing having one plane, and a processing section that processes the output of the sensor section, the device is simple and easy to operate. , it is possible to obtain highly accurate measurement results.

[Brief explanation of drawings]

FIG. 1 is a perspective view for explaining the operation of an embodiment of the invention, FIG. 1 is a wiring diagram of an embodiment of the apparatus of the invention, and FIG.
The same figure shows the sensor part, the same figure (-) is the front view, the same figure (11
) is a side view, FIG. 3(C) is a plan view, and FIG. ■...Sensor section, ■...Processing section, lx, la, l. ... Gyro, Koni, Ko'r t Jz... Toruca amplifier, JX * jt 13B ... V/F Co/Parter, Da, 6°g... Interface,!・・Do/AC
Konno (-ta,?・Do/DO Konno Kuichita, lO
・・Casing, //・・Electronic part. In each figure, the same reference numerals indicate the same or corresponding parts.

Claims (4)

[Claims] (1) An angle measurement method that measures the angle between two measured planes formed by two structures that are separated from each other, using a sensor unit that includes a plurality of gyroscopes whose input axes are orthogonal to each other and one measurement plane. , signal processing and calculation by a computer of an angular velocity signal of the sensor unit that occurs while the measurement plane is brought into contact with one of the measurement planes and then the measurement plane is brought into contact with the other measurement plane; An angle measuring method characterized in that the angle is determined by: (2) In an angle measuring device that measures the angle between two measured planes formed by two structures separated from each other, a housing that houses and arranges multiple gyroscopes whose input axes are orthogonal to each other and has one plane. An angle measuring device comprising: a sensor section; and a processing section having a calculator that processes and calculates an angular velocity signal from the sensor section to determine the angle between the planes to be measured. (3) The angle measuring device according to claim 2, comprising three floating integral gyroscopes. (4) The angle measuring device according to claim 2, comprising two tuned dry gyros.