CN106918318A - A kind of device and leveling method of three fulcrums leveling theodolite - Google Patents

Abstract

The invention relates to the leveling field of theodolite, in particular to a device and a leveling method for leveling theodolite with three fulcrums. The supporting leg one, supporting leg two and supporting leg three of the present invention are equilateral triangle settings, and the three supporting points are evenly distributed on three points on the theodolite circumference, and the angle detector is installed on the theodolite platform, and the angle detector is installed on the On the midpoint of one side of the equilateral triangle formed by fine-tuning motor one, fine-tuning motor two, and fine-tuning motor three. The invention has the advantages of fast adjustment speed and relatively independent two axes during the adjustment process, thereby simplifying the leveling algorithm.

Description

A device and method for leveling a theodolite with three fulcrums

technical field

The invention relates to the leveling field of a theodolite, in particular to a device and a leveling method for leveling a theodolite with three fulcrums.

Background technique

In the current work and production, the theodolite used is affected by the large terrain environment image, and the leveling process is complicated, time-consuming and labor-intensive, and requires professional training for operators before use, which is not conducive to the development of work and production.

The invention changes the mechanical structure of the theodolite, adds a high-precision stepping motor, and achieves automatic leveling of the theodolite through the precise control of the control system. This process is less affected by the terrain environment and does not require the participation of operators. Greatly improved work efficiency and measurement accuracy.

Contents of the invention

Aiming at the deficiencies of the prior art, the invention provides a device and a leveling method for leveling the theodolite with three fulcrums. The first leg, the second leg and the third leg of the present invention are arranged in a regular triangle, and the three support points are evenly distributed on three points on the theodolite circumference, and the angle detector is installed on the theodolite platform, and the angle detector is installed on the theodolite On the midpoint of a side of the equilateral triangle formed by fine-tuning motor one, fine-tuning motor two, and fine-tuning motor three. The invention has the advantages of fast adjustment speed and relatively independent two axes during the adjustment process, thereby simplifying the leveling algorithm.

The technical scheme of the present invention is: a device for leveling the theodolite with three fulcrums, including support leg one, support leg two, support leg three, theodolite platform, angle detector, support leg one, support leg two, support leg three Set the initial adjustment motor 1, the initial adjustment motor 2, and the initial adjustment motor 3 respectively. connection, characterized in that: the first leg, the second leg, and the third leg are arranged in an equilateral triangle, and the three support points are evenly distributed on three points on the circumference of the theodolite, and the angle detector is installed on the theodolite on the platform, and the angle detector is installed on the midpoint of one side of the equilateral triangle formed by the first fine-tuning motor, the second fine-tuning motor and the third fine-tuning motor.

According to the device for leveling the theodolite with three fulcrums as above, it is characterized in that: the angle detector is a two-axis level sensor, one of its axes is formed by the first fine-tuning motor, the second fine-tuning motor, and the third fine-tuning motor One side of an equilateral triangle coincides and the other axis is perpendicular to that side.

According to the device for leveling the theodolite with three fulcrums above, it is characterized in that: the angle detector is a 3-axis gyroscope.

According to the device for leveling the theodolite with three fulcrums as described above, it is characterized in that: it also includes a control system, which is used to detect the signal of the angle detector, and controls the movement of the stepper motor through the stepper motor control module.

A leveling method for leveling a theodolite with three fulcrums, using a dual-axis level sensor, the X-axis of the dual-axis level sensor is perpendicular to the Y-axis, and the three fulcrums form an equilateral triangle, and the straight line formed by the two fulcrums coincides with one of its axes , and the other fulcrum is on the extension line of the other axis. It is characterized in that: during the adjustment process, when the line connecting the two fulcrums is parallel to one of the axes, when the axis is tilted, only one of the two fulcrums needs to be adjusted. Until the accuracy is met; when the other axis is tilted, the third fulcrum and the first two fulcrums can be adjusted respectively, and the speed of the two fulcrums is the same during the adjustment process of the first two fulcrums.

The beneficial effects of the present invention are: when one of the axes is leveled, the accuracy of the other axis will not be affected, which is equivalent to independent leveling of two axes; the three support points are evenly distributed on three points on the circumference of the theodolite, The center of gravity of the platform is stabilized; automatic leveling reduces the amount of manual labor.

Description of drawings

Fig. 1 is a schematic diagram of the working process of the present invention;

Fig. 2 is the top view of device of the present invention;

Fig. 3 is the front view of device of the present invention;

Fig. 4 is the three-dimensional schematic diagram of device of the present invention;

Fig. 5 is a schematic diagram of the installation of the angle detector of the present invention.

Explanation of reference signs: support leg one 1, initial adjustment motor one 11, fine adjustment motor one 12, support leg two 2, initial adjustment motor two 21, fine adjustment motor two 22, support leg three 3, initial adjustment motor three 31, Fine tuning motor three 32, theodolite platform 4, angle detector 5.

detailed description

Explanation of the name: The level sensor is a kind of angle sensor. Its function is to measure the level of the carrier, also known as the inclination sensor. It is often called a level or an inclinometer in engineering. The dual-axis level sensor can measure the horizontal angle in two directions at the same time. Generally, the X-axis is perpendicular to the Y-axis, so the levelness of the entire measured surface can be determined.

The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

As shown in FIGS. 2 to 5 , the device for leveling the theodolite with three fulcrums of the present invention includes a leg one 1 , a leg two 2 , a leg three 3 , a theodolite platform 4 , and an angle detector 5 . In the present invention, initial adjustment motor one 11, initial adjustment motor two 21, and initial adjustment motor three 31 are respectively arranged on support leg one, support leg two 2, and support leg three 3, through initial adjustment motor one 11, initial adjustment motor two 21 , initial adjustment motor three 31 can control the length of support leg one 1, support leg two 2, support leg three 3 respectively, and the theodolite platform 4 lower sides pass fine adjustment motor one 12, fine adjustment motor two 22, fine adjustment motor three 32 respectively Connect with supporting leg one 1, supporting leg two 2, supporting leg three 3 respectively, can drive theodolite platform 4 to move up and down by controlling fine-tuning motor one 12, fine-tuning motor two 22, fine-tuning motor three 32 retractable.

In the present invention, support leg one 1, support leg two 2, and support leg three 3 are arranged as equilateral triangles, that is, the connecting lines of every two support legs are all equal, and the angle between two adjacent support legs is 60°. The advantage of such setting is that the three support points are evenly distributed on three points on the circumference of the theodolite, so that the center of gravity of the platform is stable, and the installation of the angle detector 5 is also convenient.

As shown in Fig. 2 and Fig. 5, angle detector 5 of the present invention is installed on the theodolite platform 4, and angle detector 5 is installed in fine-tuning motor one 12, fine-tuning motor two 22, fine-tuning motor three 32 form positive At the midpoint of one side of the triangle.

The angle detector 5 of the present invention can use a 3-axis gyroscope or a dual-axis level sensor. If a 3-axis gyroscope is used, the angles of the X-axis and the Y-axis can be calculated respectively by calculation. For example, the MPU-6000 (6050) integrates a 3-axis gyroscope, a 3-axis accelerometer, and includes digital motion processing (DMP: Digital Motion) that can be connected to other brands of accelerometers, magnetic sensors, or other sensors through the second I2C port Processor) hardware acceleration engine, the main I2C port outputs a complete 9-axis fusion algorithm technology InvenSense motion processing database to the application side in the form of a single data stream, which can process complex data of motion sensing and reduce the impact of motion processing operations operating system load, and provides a structured API for application development.

Angle detector 5 of the present invention preferably selects biaxial level sensor for use, and one of its axes coincides with a side of the equilateral triangle formed by fine-tuning motor one 12, fine-tuning motor two 22, and fine-tuning motor three 32, and the other axis is perpendicular to the side. As shown in Figure 5, the X-axis of the dual-axis level sensor coincides with the straight line formed by fine-tuning motor 1 12 and fine-tuning motor 2 22, and fine-tuning motor 3 32 is on the extension line of the Y-axis, which facilitates the leveling algorithm The implementation of the X-axis and Y-axis control process can achieve mutual non-interference and reduce the difficulty of the control program. Even if manual adjustment is used, since the adjustment of one axis will not affect the accuracy of the other axis, it can also reduce the adjustment time. frequency.

The present invention also includes a control system, the control system is used to detect the signal of the angle detector 5, and respectively controls the movement of the stepper motor through the stepper motor control module, and the control system can be a single-chip microcomputer or other industrial control chips. Its working process is: when the angle detector 5 detects the levelness of the theodolite platform 4 in real time, it will send the deviation signal to the control system, and the control system will send information such as the running speed and the number of steps of the motor to the control system by calculating and processing the data. Stepper motor control terminal, the control terminal controls the motor to achieve leveling. The three stepping motors on the legs of the device are used for rough leveling. When the balance reaches a certain level, the three small stepping motors on the platform are used to achieve fine leveling.

The stepping motor of the present invention is an open-loop control element stepping motor that converts electric pulse signals into angular displacement or linear displacement. In the case of non-overload, the speed and stop position of the motor only depend on the frequency and number of pulses of the pulse signal, and are not affected by the load change. When the stepper driver receives a pulse signal, it will drive the stepper motor to press The set direction rotates a fixed angle, which is called "step angle", and its rotation runs step by step at a fixed angle. The angular displacement can be controlled by controlling the number of pulses, so as to achieve the purpose of accurate positioning; at the same time, the speed and acceleration of the motor rotation can be controlled by controlling the pulse frequency, so as to achieve the purpose of speed regulation. The stepping motor of the present invention preferably adopts a linear stepping motor, which directly converts electric energy into mechanical energy of linear motion without any transmission device of an intermediate conversion mechanism. It can be regarded as a rotating motor cut radially and developed into a plane.

The invention also discloses a leveling method for leveling the theodolite with three fulcrums, which adopts a two-axis level sensor, whose X axis is perpendicular to the Y axis, and the three fulcrums form an equilateral triangle, and the straight line formed by the two fulcrums is connected with one The axes are coincident, and the other fulcrum is on the extension line of another axis. For example, the X axis coincides with the line connecting the first and second fulcrums, and the second support point is in the positive direction, and the third fulcrum is on the extension line of the Y axis. And it is located in the positive direction as an example to further explain the leveling process.

During the leveling process, if the X-axis is tilted, and the X-axis is greater than 1 degree, and the Y-axis is greater than 1 degree, and the line is used to level the X-axis, then extend the initial adjustment motor corresponding to the first fulcrum - 11, so that the angle of the X-axis gradually becomes smaller , when the accuracy reaches a certain range, adjust the fine-tuning motor 12; when the accuracy of the X-axis meets the precision, then adjust the Y-axis. Gradually become smaller, and when the accuracy is met, the fine-tuning motor 1 12 and the fine-tuning motor 2 22 are simultaneously extended at the same speed, and when the Y-axis reaches the precision requirement, stop leveling.

The above method can be summarized as follows: during the adjustment process, when the line connecting the two fulcrums is parallel to one of the axes, when the axis is tilted, only one of the two fulcrums needs to be adjusted until the accuracy is met; when the other axis is tilted, The third fulcrum and the first two fulcrums can be adjusted separately, and during the adjustment process of the first two fulcrums, the speed is the same (that is, the first two fulcrums are regarded as one point). In this way, in the three-point leveling process, there is no need to use a special algorithm, and the leveling of the system can be completed only by extending or retracting the legs according to the deviation of the angle, and the leveling accuracy is high, and the leveling method is simple and direct, that is, During the leveling process of one axis, the accuracy of the other axis will not be affected, which is equivalent to independent leveling of two axes.

Claims (5)

1. A device for leveling a theodolite with three fulcrums, comprising support leg one, support leg two, support leg three, theodolite platform, angle detector, and initial adjustment motors are respectively arranged on support leg one, support leg two, and support leg three 1. The initial adjustment motor 2, the initial adjustment motor 3, the lower side of the theodolite platform is respectively connected with the support leg 1, the support leg 2 and the support leg 3 respectively through the fine adjustment motor 1, the fine adjustment motor 2 and the fine adjustment motor 3, and is characterized in that : described supporting leg one, supporting leg two, supporting leg three are equilateral triangle setting, and three supporting points are evenly distributed on three points of theodolite circumference, and described angle detector is installed on the theodolite platform, and angle The detector is installed on the midpoint of one side of the equilateral triangle formed by the first fine-tuning motor, the second fine-tuning motor and the third fine-tuning motor. 2. the device of three fulcrums leveling theodolite according to claim 1, is characterized in that: described angle detector is a biaxial level sensor, and its a shaft and fine-tuning motor one, fine-tuning motor two, fine-tuning One side of the equilateral triangle formed by the three motors coincides, and the other axis is perpendicular to the side. 3. The device for leveling theodolite with three fulcrums according to claim 1, characterized in that: said angle detector is a 3-axis gyroscope. 4. according to the device of three fulcrums leveling theodolite described in any one of claim 1,2 or 3, it is characterized in that: also comprise control system, control system is used for detecting the signal of angle detector, and by stepper motor The control module controls the movement of the stepping motors respectively. 5. A leveling method for leveling the theodolite with three fulcrums, using a biaxial level sensor, the X axis of the biaxial level sensor is perpendicular to the Y axis, and the three fulcrums form an equilateral triangle, and the straight line formed by the two fulcrums is connected with one The axes are coincident, and the other fulcrum is on the extension line of the other axis. It is characterized in that: during the adjustment process, when the line connecting the two fulcrums is parallel to one of the axes, when the axis is tilted, only one of the two fulcrums needs to be adjusted. fulcrum until the accuracy is met; when the other axis is tilted, the third fulcrum and the first two fulcrums can be adjusted respectively, and the speed of the two fulcrums is the same during the adjustment process of the first two fulcrums.