CN112971340A

CN112971340A - Automatic leveling platform and leveling method

Info

Publication number: CN112971340A
Application number: CN202110262531.8A
Authority: CN
Inventors: 高庆嘉; 王晓明; 刘岩俊; 余毅
Original assignee: Changchun Institute of Optics Fine Mechanics and Physics of CAS
Current assignee: Changchun Institute of Optics Fine Mechanics and Physics of CAS
Priority date: 2021-03-10
Filing date: 2021-03-10
Publication date: 2021-06-18

Abstract

The invention belongs to the technical field of photoelectric measurement, which comprises the following steps: the device comprises supporting legs, an inclination measuring sensor, an electric rotating platform, an encoder and a platform; the supporting legs are fixed on two opposite sides of the platform and used for leveling the platform; the electric rotating platform is arranged in the center of the platform and is provided with an inclination measuring sensor and an encoder for acquiring inclination information of the platform; the encoder is positioned on a rotating shaft of the electric rotating platform and provides rotation angle information for the electric rotating platform. The automatic leveling device has automatic leveling capability, can eliminate a manual fine leveling mechanism of the traditional optical measurement equipment, achieves the leveling precision required by the equipment, reduces the manual operation steps and time, and improves the quick maneuvering arrangement capability of the equipment.

Description

Automatic leveling platform and leveling method

Technical Field

The invention belongs to the technical field of photoelectric measurement, and particularly relates to a high-precision automatic leveling platform and a leveling method.

Background

When the vehicle-mounted optical measurement device performs measurement, there are two general working modes: landing measurement and non-landing measurement. The off-ground measurement has the advantages of short unfolding and folding time, simplicity in operation, capability of getting rid of position constraint of a measurement station, capability of fast maneuvering transition and gradual becoming a main working mode of the optical measurement equipment. Chinese patents CN108482263A and CN110588483A disclose a non-landing measurement scheme of a high-rigidity platform for bearing optical measurement equipment, which can effectively isolate external interference such as a vehicle and the like, has an automatic leveling function, and provides a better solution for non-landing measurement of the vehicle-mounted optical measurement equipment, but the leveling precision of the current leveling platform is generally 30-120 ", and is difficult to achieve the leveling precision required by the optical measurement equipment, so that the precision leveling to 2-5" by means of a manual leveling mechanism of the optical measurement equipment is required, and time and labor are wasted.

Disclosure of Invention

The invention provides a high-precision automatic leveling platform and a leveling method for solving the technical defect of low precision of a manual adjusting platform of traditional photoelectric equipment, and the high-precision automatic leveling platform and the leveling method have automatic leveling capability, can eliminate a manual fine leveling mechanism of the traditional optical measurement equipment, achieve the leveling precision required by the equipment work, reduce the manual operation steps and time, and improve the quick maneuvering arrangement capability of the equipment. In order to achieve the purpose, the invention adopts the following specific technical scheme:

an automatic leveling platform comprising:

the device comprises supporting legs, an inclination measuring sensor, an electric rotating platform, an encoder and a platform;

the supporting legs are fixed on two opposite sides of the platform and comprise telescopic units for leveling the platform;

the electric rotating platform is arranged on the platform, and is provided with an inclination measuring sensor and an encoder for acquiring inclination information of the platform;

the encoder is positioned on a rotating shaft of the electric rotating platform and provides rotation angle information for the electric rotating platform.

Preferably, the number of support legs is three or four.

Preferably, the effective stroke of the supporting leg is more than or equal to 400mm, the static supporting capacity of the single leg is 2T-10T, and the lifting speed is 1-5 mm/s.

Preferably, the telescopic unit includes: the supporting leg outer barrel, the lead screw, the speed reducer, the flange and the rotating ball hinge are further provided with a manual change-over switch.

Preferably, the inclination sensor is provided with a temperature compensation device inside, so as to avoid the influence on the measurement accuracy caused by temperature change.

Preferably, the inclination measuring sensor adopts a capacitance type electronic level sensor, and the full-scale resolution of the inclination measuring sensor is less than or equal to 5 mu m/m.

Preferably, the method further comprises the following steps: the leveling device comprises a servo motor for controlling the extension of the supporting leg, an adapter for connecting the supporting leg and the platform, and a control system for controlling the leveling process.

Preferably, the platform is of truss or cast construction.

An automatic leveling method of a platform is characterized by comprising the following steps:

s1, paving a cushion block right below the supporting leg to increase the contact area with the ground, improve the supporting stability and supply power to the control system;

s2, controlling the support legs to extend fully by using a control system, lifting the platform 7 to a height of 50-200 mm, and leveling to be within 180'; (ii) a

And S3, controlling the electric rotating platform to rotate 360 degrees, recording the inclination angle of the platform when the rotating platform rotates at the angles of 0 degree, 120 degrees and 240 degrees, converting the inclination angle into a control quantity to control the extension or retraction of any three supporting legs, and circularly controlling the adjustment variable quantity of the supporting legs by using the control system until the platform is leveled to within 2 ″.

Preferably, the following steps are also included after S3:

and S4, the rest support legs are stably landed, and the leg deficiency eliminating process is completed.

The invention can obtain the following technical effects:

1. the leveling scheme of automatic rough leveling and fine leveling of a manual leveling mechanism of the traditional leveling platform is replaced, and only the leveling platform needs to be automatically leveled, and the leveling precision reaches 2-5'.

2. The automation degree is high, manpower operation is effectively reduced, equipment unfolding time is reduced, and the quick maneuvering arrangement capacity of the equipment is improved.

Drawings

FIG. 1 is a schematic structural view of an automatic leveling platform according to an embodiment of the present invention;

FIG. 2 is another schematic structural view of an embodiment of the present invention;

FIG. 3 is a flow chart of a method of leveling a platform according to one embodiment of the present invention.

Reference numerals:

supporting leg 1, servo motor 2, survey sensor 3, electronic revolving stage 4, encoder 5, adaptor 6, platform 7.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.

The invention aims to provide a high-precision automatic leveling platform which has automatic leveling capability, can eliminate a manual fine leveling mechanism of the traditional optical measurement equipment, achieves the leveling precision required by the equipment, reduces the manual operation steps and time, and improves the quick maneuvering arrangement capability of the equipment. The following will describe an automatic leveling platform and a leveling method provided by the present invention in detail through specific embodiments.

The automatic leveling platform structure shown in fig. 1 comprises supporting legs 1, an inclination measuring sensor 3, an electric rotating platform 4, an encoder 5 and a platform 7;

the four supporting legs 1 are symmetrically arranged on two sides of the platform 7 through the adapters 6; an electric rotating table 4 is installed at the center of the platform 7, an encoder 5 for acquiring the rotation angle information is installed on the rotation shaft of the electric rotating table 4, and an inclination measuring sensor 3 is installed on the electric rotating table 4 at a position away from the rotation shaft. The inclination information of the platform 7 at a plurality of fixed rotation angles in the continuous rotation process of the electric rotating platform 4 is acquired through the inclination measuring sensor 3, and the telescopic units of the supporting legs 1 are controlled to compensate the inclination angle of the platform 7, so that the leveling function is realized.

In another preferred embodiment of the invention, as shown in fig. 2, the number of the support legs 1 is three, the effective travel is more than or equal to 400mm, the static support capacity of a single leg is 2T-10T, and the lifting speed is 1-5 mm/s.

The leveling method of the present invention is explained in detail by the flowchart shown in fig. 3:

s1, paving a cushion block right below the supporting leg 1 to increase the contact area with the ground, improve the supporting stability and supply power to a control system;

s2, controlling the support legs 1 to extend fully by using a control system, lifting the platform 7 to a height of 50-200 mm, and leveling to be within 180';

s3, controlling the electric rotating platform 4 to rotate 360 degrees, recording the inclination angle of the platform 7 when the rotating platform rotates at the angles of 0 degrees, 120 degrees and 240 degrees, converting the inclination angle into a control quantity, controlling the extension or retraction of any three supporting legs 1, and circularly controlling the adjustment variable quantity of the supporting legs 1 by using the control system until the platform 7 is leveled to within 2 ″.

In another embodiment of the invention the recorded angle of rotation may be further subdivided starting from 0 deg. and recording every 15 deg. up to 360 deg..

In a preferred embodiment of the present invention, the number of the support legs 1 is greater than 3, and after the step S3 is completed, the method further includes the following steps:

s4, the rest support legs 1 are stable in ground falling, the row of virtual legs is completed, for example, the number of the support legs 1 is four, and after the three support legs 1 are stable in ground falling, the fourth support leg 1 extends out and is stable in ground falling; if the total number of the supporting legs 1 is 3, the step is omitted;

and S5, turning off the power supply of the control system, and finishing the leveling of the platform 7.

In a preferred embodiment of the invention, the telescopic unit of the supporting leg 1 comprises an outer cylinder, a lead screw, a reducer, a flange, a rotary ball hinge and other parts for realizing the telescopic effect, and a manual switch is arranged as an alternative leveling mode when the automatic leveling function fails.

In another embodiment of the invention, the control system adopts an integrated servo motor technology and a CAN communication technology, and realizes one-button full-automatic leveling through high-performance PCC.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

The above embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An automatic leveling platform, comprising: the device comprises support legs (1), an inclination measuring sensor (3), an electric rotating table (4), an encoder (5) and a platform (7);

the supporting legs (1) are fixed on two opposite sides of the platform (7) and comprise telescopic units for leveling the platform (7);

the electric rotating platform (4) is arranged on the platform (7), and the inclination measuring sensor (3) and the encoder (5) are arranged on the electric rotating platform (4) and are used for acquiring inclination information of the platform (7);

the encoder (5) is positioned on a rotating shaft of the electric rotating table (4) and provides rotation angle information for the electric rotating table (4).

2. Self-levelling platform according to claim 1, characterized in that the number of support legs (1) is three or four.

3. The self-leveling platform according to claim 2, wherein the support legs (1) have an effective stroke of 400mm or more, a single leg static support capacity of 2T to 10T, and a lifting speed of 1 to 5 mm/s.

4. The self-leveling platform of claim 1, wherein the telescoping unit comprises: the supporting leg comprises a supporting leg outer barrel, a screw rod, a speed reducer, a flange and a rotating ball hinge, and a manual change-over switch is further arranged in the supporting leg (1).

5. Auto-leveling platform according to claim 1, characterized in that the inclination sensor (3) is built-in with temperature compensation means for avoiding influence on the measurement accuracy due to temperature variations.

6. The self-leveling platform according to claim 5, wherein the inclination sensor (3) is a capacitive electronic level sensor with a full scale resolution of less than or equal to 5 μm/m.

7. The self-leveling platform of claim 1, further comprising: the leveling device comprises a servo motor (2) for controlling the telescopic of the supporting leg (1), an adapter (6) for connecting the supporting leg (1) and the platform (7), and a control system for controlling the leveling process.

8. Self-levelling platform according to claim 7, characterized in that the platform (7) is of truss or cast construction.

9. An automatic leveling method of a platform is characterized by comprising the following steps:

s1, paving a cushion block right below the supporting leg (1) to increase the contact area with the ground, improve the supporting stability and supply power to the control system;

s2, controlling the support legs (1) to extend fully by using the control system, lifting the platform (7) to 50-200 mm high, and leveling to be within 180 ″;

s3, control electric rotary table (4) rotates 360, and the record revolving stage is at 0 °, 120 °, 240 when the corner the inclination of platform (7) is converted inclination into the arbitrary three of control volume the stretching out or retrieving of supporting leg (1), utilize control system circulation control the adjustment variation of supporting leg (1) is up to platform (7) leveling stops within 2 ".

10. The method for automatically leveling a platform according to claim 9, further comprising the following step after S3:

and S4, the rest support legs (1) are stably grounded, and the row of virtual legs are finished.