JPH0527612U - Automatic leveling device - Google Patents
Automatic leveling deviceInfo
- Publication number
- JPH0527612U JPH0527612U JP7533991U JP7533991U JPH0527612U JP H0527612 U JPH0527612 U JP H0527612U JP 7533991 U JP7533991 U JP 7533991U JP 7533991 U JP7533991 U JP 7533991U JP H0527612 U JPH0527612 U JP H0527612U
- Authority
- JP
- Japan
- Prior art keywords
- tilt
- detection range
- sensor
- inclination
- detected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control Of Position Or Direction (AREA)
Abstract
(57)【要約】
【目的】 傾斜センサ５Ｘの検出範囲以上に傾いている
測量機本体１を整準することのできる自動整準装置を得
ることを目的とする。
【構成】 センサ５Ｘの出力に基づき測量機１を整準す
るモータ６Ｘを有する自動整準装置において、モータ６
Ｘの駆動制御装置７が、センサ５Ｘの検出範囲以上に測
量機１が傾斜している時、センサ５Ｘで検出した傾斜方
向に基づき、Ｌ（ｎ）＝Ｌ／２n ：（ｎ＝1,2,3 …) で
表した距離Ｌ（ｎ）に相当する量だけ（つまり、調整さ
れる量が１／２づつ減少するようにして）調節脚４ａを
駆動させて、台座２の傾斜をセンサ５Ｘの検出範囲内に
追い込む１／２漸近駆動制御部（ステップ３〜５）と、
前記検出範囲内の時、センサ５Ｘで検出した傾斜方向と
傾斜角度に基づいて所定角度分だけ傾斜調節する角度駆
動制御部（ステップ９〜１０）とを有するものとした。
(57) [Abstract] [Purpose] An object is to obtain an automatic leveling device capable of leveling the surveying instrument main body 1 tilted beyond the detection range of the tilt sensor 5X. In an automatic leveling device having a motor 6X for leveling the surveying instrument 1 based on the output of a sensor 5X, the motor 6
When the surveying instrument 1 is tilted beyond the detection range of the sensor 5X, the X drive control device 7 determines, based on the tilt direction detected by the sensor 5X, L (n) = L / 2 n : (n = 1, 2,3 ...) is driven by an amount corresponding to the distance L (n) (that is, the adjusted amount is decreased by 1/2) to drive the inclination of the pedestal 2 by a sensor. 1/2 asymptotic drive control unit (steps 3 to 5) that drives into the detection range of 5X,
An angle drive control unit (steps 9 to 10) for adjusting the inclination by a predetermined angle based on the inclination direction and the inclination angle detected by the sensor 5X when within the detection range is provided.
Description
【０００１】[0001]
本考案は、自動整準装置に関し、特に、分解能は高いが傾斜角度を検出できる 検出範囲が比較的狭い傾斜角度検出センサを用いた自動整準装置に関する。 The present invention relates to an automatic leveling device, and more particularly to an automatic leveling device using a tilt angle detection sensor that has a high resolution but can detect an inclination angle and has a relatively narrow detection range.
【０００２】[0002]
従来の自動整準装置は、例えば、特開平２−１７９４１３に示すようなものが 知られている。このような自動整準装置は、被駆動部材である台座または台座に 取り付ける測量機本体に傾斜角度検出センサを設け、前記傾斜角度検出センサで 検出した台座（または測量機本体）の傾斜角度に基づいて傾斜調節することによ って、測量機本体を整準するものである。このような自動整準装置の整準精度は 高いものが要求されるため、前記傾斜角度検出センサは、高い分解能が必要とな る。 As a conventional automatic leveling device, for example, one disclosed in Japanese Patent Laid-Open No. 2-179413 is known. Such an automatic leveling device is provided with a tilt angle detection sensor on the pedestal that is a driven member or on the body of the surveying instrument that is attached to the pedestal. The level of the surveying instrument main body is adjusted by adjusting the inclination. Since such an automatic leveling device is required to have high leveling accuracy, the inclination angle detection sensor requires high resolution.
【０００３】[0003]
しかしながら、高分解能の傾斜角度検出センサは、傾斜角度を検出できる範囲 が狭く、このことが自動整準装置の整準調節範囲を制限してしまう。したがって 、このような自動整準装置は、前記被駆動部材（測量機本体）の傾斜が前記整準 調節範囲内の傾きになるまで操作者が調整することが必要になり、前記傾斜角度 検出センサの検出範囲が狭いので、操作者が手動で整準する場合とあまり変わら なくなってしまう。 However, the high-resolution tilt angle detection sensor has a narrow range in which the tilt angle can be detected, which limits the leveling adjustment range of the automatic leveling device. Therefore, in such an automatic leveling device, it is necessary for the operator to adjust the inclination of the driven member (the surveying instrument main body) until the inclination is within the leveling adjustment range. Since the detection range of is narrow, it does not differ much from the case where the operator manually aligns.
【０００４】 また、検出範囲の広い傾斜角度検出センサは分解能が低いため、このようなセ ンサを用いた自動整準装置は、十分な精度で整準させることができないと言う欠 点を有する。 本考案は、このような問題に鑑みてなされたものであり、本考案の目的は、傾 斜角度検出センサの検出範囲に制限されることなく、被駆動部材を整準させるこ とができる自動整準装置を提供するものである。Further, since the tilt angle detection sensor having a wide detection range has a low resolution, the automatic leveling device using such a sensor has a defect that the leveling cannot be performed with sufficient accuracy. The present invention has been made in view of such a problem, and an object of the present invention is to automatically level a driven member without being limited by the detection range of the tilt angle detection sensor. A leveling device is provided.
【０００５】[0005]
前記課題を解決するために本考案の自動整準装置は、被駆動部材（２）と、前 記被駆動部材の傾斜方向と傾斜角度とを検出する傾斜角度検出手段（５Ｘ，５Ｙ ；５Ｙは不図示）と、前記被駆動部材を傾斜調節する駆動手段（６Ｘ，６Ｙ）と 、前記駆動手段を制御する駆動制御手段（７）とを有する自動整準装置において 、前記駆動制御手段は、前記被駆動部材の傾斜角度が、前記傾斜角度検出手段に おける検出範囲内か否かを判断する判断部（ステップ２，７）と、前記判断部で 否の時、被駆動部材を駆動させる駆動手段における駆動可能な距離を初期値Ｌ、 駆動回数をｎとして、前記傾斜角度検出手段の検出範囲内になるまで、前記傾斜 角度検出手段で検出した前記被駆動部材の傾斜方向に、数１に示す距離に相当す る量だけ、駆動手段を駆動させる１／２漸近駆動制御部（ステップ４，５）と、 前記判断部で前記検出範囲内の時は、前記傾斜角度検出手段で検出した前記被駆 動部材の傾斜方向と傾斜角度に基づいて、検出した傾斜方向に、検出した傾斜角 度に相当する量だけ、前記駆動手段を駆動させる角度駆動制御部（ステップ９） とを有するものである。 In order to solve the above-mentioned problems, the automatic leveling device of the present invention comprises a driven member (2) and inclination angle detecting means (5X, 5Y; 5Y) for detecting the inclination direction and inclination angle of the driven member. (Not shown), drive means (6X, 6Y) for adjusting the inclination of the driven member, and drive control means (7) for controlling the drive means, wherein the drive control means includes: A judging section (steps 2 and 7) for judging whether or not the tilt angle of the driven member is within the detection range of the tilt angle detecting means, and a driving means for driving the driven member when the judging section is negative. In the inclination direction of the driven member detected by the inclination angle detecting means, the driveable distance at the initial value L and the number of times of driving are represented by n, and the number of times of driving is n. Drive by an amount equivalent to the distance 1/2 asymptotic drive control section (steps 4 and 5) for driving the step, and when the determination section is within the detection range, the inclination direction and inclination angle of the driven member detected by the inclination angle detection means. Based on the above, the angle drive control section (step 9) for driving the drive means by an amount corresponding to the detected inclination angle in the detected inclination direction.
【０００６】[0006]
本考案の自動整準装置によれば、傾斜角度検出手段の検出範囲外つまり被駆動 部材が大きく傾斜している時は、駆動制御手段の１／２漸近駆動制御部が、傾斜 角度検出手段で検出した傾斜方向に、数１に示す距離に相当する量だけ、駆動手 段を駆動させるように制御し、かつ、傾斜角度検出手段の検出範囲内つまり傾斜 角度検出手段で傾斜角度が測定できる範囲になった時は、駆動制御手段の角度駆 動制御部が、前記傾斜角度検出手段で検出した傾斜角度と傾斜方向に基づいて前 記傾斜角度分だけ駆動させるように駆動手段を制御することによって、被駆動部 材を整準する。 According to the automatic leveling device of the present invention, when the tilt angle detecting means is out of the detection range, that is, when the driven member is greatly tilted, the ½ asymptotic drive control section of the drive control means operates as the tilt angle detecting means. In the detected tilt direction, the driving means is controlled to be driven by an amount corresponding to the distance shown in Formula 1, and within the detection range of the tilt angle detection means, that is, the tilt angle can be measured by the tilt angle detection means. Then, the angle drive control section of the drive control means controls the drive means so as to drive the above-mentioned tilt angle based on the tilt angle and the tilt direction detected by the tilt angle detection means. Level the driven parts.
【０００７】[0007]
本考案を測量機用整準台に用いた実施例の自動整準装置を図面を参照して説明 する。図１は実施例の自動整準装置の構成を示す正面図、図２は駆動制御装置７ の構成を示す図、図３は駆動制御装置７の制御動作を示すフローチャート図、図 ４は実施例の自動整準装置の動作概念を示す状態図である。 An automatic leveling device of an embodiment in which the present invention is applied to a leveling stand for a surveying instrument will be described with reference to the drawings. 1 is a front view showing the configuration of an automatic leveling device according to an embodiment, FIG. 2 is a diagram showing the configuration of a drive control device 7, FIG. 3 is a flow chart showing the control operation of the drive control device 7, and FIG. 4 is an embodiment. FIG. 3 is a state diagram showing an operation concept of the automatic leveling device of FIG.
【０００８】 図１に示すように、実施例の自動整準装置は、測量機本体１を取付ける台座２ と、三脚に取り付けられる基台３と、台座２と基台３とを支持する支持部材４ａ ，４ｂ，４ｃ，４５，４６と、台座２の傾斜角度を検出する傾斜角度検出センサ （以下傾斜センサと呼ぶ）５Ｘ，５Ｙ（５Ｙは不図示）と、前記支持部材の支持 脚４ｂ，４ｃに設けられたモータ６Ｘ，６Ｙと、モータ６Ｘ，６Ｙの動作を制御 する駆動制御装置７とから構成される。前記台座２は、台座２の基準となる水準 面Ｈに対し測量機本体１の中心軸Ｖが垂直に成るように測量機本体１を取り付け る連結凹部を有し、この基準面Ｈを整準することにより、この連結凹部に取りつ けられた測量機本体１も整準される。前記支持部材は、１つの支点支持脚（以下 支点脚と呼ぶ）４ａと、高さ調節可能な２つの調節支持脚（以下調節脚と呼ぶ） ４ｂ，４ｃと、連結部材４５，４６とからなる。前記２つの調節脚は、雌ねじ４ １ｂ，４１ｃと雄ねじ４２ｂ，４２ｃとから構成され、さらに、雄ねじ４２ｂ， ４２ｃに手動つまみ４３ｂ，４３ｃが取り付けられており、手動で高さを調節す ることができる。また、このような３つの支持脚４ａ，４ｂ，４ｃは、一方の端 が台座２に直接固定され、他方の端は、連結部材４５，４６によって球面座が基 台３に押しつけられることにより、基台３に支持脚の先端が当接している。この ようにして、支持部材は、台座２と基台３とを相対的に傾斜可能に連結している 。さらに、前記３つの支持脚４ａ，４ｂ，４ｃは、前記支点脚４ａを原点として 、支点脚４ａと調節脚４ｂとを結ぶ方向（以下Ｘ方向とする）と、支点脚４ａと 調節脚４ｂとを結ぶ方向（以下Ｙ方向とする）とが直交するように配置されてい る。また、傾斜センサ５Ｘ，５Ｙは、棒状の気泡管の外周に電極を有し、気泡管 内の気泡の位置により静電容量が変化することを利用して、傾斜角度、傾斜方向 を検出するものであり、このような傾斜センサ５Ｘ，５Ｙは、それぞれ台座２の 下部であって、センサ５Ｘが支点脚４ａと調節脚４ｂとの中間、センサ５Ｙが支 点脚４ａと調節脚４ｃとの中間となるように設けられ、傾斜センサ５Ｘ，５Ｙは 、それぞれ支持脚４ａと４ｂとを結ぶ直線Ｘ及び支持脚４ａと４ｃとを結ぶ直線 Ｙの傾斜角度と傾斜方向を検出する。したがって、傾斜センサ５Ｘ，５Ｙは、基 準支持脚４ａを中心として直交する方向（水準面Ｈと平行な面）の傾斜が検出で きることになり、これを利用して台座２の水準面Ｈの傾斜角度，傾斜方向を検出 する。図２に示すように、駆動制御装置７は、前記傾斜センサ５Ｘ，５Ｙの出力 信号２２Ｘ，２２Ｙを検出するセンサ検出部１１Ｘ，１１Ｙと、操作部からの制 御信号１２及び前記出力信号２２Ｘ，２２Ｙを入力し、演算処理を行うＣＰＵ８ と、このＣＰＵ８からの制御信号２４Ｘ，２４Ｙに基づいてモータ６Ｘ，６Ｙを 制御するモータドライバ１０Ｘ，１０Ｙとからなる。As shown in FIG. 1, the automatic leveling apparatus of the embodiment includes a pedestal 2 to which the surveying instrument main body 1 is attached, a base 3 attached to a tripod, and a support member for supporting the pedestal 2 and the base 3. 4a, 4b, 4c, 45, and 46, a tilt angle detection sensor (hereinafter referred to as a tilt sensor) 5X and 5Y (5Y is not shown) that detects a tilt angle of the pedestal 2, and support legs 4b and 4c of the support member. Motors 6X and 6Y provided in the vehicle and a drive controller 7 that controls the operation of the motors 6X and 6Y. The pedestal 2 has a connecting recess for mounting the surveying instrument main body 1 so that the central axis V of the surveying instrument main body 1 is perpendicular to the level plane H serving as the reference of the pedestal 2, and the reference plane H is leveled. By doing so, the surveying instrument main body 1 attached to this connecting recess is also leveled. The support member includes one fulcrum support leg (hereinafter referred to as fulcrum leg) 4a, two adjustable height adjustable support legs (hereinafter referred to as adjustment legs) 4b and 4c, and connecting members 45 and 46. .. The two adjusting legs are composed of female screws 41b and 41c and male screws 42b and 42c, and manual knobs 43b and 43c are attached to the male screws 42b and 42c, so that the height can be manually adjusted. it can. One end of each of the three support legs 4a, 4b, and 4c is directly fixed to the pedestal 2, and the other end of each of the support legs 4a, 4b, and 4c is pressed against the base 3 by the spherical members by the connecting members 45 and 46. The tips of the support legs are in contact with the base 3. In this way, the support member connects the pedestal 2 and the base 3 so as to be relatively tiltable. Further, the three support legs 4a, 4b, and 4c have the fulcrum leg 4a as the origin and a direction (hereinafter referred to as X direction) connecting the fulcrum leg 4a and the adjusting leg 4b, and the fulcrum leg 4a and the adjusting leg 4b. Are arranged so that the direction connecting them (hereinafter referred to as the Y direction) is orthogonal to each other. The tilt sensors 5X and 5Y have electrodes on the outer circumference of a rod-shaped bubble tube and detect the tilt angle and the tilt direction by utilizing the fact that the capacitance changes depending on the position of the bubble in the bubble tube. The tilt sensors 5X and 5Y are located below the pedestal 2. The sensor 5X is located between the fulcrum leg 4a and the adjusting leg 4b, and the sensor 5Y is located between the fulcrum leg 4a and the adjusting leg 4c. The inclination sensors 5X and 5Y detect the inclination angle and inclination direction of a straight line X connecting the support legs 4a and 4b and a straight line Y connecting the support legs 4a and 4c, respectively. Therefore, the inclination sensors 5X and 5Y can detect the inclination in the direction orthogonal to the reference support leg 4a (the surface parallel to the level plane H), and use this to detect the level plane H of the pedestal 2. It detects the tilt angle and the tilt direction. As shown in FIG. 2, the drive control device 7 includes sensor detection units 11X and 11Y for detecting the output signals 22X and 22Y of the tilt sensors 5X and 5Y, a control signal 12 from the operation unit, and the output signal 22X and 22X. 22Y is input to perform arithmetic processing, and a motor driver 10X, 10Y for controlling the motor 6X, 6Y based on control signals 24X, 24Y from the CPU 8.
【０００９】 つぎに、図３に示す駆動制御装置７の制御動作に沿って、実施例の自動整準装 置の動作を説明する。尚、Ｘ方向、Ｙ方向の整準の過程は同一のものとし、Ｘ方 向についてのみ説明する。まず、傾斜センサ５Ｘの出力信号２２Ｘを読み込み、 台座２の傾斜角度を検出する（ステップ１）。検出した傾斜角度に基づいて、台 座２の傾斜角度が傾斜センサ５Ｘの検出範囲内にあるか否かを判断し（ステップ ２）、検出した傾斜角度が、前記センサ５Ｘの検出範囲内であればステップ９へ 進み、前記センサ５Ｘの検出範囲外であれば、ステップ３へ進む。このステップ ２の判断は、傾斜センサ５Ｘの出力信号２２Ｘの最大値に基づいた基準値と、検 出した傾斜角度とを比較して行う。つぎに、前記傾斜センサの出力信号から、台 座２の傾斜方向を検出し（ステップ３）、検出した傾斜方向と、数１に示す距離 Ｌ（ｎ）とに基づいて、モータの回転方向，回転量と回転速度を定めた制御信号 ２４Ｘをモータドライバ１０Ｘに出力し（ステップ４）、モータドライバ１０Ｘ は、前記制御信号２４Ｘに基づいてモータ６Ｘを制御することにより、モータ６ Ｘがステップ３で定めた回転方向に，定めた回転量だけ、定めた回転速度で回転 した後停止する（ステップ５）。モータ６Ｘが停止すると、前記ステップ１，２ のように、台座２の傾斜角度を検出し（ステップ６）、センサ５Ｘの検出範囲内 か否かを判断し（ステップ７）、センサ５の検出範囲外であれば、検出範囲内に なるまで、ステップ３〜７を繰り返し行う。ステップ７で検出範囲内になると、 傾斜センサ５Ｘの出力信号から、台座２の傾斜角度と傾斜方向とを検出し（ステ ップ８）、検出した台座２の傾斜角度と傾斜方向とに基づいてモータ回転量Ｍ、 回転方向、回転速度を定めた制御信号をモータドライバ１０Ｘに出力し（ステッ プ９）、モータドライバ１０Ｘは、前記制御信号に基づいて、前記モータ回転量 Ｍだけ回転させた後、モータ６Ｘを停止させる（ステップ１０）。モータ６Ｘを 停止させた後、傾斜センサ５Ｘから台座２の傾斜角度を検出する（ステップ１１ ）。ステップ１１で検出した台座２の傾斜角度が所定の許容範囲内にあるか否か を判断し（ステップ１２）、前記判断で否の時は、ステップ９〜１２を繰り返し 、許容範囲内ならば、整準終了とし、制御を終了する。Next, the operation of the automatic leveling device of the embodiment will be described along with the control operation of the drive control device 7 shown in FIG. The leveling process in the X and Y directions is the same, and only the X direction will be described. First, the output signal 22X of the tilt sensor 5X is read to detect the tilt angle of the pedestal 2 (step 1). Based on the detected tilt angle, it is judged whether or not the tilt angle of the pedestal 2 is within the detection range of the tilt sensor 5X (step 2), and the detected tilt angle is within the detection range of the sensor 5X. If so, the process proceeds to step 9. If it is outside the detection range of the sensor 5X, the process proceeds to step 3. The determination in step 2 is made by comparing the reference value based on the maximum value of the output signal 22X of the tilt sensor 5X with the detected tilt angle. Next, the tilt direction of the pedestal 2 is detected from the output signal of the tilt sensor (step 3), and the rotation direction of the motor is determined based on the detected tilt direction and the distance L (n) shown in Formula 1. The control signal 24X which determines the rotation amount and the rotation speed is output to the motor driver 10X (step 4), and the motor driver 10X controls the motor 6X based on the control signal 24X so that the motor 6X operates in step 3. After rotating in a predetermined rotation direction for a predetermined rotation amount at a predetermined rotation speed, the rotation is stopped (step 5). When the motor 6X is stopped, the inclination angle of the pedestal 2 is detected as in steps 1 and 2 (step 6), and it is determined whether or not it is within the detection range of the sensor 5X (step 7). If it is outside, steps 3 to 7 are repeated until it is within the detection range. When it is within the detection range in step 7, the tilt angle and tilt direction of the pedestal 2 are detected from the output signal of the tilt sensor 5X (step 8), and based on the detected tilt angle and tilt direction of the pedestal 2. After outputting a control signal defining the motor rotation amount M, the rotation direction, and the rotation speed to the motor driver 10X (step 9), the motor driver 10X rotates the motor rotation amount M based on the control signal. , The motor 6X is stopped (step 10). After the motor 6X is stopped, the tilt angle of the pedestal 2 is detected by the tilt sensor 5X (step 11). It is judged whether or not the inclination angle of the pedestal 2 detected in step 11 is within a predetermined allowable range (step 12). If the judgment is negative, steps 9 to 12 are repeated. The leveling ends and the control ends.
【００１０】 前記実施例の自動整準装置の動作において、ステップ３で傾斜センサの検出範 囲内の時に行うステップ４について、図４を用いて詳細に説明する。尚、図４に おいて、Ａ，Ｂは調節脚４ｂ，４ｃにおける調節限界、Ｌは調節脚４ｂ，４ｃの 調節可能範囲を表し、また、ｘは傾斜センサの検出範囲、ｙは整準される台座２ の整準誤差許容範囲を表し、傾斜センサの検出範囲ｘは調節可能範囲の中心とす る。まず、図４（１）のように、ステップ３で検出された台座２の傾斜角度がａ １だった場合、まず、数１にｎ＝１を代入し、Ｌ(1) を求める。このＬ(1) は、 Ｌ(1) ＝Ｌ／２、つまり調節可能範囲Ｌの１／２の距離である。ＣＰＵ８は、こ の距離Ｌ(1) だけ調節脚を駆動するのに必要な回転数、回転方向と、回転速度と を求め、求めた回転数、回転方向、回転速度を指示する制御信号をモータドライ バに出力し、モータドライバが、前記制御信号に基づいて、ＡからＢの方向に距 離Ｌ(1) に相当する量だけモータ６Ｘを駆動することにより、調節脚４ａの長さ が変化し、台座２の傾斜がｂ１に変化する。このｂ１においても、傾斜センサの 検出範囲外なので、前記Ｌ(1) の場合のように、数１に前記ｎ→ｎ＋１つまり、 ｎ＝２を代入してＬ(2) を求め、ＣＰＵ８は、この距離Ｌ(2) に相当する量だけ 調節脚を駆動するのに必要な回転数、回転方向と、回転速度とを求め制御信号を 出力し、モータドライバが前記制御信号に基づいて、ＢからＡの方向に、距離Ｌ (2) に相当する量だけモータ６Ｘを駆動することにより、台座２の傾斜がｃ１に 変化する。さらに、このｃ１においても検出範囲外なので、前記Ｌ(1) 、Ｌ(2) と同様にＬ(3) を求めて、台座２の傾斜をＢからＡの方向に、距離Ｌ(3) に相当 する量だけ調節して、台座２の傾斜角度を傾斜センサの検出範囲に追い込む。ま た、図４（２）に示すように、台座２の傾斜が大きく傾いている場合も、前記（ １）の場合と同様に、数１を用いて距離Ｌ（ｎ）を求め、このＬ（ｎ）と台座２ の傾斜方向から、モータの回転数、回転方向と、回転速度を設定して、傾斜セン サの検出範囲内になるまで、繰り返し行う。このように、駆動回数が増すにつれ 、その前の調整量の１／２となるように、調整される量が１／２づつ減少するよ うにして調整することにより、台座２の傾斜角度が傾斜センサの検出範囲以上に 傾斜しているために台座２の傾斜角度が測定できなくても、傾斜センサの測定範 囲まで台座２の傾斜を追い込むことができる。In the operation of the automatic leveling apparatus according to the above-described embodiment, Step 4 which is performed in Step 3 when the tilt sensor is within the detection range will be described in detail with reference to FIG. In FIG. 4, A and B are the adjustment limits of the adjusting legs 4b and 4c, L is the adjustable range of the adjusting legs 4b and 4c, x is the detection range of the tilt sensor, and y is the leveled level. The allowable leveling error range of the pedestal 2 is shown, and the detection range x of the tilt sensor is the center of the adjustable range. First, as shown in FIG. 4A, when the inclination angle of the pedestal 2 detected in step 3 is a 1, first, n = 1 is substituted into the equation 1 to obtain L (1). This L (1) is L (1) = L / 2, that is, a distance of 1/2 of the adjustable range L. The CPU 8 obtains the rotation speed, the rotation direction, and the rotation speed required to drive the adjusting leg by this distance L (1), and outputs a control signal instructing the obtained rotation speed, rotation direction, and rotation speed to the motor. Output to the driver, and the motor driver drives the motor 6X in the direction from A to B by an amount corresponding to the distance L (1) based on the control signal, whereby the length of the adjusting leg 4a changes. Then, the inclination of the pedestal 2 changes to b1. Also in this b1, since it is out of the detection range of the tilt sensor, as in the case of L (1), n → n + 1, that is, n = 2 is substituted into the equation 1 to obtain L (2), and the CPU 8 The number of rotations, the direction of rotation, and the rotation speed required to drive the adjusting leg by an amount corresponding to this distance L (2) are calculated, and a control signal is output, and the motor driver outputs the control signal from B based on the control signal. By driving the motor 6X in the direction of A by an amount corresponding to the distance L (2), the inclination of the pedestal 2 is changed to c1. Furthermore, since this c1 is also outside the detection range, L (3) is obtained in the same manner as L (1) and L (2), and the inclination of the pedestal 2 is changed from B to A in the distance L (3). The tilt angle of the pedestal 2 is brought into the detection range of the tilt sensor by adjusting the corresponding amount. Further, as shown in FIG. 4 (2), even when the pedestal 2 is largely inclined, the distance L (n) is calculated using the equation 1 as in the case of the above (1), and this L From (n) and the tilt direction of the pedestal 2, the number of rotations, the rotation direction, and the rotation speed of the motor are set, and the process is repeated until it is within the detection range of the tilt sensor. In this way, as the number of times of driving increases, the adjustment amount is decreased by 1/2 so that the adjustment amount becomes 1/2 of the previous adjustment amount. Even if the tilt angle of the pedestal 2 cannot be measured because it is tilted beyond the detection range of the tilt sensor, the tilt of the pedestal 2 can be driven within the measurement range of the tilt sensor.
【００１１】 実施例の自動整準装置は、以上のように、自動整準装置の傾斜調節範囲より狭 い検出範囲しかない傾斜センサを用いて、台座２しいては台座部２に取り付けた 測量機本体１を整準することができる。また、傾斜センサの検出範囲以上に傾斜 した台座２を整準することができるので、調節脚による調節可能範囲Ｌを傾斜セ ンサの検出範囲に制限されることなく広くとることができる。As described above, the automatic leveling device of the embodiment uses the tilt sensor having a detection range narrower than the tilt adjustment range of the automatic leveling device, and is mounted on the pedestal 2 or the pedestal part 2. The machine body 1 can be leveled. Further, since the pedestal 2 tilted more than the detection range of the tilt sensor can be leveled, the adjustable range L by the adjusting legs can be widened without being limited to the detection range of the tilt sensor.
【００１２】 ただし、本考案の自動整準装置は、実施例の自動整準装置に何ら制限されるも のでなく、前記傾斜センサの検出範囲に対して、調節可能範囲がそれほど広くな い場合など、例えば、１／２づつ漸近するのでなく、１／３づつ漸近させてもよ い。また、１／２漸近駆動制御中は、図４に示すように、傾斜センサの検出範囲 をオーバーして行き来するので、駆動後にステップ６，７を行うのではなく、駆 動中に断続的にステップ６，７を行い、検出範囲内になった時にモータを停止さ せるか、あるいは、検出範囲内であることを検出した位置を記憶して、漸近駆動 後に、前記記憶した位置まで駆動させることにより、台座２の傾斜角度を傾斜セ ンサの検出範囲内に追い込むようにしてもよい。However, the automatic leveling device of the present invention is not limited to the automatic leveling device of the embodiment, and the adjustable range is not so wide with respect to the detection range of the tilt sensor. For example, instead of asymptotically increasing by 1/2, it is also possible to asymptotically increasing by 1/3. Further, during the ½ asymptotic drive control, as shown in FIG. 4, the vehicle moves back and forth over the detection range of the tilt sensor, so steps 6 and 7 are not performed after driving, but intermittently during driving. Perform steps 6 and 7 to stop the motor when it is within the detection range, or store the position where it is detected that it is within the detection range, and after asymptotic drive, drive it to the stored position. Thus, the inclination angle of the pedestal 2 may be driven within the detection range of the inclination sensor.
【００１３】[0013]
本考案の自動整準装置は、前記したように、傾斜センサの検出範囲外の時と検 出範囲内の時とで、１／２漸近駆動制御部と角度駆動制御部とを切替える構成に することによって、検出範囲は狭いが分解能が高い傾斜角度検出手段を用いて、 被駆動部材を十分な精度で整準させることができる。 As described above, the automatic leveling device of the present invention is configured to switch between the 1/2 asymptotic drive control unit and the angle drive control unit depending on whether the tilt sensor is outside the detection range or within the detection range. As a result, the driven member can be leveled with sufficient accuracy by using the tilt angle detection means having a narrow detection range but high resolution.
【図１】 実施例の構成を示す正面図である。FIG. 1 is a front view showing a configuration of an example.
【図２】 実施例の駆動制御装置の構成を示すブロック
図である。FIG. 2 is a block diagram showing a configuration of a drive control device according to an embodiment.
【図３】 実施例の自動整準台の駆動制御装置の制御手
順を示すフローチャート図である。FIG. 3 is a flowchart showing a control procedure of the drive control device for the automatic leveling table according to the embodiment.
【図４】 実施例の自動整準装置の動作概念を示す図で
ある。FIG. 4 is a diagram showing an operation concept of the automatic leveling device according to the embodiment.
１、２…被駆動部材 ５Ｘ…傾斜角度検出手段 ６Ｘ、６Ｙ…駆動手段 ７…駆動制御手段 ステップ２，７…判断部 ステップ３〜５…１／２漸近駆動制御部 ステップ９，１０…角度駆動制御部 1, 2 ... Driven member 5X ... Inclination angle detection means 6X, 6Y ... Driving means 7 ... Drive control means Steps 2, 7 ... Judgment section Steps 3-5 ... 1/2 asymptotic drive control section Steps 9, 10 ... Angle drive Control unit
Claims (1)
角度とを検出可能な傾斜角度検出手段と、 前記被駆動部材を所定の調節範囲内で傾斜調節する駆動
手段と、 前記駆動手段を制御する駆動制御手段とを有し、前記傾
斜角度検出手段で検出した傾斜方向，傾斜角度に基づい
て被駆動部材を整準する自動整準装置において、 前記駆動制御手段は、 前記被駆動部材の傾斜角度が、前記傾斜角度検出手段に
おける前記検出範囲内か否かを判断する判断部と、 前記判断部で否の時、前記駆動手段のおける前記調節範
囲内で傾斜調節可能な調節量を初期値Ｌ、駆動回数をｎ
として、前記傾斜角度検出手段の検出範囲内になるま
で、前記傾斜角度検出手段で検出した前記被駆動部材の
傾斜方向に、数１に示す調節量Ｌ（ｎ）に相当する量だ
け、駆動手段を駆動させる１／２漸近駆動制御部と、 【数１】Ｌ（ｎ）＝Ｌ／２n （ｎ＝1,2,3,…) 前記判断部で前記検出範囲内の時、前記傾斜角度検出手
段で検出した前記被駆動部材の傾斜方向と傾斜角度に基
づいて、検出した傾斜方向に、検出した傾斜角度に相当
する量だけ、前記駆動手段を駆動させる角度駆動制御部
とを有することを特徴とする自動整準装置。1. A driven member, a tilt angle detection means capable of detecting a tilt direction of the driven member and a tilt angle within a predetermined detection range, and tilting the driven member within a predetermined adjustment range. In the automatic leveling device, which has a drive unit for adjusting and a drive control unit for controlling the drive unit, and which levels the driven member based on the inclination direction and the inclination angle detected by the inclination angle detection unit, The drive control means includes a determination unit that determines whether or not the inclination angle of the driven member is within the detection range of the inclination angle detection means, and, when the determination portion is negative, the adjustment range of the drive means. The initial adjustment value is L, and the number of driving is n
As a result, the driving means is moved by an amount corresponding to the adjustment amount L (n) shown in the equation 1 in the tilt direction of the driven member detected by the tilt angle detecting means until it is within the detection range of the tilt angle detecting means. ½ asymptotic drive control unit for driving, and L (n) = L / 2 n (n = 1,2,3, ...) When the determination unit is within the detection range, the tilt angle is Based on the tilt direction and tilt angle of the driven member detected by the detection means, an angle drive control unit for driving the drive means in the detected tilt direction by an amount corresponding to the detected tilt angle. Characteristic automatic leveling device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7533991U JPH0527612U (en) | 1991-09-19 | 1991-09-19 | Automatic leveling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7533991U JPH0527612U (en) | 1991-09-19 | 1991-09-19 | Automatic leveling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0527612U true JPH0527612U (en) | 1993-04-09 |
Family
ID=13573404
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7533991U Pending JPH0527612U (en) | 1991-09-19 | 1991-09-19 | Automatic leveling device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0527612U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007285710A (en) * | 2006-04-12 | 2007-11-01 | Matsushita Electric Works Ltd | Laser marking device |
-
1991
- 1991-09-19 JP JP7533991U patent/JPH0527612U/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007285710A (en) * | 2006-04-12 | 2007-11-01 | Matsushita Electric Works Ltd | Laser marking device |
| JP4626561B2 (en) * | 2006-04-12 | 2011-02-09 | パナソニック電工株式会社 | Laser marking device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP3226970B2 (en) | Laser surveying machine | |
| US6745616B1 (en) | Surface texture measuring machine, leveling device for surface texture measuring machine and orientation-adjusting method of workpiece of surface texture measuring machine | |
| JP2006125924A (en) | Roundness/cylindrical shape measuring apparatus | |
| JPH05172970A (en) | Leveling device | |
| JP3482362B2 (en) | Surface texture measuring device, inclination adjusting device for surface texture measuring device, and method of adjusting posture of measurement object in surface texture measuring device | |
| JP2016191665A (en) | Automatic levelling method and automatic leveling device | |
| JP2817469B2 (en) | Automatic leveling device | |
| JPH0527612U (en) | Automatic leveling device | |
| JP3064184B2 (en) | Shape measuring instruments | |
| JPH10185562A (en) | Photogrammetry target | |
| JPS632327B2 (en) | ||
| JP2933187B2 (en) | Three-dimensional measuring devices | |
| JPH0611337A (en) | Method and device for correcting inclination of out-of-roundness measuring machine | |
| JP2569390B2 (en) | Roundness measuring machine | |
| JPS626252B2 (en) | ||
| JPH05231864A (en) | Roundness measuring machine | |
| JP2792549B2 (en) | Method and apparatus for correcting inclination of roundness measuring machine | |
| JP2838170B2 (en) | Leveling device | |
| JPH06249662A (en) | Target for measuring rail | |
| JPH0560561A (en) | Automatic level | |
| JP3552381B2 (en) | Image measuring machine | |
| JP3478387B2 (en) | Edge position detecting method and device, and edge distance measuring method and device | |
| JP2001183134A (en) | Inclination controller and inclination controlling method | |
| JP2506274B2 (en) | Leveling device | |
| JPH04300148A (en) | Levelling device |