JPH0533014U - Automatic leveling device - Google Patents

Abstract

(57) [Abstract] [Purpose] To obtain an automatic leveling device capable of performing automatic leveling even if the surveying instrument body is tilted beyond the maximum measurable tilt angle of a conventional high-precision automatic leveling device. [Structure] For example, a board 1 _{1 on} which a surveying instrument main body is mounted is carried on a base 1 ₂ by a shaft 4 of a motor 3 ₂ provided on the lower surface of the apex of the triangle, and this shaft 4 is mounted on the motor 3 ₂ Is rotated up and down, whereby the board ₁₁ can be tilted. The Ban Tai 1 ₁ provided the first inclination sensor second tilt sensor (not shown) than this lower accuracy but the maximum inclination angle measurable is large (not shown), the motor 3 ₂ wherein When the inclination of the board 1 is less than or equal to the maximum inclination angle of the first inclination sensor, it is controlled based on the output of this sensor, and when it exceeds the maximum inclination angle, it is controlled based on the output of the second inclination sensor. It

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an automatic leveling device used in, for example, a surveying instrument.

[0002]

[Prior Art]

 A conventional automatic leveling device is, for example, one of at least three leveling screws or wedges for carrying a surveying instrument body, depending on the output of a bubble tube type tilt sensor having a spherical bubble sliding surface. It is configured to level or move by rotating or moving at least two of them by a motor.

[0003]

[Problems to be solved by the device]

 According to the conventional automatic leveling device described above, when the bubble tube type tilt sensor with a large radius of curvature of the spherical bubble sliding surface is used, the maximum tilt that can detect the tilt of the surveying instrument body with high accuracy is achieved. Since the angle is small, there is the inconvenience that automatic leveling cannot be performed when the angle of inclination is large.On the other hand, when an inclination sensor with a small radius of curvature is used, the maximum angle of inclination is large, so even if the angle of inclination is large Although it can be leveled, it has the disadvantage of low accuracy. SUMMARY OF THE INVENTION It is an object of the present invention to solve the conventional inconvenience, and to provide an automatic leveling device which is highly accurate and can perform automatic leveling even if the tilting angle of the machine to be leveled is large. It is what

[0004]

[Means for Solving the Problems]

 According to the present invention, in order to achieve the above object, a board on which a main body of a machine to be leveled is mounted is supported on a base by a plurality of legs and can be tilted by rotating or moving the legs. In addition, a tilt sensor is provided on the board on which the main body of the machine to be leveled is mounted, and a motor that rotates or moves the tilt sensor is connected to the leg, and the motor controls rotation according to the output of the tilt sensor. In the automatic leveling device configured as described above, the tilt sensor includes a first bubble tube type tilt sensor and a second bubble tube type tilt sensor, and the first tilt sensor has a second tilt sensor. The maximum inclination angle that is more accurate and measurable is smaller than that of the inclination sensor, and the motor is based on the output of the first inclination sensor when the inclination of the surveying instrument main body is less than or equal to the maximum inclination angle of the first inclination sensor. The rotation is controlled to exceed the maximum tilt angle of the first tilt sensor. When the is characterized in that so as to be rotation control based on an output of the second tilt sensor.

[0005]

[Action]

 When the inclination of the main body of the machine to be leveled is equal to or less than the maximum measurable inclination angle of the first inclination sensor, it is automatically leveled based on the output from the first inclination sensor and is leveled with high accuracy. When the tilt exceeds the maximum tilt angle, it is automatically leveled based on the output from the second tilt sensor, and when the tilt angle is less than the measurable maximum tilt angle of the first tilt sensor, Automatic leveling is performed based on the output of the first tilt sensor.

[0006]

【Example】

An embodiment of the present invention will be described below with reference to the drawings. The drawings show an embodiment of the present invention used in a surveying instrument. FIG. 1 is a plan view of the main body of the automatic collimation device, FIG. 2 is a front view of its main part, and FIG. 3 is a side view of its main part. In FIGS. 1 to 3, reference numeral ₁₁ denotes a triangular plate having a surveying instrument fixing portion 2, and the first, second and third motors 3 ₁ , 3 ₂ are respectively provided on the lower surfaces of the apexes. 3 and 3 ₃ are fixed to each other, and a shaft 4 which is axially movable with rotation of its rotor and whose peripheral surface is provided with a screw is projected upward from a hole 5 of the board 1 ₁ . 1 _2, for example, attached taken on a tripod, the base of Banthai 1 ₁ the same shape, in its apex, the groove 6 of the V-shaped is formed, respectively, the motor 3 _1, 3 in the groove 6 The spherical lower ends 7 of the shafts ₂ and 3 ₃ engage, and thus the board 1 ₁ is carried on the base 1 ₂ by the three shafts 4, and the motors 3 ₁ , 3 ₂ , 3 ₃ When is rotated, it can tilt freely. Base 1 on ₂ is mounted in the triangular leaf spring 8 is the center of the shape shown in FIG. 4, the cutout portion 9 formed in the vertex portion, ampulla fixed to the shaft 4 10 engages the lower surface of the V-shaped groove 12 is pressed against the notch portion 9 to the spherical surface portion 11 formed on its upper surface, always in the shaft 4 into the groove 6 of the base 1 ₂ by the spring force of the plate spring 8 It is supposed to contact. The nut 13, the leaf spring 14, and the adjusting nut 15 are for adjusting the spring force of the leaf spring 8. 1 and 2, 16, eyepiece 17, focus lens 18, an optical weights determined consisting of the objective lens 19 and an optical system such as a roof prism 20 is attached to the base 1 ₂ by a mounting member (not shown). Reference numeral 21 is an inclination sensor unit, 22 is a surveying instrument fixing lever, and 23 is a cover of the shaft 4.

The tilt sensor section 21 is provided with a first bubble tube type tilt sensor and a second bubble tube type tilt sensor. The first tilt sensor has high accuracy but the maximum measurable tilt angle is small, and the second tilt sensor is less accurate than the first tilt sensor but has a larger measurable maximum tilt angle. Is. The first tilt sensor 24, as shown in FIGS. 5 and 6, has a parallel light beam from a light emitting element 26 disposed above through a lens 27 into a bubble tube 29 in which a transparent liquid and bubbles 28 are enclosed in a transparent container. Is irradiated to detect the tilt angle in the XY direction from the output of the 4-division type position detection light receiving element 31 ₁ provided on the opposite side of the spherical bubble sliding surface 30. The radius of curvature of 30 is large, and highly accurate inclination detection can be performed, but the maximum measurable inclination angle is small. In the light receiving element 31 ₁ , reference numeral 32 is a reference lens portion that is not affected by bubble shadows, and is used to compensate for fluctuations of light rays emitted from the light emitting element 26.

As shown in FIG. 7, the second inclination sensor 25 irradiates light from the light emitting element toward the bubble 28 from the side opposite to the spherical bubble sliding surface 30 of the bubble tube 29, and the reflected light thereof. Is received by a 4-division type position detecting light receiving element 31 ₂ similar to the first tilt sensor 24 provided on the same side as the light emitting element, and the tilt angle in the XY directions is detected from the output. The radius of curvature of the bubble sliding surface 30 is smaller than that of the first inclination sensor 24 and the maximum measurable inclination angle is large, but accurate inclination detection cannot be performed. The X-axis (or Y-axis) of the first and second tilt sensors 24 and 25 is the same as the shaft 4 of the _first motor 3 _{1 and} the shaft 4 of the second motor 3 ₂ as shown in FIG. When the connecting line is the X-axis or the Y-axis, it is provided so as to coincide with it.

The outputs of the first and second inclination sensors 24 and 25 are connected to a CPU 33, respectively, as shown in FIG. 8, and the CPU 33 causes the first, second and third motors 3 ₁ 3 ₂ and 3 ₃ are controlled. The minimum tilt angle and the maximum tilt angle that can be detected in the X direction and the Y direction of the second tilt sensor 25 (the X direction is A, A ₁ , and the Y direction is B, B ₁ ) are shown in (X ) (Y), for example, 3'and 15 °, and from the unillustrated arithmetic unit connected to the light receiving element 31 ₂ , as shown in FIG. It is designed to output a voltage of 2.5 V when A ₁ and B ₁ = −15 °, 3.5 V when the tilt angle is 0, and 4.5 V when the maximum positive tilt angle A and B = + 15 °. The maximum detectable tilt angles of the first tilt sensor 24 in the X direction and the Y direction (A, A _{1 in} the X direction and B, B _{1 in the} Y direction) are shown in (X) (Y) of FIG. As shown in the figure, for example, 3 ', and from the arithmetic unit (not shown) connected to the light receiving element 31 ₁ , as shown in FIG. 12, the maximum negative tilt angles A ₁ , B ₁ = -3' in both the X and Y directions. Then 1. The output voltage is 07V, 1.95V when the tilt angle is 0 °, and 2.38V when the maximum positive tilt angle A and B = 3 '.

The operation of the above-described embodiment will be described with reference to the flowchart shown in FIG. 13. First, when the start switch (not shown) is closed, the CPU 33 checks the power supply voltage Vcc (step). When the power supply voltage Vcc is normal, the CPU 33 determines the range of the tilt direction and the tilt amount from the output of the second tilt sensor 25 in step, and determines the range value and the standard value of the sensor of 3.5V. Compare. In the detection range, that is, within the detection range of ± 3 'to 15 °, the CPU 33 calculates the data and outputs the second tilt sensor 25 to output the first, second and third motors. It is judged which motor among 3 ₁ , 3 ₂ and 3 ₃ is to be rotated and the motor is started (step). One of the first and second motors 3 ₁ and 3 ₂ in the X-axis direction and the third motor 3 _{3 in} the Y-axis direction is determined by the connection position between the motors 3 ₁ , 3 ₂ and 3 ₃ and the CPU 33. is determined, the rotational direction of the motor 3 _1, 3 ₂ and 3 ₃ are determined from the magnitude of the output voltage due to the position of the bubble as illustrated in FIG. 10. The output from the second inclination sensor 25 to the CPU 33 is a digital signal. When the first, second and third motors 3 ₁ , 3 ₂ and 3 ₃ are rotated in the positive direction, the signal of 11 is rotated in the negative direction. Outputs a signal of 10, and outputs a signal of 00 to stop. When the tilt angle reaches the standard value of the second tilt sensor 25, look at the first tilt sensor 24. Thus, for example when it becomes smaller than the 3'shifts to the step, CPU 33 is the output of the first inclination sensor 24, the first, second and third motor 3 _1, 3 of the ₂ and 3 ₃ Determine which motor to rotate and start it (step). When the output voltage of the first inclination sensor 24 reaches 1.95V, that is, when the level is leveled, the motor is stopped. When Vcc is not normal in step, an alarm is issued (step), and when the motor rotates 3 times or more in step and, both are judged to be faulty and an alarm is issued.

Instead of carrying the board 1 on the shafts 4 of the motors 3 ₁ , 3 ₂ and 3 ₃ of the above embodiment, three leveling screws for screwing the board to the board 1 ₁ are used as in the conventional case. It may be carried and the plate body may be automatically leveled by rotating the leveling screw with a motor, or the plate body may be carried with a wedge and the disk is automatically leveled by moving the wedge with a motor. You may let me. The second inclination sensor 25 shown in FIG. 7 is preferable because it can be downsized as a sensor, but instead, a sensor having the same configuration as the first inclination sensor 24 can be used.

[0012]

[Effect of the device]

 Since the present invention is configured as described above, it has an effect that automatic leveling can be performed even if the surveying instrument body is tilted beyond the maximum measurable tilt angle of the conventional high-precision automatic leveling device.

[Brief description of drawings]

FIG. 1 is a plan view of an automatic leveling device body according to an embodiment of the present invention.

FIG. 2 is a front view showing the main part of the automatic leveling device main body in a partial cross section.

FIG. 3 is a side view showing a partial cross section of the main part.

FIG. 4 is a rear view of a leaf spring of the main body of the automatic leveling device.

FIG. 5 is an explanatory diagram of a configuration of a first tilt sensor.

FIG. 6 is a plan view of a light receiving element of the tilt sensor.

FIG. 7 is an explanatory diagram of a configuration of a second tilt sensor.

FIG. 8 is a block diagram of the above embodiment.

9 (X) and (Y) are X of the second tilt sensor. FIG.
Characteristic chart with respect to Y-direction and Y-direction tilt

FIG. 10 is an explanatory diagram showing the relationship between the position of the bubble shadow on the light receiving element of the second tilt sensor and the output voltage.

11 (X) and (Y) are X of the first tilt sensor. FIG.
Characteristic chart with respect to Y-direction and Y-direction tilt

FIG. 12 is an explanatory diagram showing the relationship between the position of the bubble shadow on the light receiving element of the first tilt sensor and the output voltage.

FIG. 13 is a flowchart of the above embodiment.

[Explanation of symbols]

1 ₁ board 1 ₂ base 3 ₁ 3 ₂ 3 ₃ motor 4 axis 6 V-shaped groove 24 first tilt sensor 25 second tilt sensor 33 CPU

Claims (2)

[Scope of utility model registration request] 1. A board on which the main body of the machine to be leveled is mounted on a base by a plurality of legs and is tiltable by the rotation or movement of the legs, and the main body of the leveled machine is mounted. An inclination sensor is provided on the board to be placed, and a motor for rotating or moving the leg is connected to the leg, and the motor is rotationally controlled according to the output of the inclination sensor. In the above, the tilt sensor comprises a first bubble tube type tilt sensor and a second bubble tube type tilt sensor, and the first tilt sensor can measure with higher accuracy than the second tilt sensor. The maximum tilt angle is small, and the motor is rotationally controlled based on the output of the first tilt sensor when the tilt of the surveying instrument body is less than or equal to the maximum tilt angle of the first tilt sensor,
An automatic leveling device, wherein when the maximum tilt angle of the first tilt sensor is exceeded, the rotation is controlled based on the output of the second tilt sensor. 2. The leg is a shaft that moves up and down by the rotation of the motor, and a lower end of the shaft is formed into a spherical surface to be fitted in a V-shaped groove of the base. Automatic leveling device.