JPH04113011U - automatic leveling device - Google Patents

Abstract

(57) [Summary] [Objective] To obtain an automatic leveling device that eliminates hunting in which the inclination angle is already deviated from 0 degrees when the inclination angle reaches 0 degrees without using a reduction gear. [Configuration] Reference signal generator 8X and reference signal 2 of the 8X
1 and a signal 23 based on the tilt angle from the tilt sensor 5X.
The automatic leveling device is equipped with a drive control means 7X that has a comparator 9X that compares the voltage and a motor driver 10X that generates a constant voltage whose time width changes from the output of the comparator and drives the motor. Specifically, the inclination angle signal 23 is compared with a reference signal whose signal strength changes periodically, such as the continuous triangular wave signal 21, and when the two signals are 23>21, the time width is changed at a constant voltage. A drive signal is generated to

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

The present invention is an automatic leveling stand equipped with a surveying instrument body or a pedestal to which the surveying instrument body is attached. This invention relates to an automatic leveling device that dynamically adjusts the level.

0002

[Prior art]

Conventional leveling of surveying instruments (leveling work) is done by using a bubble tube installed in the surveying instrument. A leveling stand or leveling stand function on which the surveying instrument is placed while looking at the tilt angle detector. The height adjustment screw installed on the main body of the surveying instrument was manually operated. But like this In addition to the leveling work, centripetal work to align the measured reference point with the measurement reference point of the surveying instrument is performed. It took time to perform two operations. Moreover, the above Skill is required to perform these two operations quickly and accurately, and errors due to differences in operators are eliminated. It was inevitable. Therefore, in recent years, automatic leveling devices that automatically perform leveling work have been used. It is desirable to simplify the leveling work and eliminate errors caused by the operator. It is rare. The following is a list of previously proposed automatic leveling devices for surveying instruments. This will be explained using an automatic leveling device as an example.

0003 The automatic leveling device has a pedestal part to which the surveying instrument is attached, a base part to be fixed to the tripod, a support member that connects the pedestal section and the base section in a tilt-adjustable manner; An inclination angle detection sensor that detects an inclination angle, and an angle adjustment device that drives the support member. and how to drive the angle adjustment device based on the signal from the tilt angle detection sensor. It consists of a drive control device that controls direction and speed, and leveling work is performed as follows. .

0004 First, the inclination angle detection sensor detects the inclination of the reference plane on the pedestal on which the survey instrument is placed. Measure the oblique angle. Next, the drive control device detects the tilt angle measured by the tilt angle detection sensor. Outputs a drive signal whose voltage changes depending on the oblique angle. Drive using this drive signal By rotating the motor of the device, the length of the support leg of the support member is adjustable. The screw rotates to adjust the height of the support leg and change the inclination of the pedestal. That's all Level the reference plane of the pedestal.

[0005] However, with the automatic leveling device mentioned above, the tilt angle is detected by the tilt angle detection sensor. When the drive device is stopped after determining that the tilt angle has reached zero, the tilt angle is already not zero and has exceeded. The disadvantage was that a hunting situation occurred in which the user was running The reason is that The response speed of the tilt angle detection sensor is slower than the drive speed of the drive device. this In order to solve the cause, it is necessary to The following two methods can be considered to reduce the driving speed. One is the mo Another method is to reduce the drive speed by lowering the drive voltage of the motor. One is to provide the drive device with a reduction gear.

[0006]

[Problem that the idea aims to solve]

However, the above two methods cannot be used for automatic leveling devices, especially surveying instruments, for the following reasons. It has been difficult to apply this method to relatively small devices such as Because the driving electric Although it is possible to control the pressure and slow down the drive speed, the above-mentioned problems occur at low drive speeds (low drive voltages). There is no small motor that can generate enough torque to operate the support legs of the support member. Furthermore, if a speed change gear such as a reduction gear is attached to the motor, the number of parts will increase and it will be expensive. The portability of the automatic leveling device is not only increasing, but also increasing the size of the device is unavoidable. There was a problem with it getting worse. For these reasons, hunting does not occur. It was difficult to obtain a dynamic leveling device.

[0007] This invention solves these problems and allows smooth leveling without causing hunting. The purpose of this invention is to obtain an automatic leveling device that can be miniaturized to perform various tasks.

[0008]

[Means to solve the problem]

In order to solve the above problems, the present invention provides a reference surface (H) to be leveled and a reference surface (H) to be leveled. A slope that outputs a slope angle signal (22) whose magnitude changes depending on the slope angle of the quasi-surface. An angle detection means (5X) and an angle adjustment means (4b) for adjusting the inclination angle of the reference plane. , 4c, 6X, 6Y) and controlling the angle adjusting means based on the inclination angle detection signal. In an automatic leveling device having a drive control means (7X) for controlling The drive control means determines the time when the tilt angle is large based on the tilt angle signal. When the time width is varied with a constant voltage, the time width becomes shorter when the width is long and the tilt angle is small. outputting a drive signal (28) to control the drive speed of the inclination adjusting means; This automatic leveling device is characterized by:

[0009]

[Effect]

According to the present invention, a drive signal whose time width changes with a constant voltage is formed from the tilt angle signal. Then, the drive signal is used to rotate the motor of the drive means to tilt the reference plane of the pedestal. Make adjustments. This drive signal is a constant voltage but when the tilt angle is large, When the time width is long and the tilt angle is small, the time width becomes short, so the tilt angle The larger the angle of inclination, the faster the rotation speed, and the smaller the angle of inclination, the slower the rotation speed. death Therefore, since the motor is driven by a constant voltage, it will respond to the tilt angle regardless of the rotation speed. The motor operates smoothly when the angle of inclination is small, and the rotation speed of the motor becomes slow. This prevents hunting.

0010

【Example】

The automatic leveling device of the present invention was used in the automatic leveling device for surveying instruments shown in Figures 1 to 5. This will be explained in examples. Figure 1 is a schematic sectional view showing the configuration of the embodiment, and Figure 2 is the automatic FIG. 3 is a block diagram showing an example of the basic configuration of the drive control device in the leveling device. A block diagram showing an example of a specific configuration of the drive control device in FIG. 2, and FIG. 4 shows a triangular wave signal. 21, A diagram showing the relationship between the tilt angle signal 23 and the comparator output signal 25, FIG. 4, the respective signals 21, 2 at the time of the inclination angle signal 23' with the maximum value limited. FIG. 3 is a diagram showing the relationship between 3' and 25'.

[0011] The configuration of an automatic leveling device for a surveying instrument is as shown in Figure 1. A pedestal part 2 having an H shape, a base part 3 that is attached to a tripod, and a pedestal part 2 and a base part 3. The support members 4a, 4b, 4c, 45, 46 that support the Tilt sensors 5X, 5Y (5Y is not shown) that detect the tilt angle and the reference plane of the pedestal part 2 Angle adjustment devices 6X, 6Y that adjust the inclination of H, and operation of the angle adjustment devices 6X, 6Y drive control devices 7X and 7Y (7Y is not shown).

0012 To explain in more detail, each is configured as follows. The pedestal part 2 is a pedestal The central axis V of the surveying instrument body 1 is perpendicular to the reference plane H on which the seat 2 is to be leveled. It has a connecting recess to which the sea urchin surveying instrument main body 1 can be attached. Therefore, this reference plane By leveling H, the surveying instrument attached to this connecting recess The main body 1 is also leveled. Furthermore, the pedestal part 2 has support legs 4a, which are supporting members, on the bottom part. 4b and 4c are provided. The base part 3 has support legs 4 of the support member on the upper side of the base part 3. Contact points 3a, 3b, 3c that connect the free end portions of a, 4b, 4c (3c is not shown) ), and is installed so that the top side faces the bottom side of the pedestal 2.

[0013] The support members include a reference support leg 4a, female screws 41b, 41c, and male screws 42b, 42c. It consists of height-adjustable support legs 4b and 4c, and connecting members 45 and 46. , by connecting the three support legs as follows, the pedestal part 2 and the base part 3 are connected. The tilt is adjustable. The fixed ends of the three support legs 4a, 4b, 4c (4a on the pedestal side, female screws 41b, 41c) are fixed to the pedestal 2, and the three support legs The free ends of the connecting members 4 are brought into contact with the connecting points 3a, 3b, 3c of the base part 3, and the connecting members 4 5 and 46, press the free end side of the support leg to a predetermined place on the base part 3, and The three supporting legs are rotatable and capable of slight tilting. Also, three support legs are the straight line X connecting the reference support leg 4a and the support leg 4b, and the reference support leg 4a and the support leg 4c. with the reference support leg 4a as the base point. Three support legs are installed to form an isosceles right triangle.

[0014] The tilt sensor consists of two tilt sensors 5X and 5Y (5Y is not shown), and 5X is The supporting legs 4a, 5Y are arranged at approximately the middle position of the straight line X connecting the supporting legs 4a, 4b. It is arranged at a position approximately in the middle of the straight line Y connecting 4c. Each tilt sensor 5 X, 5Y are the straight line X connecting support legs 4a and 4b and the straight line connecting support legs 4a and 4c. Since the inclination angle and inclination direction of the line Y are detected, the lines are perpendicular to each other with the reference support leg 4a as the center. The tilt in the direction (parallel to the reference plane) can be detected, and this can be used to The inclination angle and direction of the reference plane of the seat 2 are detected.

[0015] The angle adjustment device rotates the male screws 42b and 42c of the support legs to adjust the angle of the support legs 4a and 4. It consists of two motors (DC motors) 6X and 6Y that adjust the length of b. Also, driving As shown in FIG. 2, the dynamic control device 7X includes a reference signal generator 8X and a tilt angle signal 23. It compares the reference signal 21 with the reference signal 21 and outputs a comparator output signal 25 consisting of the comparison result. from the comparator 9X, the comparator output signal 25 and the tilt direction signal 24. Motor driver 10X that operates adjustment device 6X and tilt from tilt sensor 5X It consists of a signal amplifier 11X that amplifies the angle signal 22, and the tilt angle of the tilt sensor 5X is A drive signal for driving the motor 6X is output based on the speed signal. Drive control device 7 Similarly, Y is also connected to the reference signal generator 8Y, comparator 9Y, and motor driver 10Y. It consists of a signal amplifier 11Y, but its illustration is omitted.

[0016] Next, we will explain the basic operation control of the drive control device of this automatic leveling table. . However, the straight line X connecting the support leg 4a and the support leg 4b, the support leg 4a and the support leg 4c The control corresponding to each angle adjustment with the straight line Y that connects shall be performed in the same way. In the straight line X connecting the support leg 4a and the support leg 4b along the block diagram of FIG. The process will be explained in detail.

[0017] The tilt angle is determined based on the tilt angle and tilt direction detected by the tilt angle detection sensor 5X. When the tilt direction signal 22 and tilt direction signal 24 are output, first, the tilt direction signal 24 is outputted by the signal amplifier 11X. A slope having a signal strength (level) appropriate for comparing the slope angle signal 22 with a reference signal. The angle signal 23 is amplified. However, the amplification to this tilt angle signal 23 is The tilt angle detection sensitivity and output signal strength of sensor 5X, the signal strength of reference signal 21, and the motor It shall be set in advance taking into consideration the driving speed of 6X, etc.

[0018] Next, in the comparator 9X, the amplified tilt angle signal 23 and the reference signal It is compared with the reference triangular wave signal 21 output from the generator 8X (see FIG. 4). this In the comparison, when the signal strength of the tilt angle signal 23 is greater than the reference triangular wave signal 21, the A comparator output signal 25 is output. This comparator output signal 25 is It is a signal whose degree is constant and whose time width changes according to the signal strength of the tilt angle signal 23. The motor driver 10 operates based on the tilt direction signal 24 from the tilt angle detection sensor 5X. determines the rotation direction of the motor 6X, and also determines the rotation direction of the motor 6X, and the The motor 6X is driven according to the time width of the signal 25. In this way, the male screw 4 By rotating 2b, the support leg 4b becomes longer or shorter, so the pedestal part The inclination of the reference plane 2 changes along the straight line X connecting the support legs 4a and 4b. In other words, The angle is adjusted on the straight line X connecting the support legs 4a and 4b. Similarly, support legs The straight line Y connecting the support leg 4a and the support leg 4c is also controlled by the motor 6Y by the drive control device 7Y. As a result, the male screw 42c of the support leg 4c rotates, and the support leg 4a of the pedestal 2 rotates. The angle is adjusted along the straight line Y connecting the support leg 4c. In this way, the pedestal part 2 Level the reference plane H.

[0019] Next, referring to FIG. 3, the basic operation control device 7X described above will be explained in more detail. An example will be described below. In addition, parts that perform similar operations are given the same drawing numbers. ing. This drive control device first detects the inclination angle of the reference plane H of the pedestal section 2 using the inclination sensor 5X. is detected, and a tilt angle signal 22 is output. This tilt angle signal 22 is transmitted in the tilt direction. This is a signal that has more positive and negative polarities and has a signal strength that depends on the tilt angle. Also , the rotation direction determination unit 12X is an encoder 61X that reads the operation of the motor 6X. Extract two encoder signals whose phases are shifted by 90 degrees from each other, and Detects the rotational speed (travel amount) and rotational direction (phase) of motor 6X, and determines the rotational direction of the motor. to judge. Next, apply the tilt angle signal 22 output from the tilt sensor 5X to an appropriate route. The signal is amplified by a signal amplifier 11X with a gain and inputted to a speed controller 13X. child In parallel with this, the rotation direction signal 26 of the motor 6X determined by the rotation direction determination unit 12X is Input to speed controller 13X.

[0020] The speed controller 13X generates a signal obtained by amplifying the above two signals, the inclination angle signal 22. and the rotational direction signal 26, a positive slope is determined according to the absolute value (signal strength) of the slope angle signal. While forming the oblique angle signal 22', the motor 6X is rotated clockwise (CW direction). Signal generator for motor driver to rotate counterclockwise (CCW direction) Select 14X or 15X and select the selected motor drive signal generator 14X Alternatively, a positive tilt angle signal 22' is output to 15X. Signal generation for motor drive The generators 14X and 15X receive a positive inclination angle signal 22 output from the speed controller 13X. ' and the feedback signal 27 from the motor driver 10X, the tilt angle is A tilt angle signal 23 whose voltage changes depending on the signal strength of the angle signal 22 is generated. Next, the comparators 91X and 92X compare the tilt angle signal 23 and the OSC 8X. Compare the continuous triangular wave signal 21 output from the A rectangular waveform signal (comparator output signal) 25 consisting of pressure is output. motor driver The motor 6X is rotated clockwise based on this rectangular waveform signal 25. or counterclockwise.

[0021] The concrete drive control device 7X configured in this way is based on the basic operation control theory. The main configuration is the same as that of the drive control device used in the previous study, but the following points differ. One is that in a specific configuration, the encoder 61X provided on the motor 6X connects the motor 6X rotation direction signal 26 is taken out, and the tilt angle signal 22 and rotation direction signal 26 are generated. The direction of rotation of the motor 6X is selected by determining the direction of inclination, but in the basic configuration, , is performed by the motor driver 10X based on the tilt direction signal 24. , and the other is that in a specific configuration, the comparators 91X and 92X output the tilt angle signal 23. Although the driving direction of the motor is selected before comparing the reference signal 21 and the reference signal 21, the basic structure In this case, the direction of rotation is determined after the comparator 9X.

[0022] In addition, in the embodiment of this invention, the three support legs are arranged to form an isosceles right triangle. This simplifies angle adjustment control, but instead of arranging it in an equilateral triangle like in the past, You may place In addition, although the support legs 4a, 4b, and 4c were fixed to the pedestal 2, the pedestal It is also possible to fix it on the 3 side and have the free end of the support leg contact the pedestal 2 side. The supporting legs may be indirectly rotated using a pulley or the like.

[0023] Also, as shown in Figure 5, instead of increasing the slope, the maximum value of the slope is limited. When the angle signal is set to 23', the comparator output signal 2 generated when the tilt angle is small. Since the time width of 5' is relatively long, it is possible to quickly level from a heavily sloped state. can be set. However, if the slope of this slope angle signal 23' is set too large, Needless to say, it is necessary to prevent hunting from occurring. child The setting of the drive signal of the angle adjustment device is not limited to the above example, but In this case, the maximum value of the tilt angle signal 23 or 23' is larger than the maximum value of the reference signal 21. This can also be achieved by setting it so that Furthermore, the reference signal is also In addition to square wave signals, other triangular waves such as sawtooth waves, full-wave rectified sine waves, etc. Any signal whose signal strength repeatedly changes may be used.

[0024] In addition, the present invention provides that the voltage is constant from the comparison of two signals as disclosed in the embodiment. The present invention is not limited to forming drive signals having different time widths. for example, Sample the tilt angle signal and calculate the tilt angle at each sampling time. A drive control device that outputs a time width depending on the signal strength of the signal may be used. .

[0025]

[Effect of the idea]

This invention uses a tilt angle signal that changes according to the tilt angle to generate a drive whose time width changes. Since the signal is formed and the motor speed is controlled based on the time width, the time width By setting the It is possible to convert This means that the angle adjustment speed is sufficient to prevent hunting. This shows that it is possible to slow down to Moreover, the drive voltage can be varied to increase speed. The drive voltage of the motor is high enough to rotate the support legs, as there is no need for degree control. The driving voltage can be set to generate torque. Therefore, the time width becomes narrower and the motor The male screw can be rotated even when the drive speed is low, so even at low drive speeds The length of the support legs is adjustable. Therefore, it is also possible to decelerate using a transmission gear. Since it is not necessary, it is possible to prevent the device from becoming larger and the device can be easily carried. , the efficiency of surveying work can be improved.

[0026] In addition, such control is equivalently called time width modulation control (P), which is suitable for digital control. WM) and can be easily realized with a hardware circuit configuration. Therefore, depending on the software No calculation processing is required during digital control, reducing the time required for level adjustment. . Furthermore, by applying the configuration to set the number of pulses from the time width, the pulse motor By using this, excessive rotation of the motor can also be prevented.

[0027] In addition, the present invention can be used for relatively small things like this. It is possible to form an automatic leveling device without taking up much space. Even if you consider using it for large objects such as earthquake stands, it can be formed in a small amount of space.

[Brief explanation of drawings]

FIG. 1 is a schematic cross-sectional view showing the main parts of the configuration of an embodiment.

FIG. 2 is a block diagram showing the basic configuration of a drive control device for an automatic leveling device according to an embodiment.

FIG. 3 is a block diagram showing a specific configuration of a drive control device for an automatic leveling device according to an embodiment.

FIG. 4 is a diagram showing signals of a reference signal 21, a tilt angle signal 23, and a comparator output signal 25.

FIG. 5 is a diagram showing a signal when the upper limit of the tilt angle signal 23 in FIG. 4 is limited.

[Explanation of symbols]

1...Surveying instrument body 2...Pedestal part 3...Base part 4a...Reference support leg 4b, 4c...Adjustment support legs 5X…Tilt sensor 6X, 6Y…Angle adjustment device (motor) 7X...Drive control device 8X...Reference signal generator 9X, 91X, 92X...Comparator 10X…Motor driver 11...Signal amplifier 12X...Rotation direction judgment unit 13X...Drive direction switch 14X, 15X drive voltage generator 21...Reference signal 22...Tilt angle signal 23, 23'...Amplified tilt angle signal 24... Tilt direction signal 25, 25'...Comparator output signal 26...Rotation direction signal 27...Feedback signal

Claims (1)

[Scope of utility model registration request] 1. A reference plane to be leveled, an inclination angle detection means for outputting an inclination angle signal whose magnitude changes according to an inclination angle of the reference plane, and an inclination angle detecting means for adjusting the inclination angle of the reference plane. , an automatic leveling device comprising an angle adjustment means for leveling a reference surface, and a drive control means for controlling the angle adjustment means based on the inclination angle detection signal, the drive control means controlling the angle adjustment means based on the inclination angle signal. Based on the above, the driving speed of the tilt adjusting means is controlled by outputting a drive signal whose time width changes with a constant voltage, such that the time width is longer when the tilt angle is large and the time width is shorter when the tilt angle is small. An automatic leveling device featuring: