CN111207727A - Auxiliary device for automatic leveling of tripod - Google Patents
Auxiliary device for automatic leveling of tripod Download PDFInfo
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- CN111207727A CN111207727A CN202010179627.3A CN202010179627A CN111207727A CN 111207727 A CN111207727 A CN 111207727A CN 202010179627 A CN202010179627 A CN 202010179627A CN 111207727 A CN111207727 A CN 111207727A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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Abstract
The invention belongs to the technical field of electromechanical integration and automatic control, and particularly relates to an auxiliary device for automatic leveling of a tripod. The workbench and the bottom plate are respectively arranged at two ends of each supporting leg through a connecting mechanism, and the workbench is provided with a double-shaft tilt angle sensor. The double-shaft tilt angle sensor measures the levelness of the workbench in real time and provides motion feedback of the adjusting supporting legs. The workbench realizes automatic tripod leveling under the cooperative work of the double-shaft tilt sensor and each supporting leg. The auxiliary device can be directly installed on a common tripod as an accessory, the problem of quick high-precision automatic leveling of the tripod is solved, and the tripod is convenient to use and high in adaptability.
Description
Technical Field
The invention belongs to the technical field of electromechanical integration and automatic control, and particularly relates to an auxiliary device for automatic leveling of a tripod.
Background
Tripods are common equipment in the fields of photography, surveying and mapping, industrial measurement and the like, and are mainly used for supporting and stabilizing cameras, theodolites, total stations and other instrument equipment. Tripods need to be first leveled in use to ensure that the instrumentation mounted on the tripod is level.
At present, the leveling of a common tripod is finished by observing a bubble of a level on the tripod by naked eyes, and then manually adjusting three supporting legs repeatedly and rotating a fine adjustment knob. The leveling process depends on the experience of operators, the operation is time-consuming and labor-consuming, and the leveling precision is difficult to ensure.
Disclosure of Invention
The object of the present invention is to provide an auxiliary device for automatic levelling of tripods, which solves the above-mentioned problems of the prior art.
The technical scheme of the invention is as follows:
an auxiliary device for automatic leveling of a tripod comprises a bottom plate 1, a first adjusting supporting leg 2, a workbench 3, a second adjusting supporting leg 4, a fixed supporting leg 5 and a double-shaft tilt sensor 6; bottom plate 1 and workstation 3 install the both ends at each landing leg through coupling mechanism respectively, the lower surface of workstation 3 is provided with biax angular transducer 6, the x axle of biax angular transducer 6 and two perpendicular bisectors coincidence of adjusting the landing leg installation center on workstation 3, this biax angular transducer 6 is used for the levelness of real-time measurement workstation 3, provide the motion feedback that landing leg 4 was adjusted to first regulation landing leg 2 and second, workstation 3 realizes tripod automatic leveling under the collaborative work of biax angular transducer 6 and each landing leg.
The first adjusting supporting leg 2 and the second adjusting supporting leg 4 have the same structure and respectively comprise a first hinge 7, an electric cylinder 8 and a first spherical hinge 9; the electric cylinder 8 is used as a driving component, the top end of the electric cylinder 8 is connected with the workbench 3 through a first spherical hinge 9, and the bottom end of the electric cylinder 8 is connected with the bottom plate 1 through a first hinge 7.
The fixed leg 5 comprises a second hinge 10, a fixed leg main body 11 and a second spherical hinge 12; the fixed landing leg main part 11 of fixed landing leg 5 is cylindrical section bar, and the top of fixed landing leg main part 11 is connected with workstation 3 through second ball pivot 12, and the bottom of fixed landing leg main part 11 is connected with bottom plate 1 through second hinge 10.
When in use, the auxiliary device for automatically leveling the tripod is directly installed on the tripod as an accessory, and the bottom surface of the leveling bottom plate 1 is superposed with the working table surface of the tripod when in installation; the workbench 3 serves as a new working surface of the automatic leveling tripod and is used for installing instruments and equipment needing to be supported by the tripod, such as a camera, a total station and the like.
Further, the leveling comprises the following steps:
step 1: the data of the double-shaft tilt angle sensor 6 is collected by the singlechip, the extension and retraction of the two adjusting supporting legs are controlled according to the data, and the angle of the workbench 3 is adjusted to ensure that the x-axis reading of the double-shaft tilt angle sensor 6 is smaller than a given threshold epsilonx；
Step 2: the single chip microcomputer collects y-axis data of the double-axis tilt sensor 6, and controls the extension and retraction of any one motion adjusting supporting leg according to the y-axis data so that the y-axis reading of the double-axis tilt sensor 6 is smaller than a given threshold epsilony；
And step 3: repeating steps 1) and 2) until the readings of the x-axis and the y-axis of the dual-axis tilt sensor 6 respectively satisfy ex＜εx、ey＜εyWherein e isx、eyThe horizontal errors in the x-axis and y-axis directions measured by the biaxial tilt sensor 6 are respectively.
The invention has the advantages that:
the auxiliary device for automatically leveling the tripod provided by the invention can be directly installed on a common tripod, and the automatic leveling of the tripod is realized through the adjusting function of the auxiliary device, so that the leveling efficiency and the leveling automation degree of the tripod are improved. Particularly, the auxiliary device for automatically leveling the tripod provided by the invention can be directly installed on a common tripod as an accessory, solves the problem of quick high-precision automatic leveling of the tripod, and is convenient to use and high in adaptability. The leveling auxiliary device adopts a spherical hinge and a hinge to connect moving parts, so that the transmission of the system is more accurate and flexible. The double-shaft tilt angle sensor measures the included angle between the workbench and the horizontal plane in real time, and forms a closed loop system together with the electric actuating mechanism, so that the real-time performance and the reliability of the leveling action are ensured. The whole leveling process does not need manual intervention, and the leveling efficiency and the automation degree are improved.
Drawings
Fig. 1A and 1B are schematic structural views of an auxiliary device for automatic leveling of a tripod provided in an embodiment of the present invention;
FIG. 2 is a schematic diagram of an adjusting leg structure of an auxiliary device for automatic leveling of a tripod provided in an embodiment of the present invention;
fig. 3 is a structural view of a fixed leg of an auxiliary device for automatic leveling of a tripod provided in an embodiment of the present invention.
In the figure: 1, a bottom plate; 2 a first adjusting leg; 3, a workbench; 4 a second adjusting leg; 5 fixing the supporting legs; 6 a dual-axis tilt sensor; 7 a first hinge; 8 electric cylinders; 9 a first spherical hinge; 10 a second hinge; 11 fixing the leg body; 12 second spherical hinge.
Detailed Description
The following further describes a specific embodiment of the present invention with reference to the drawings and technical solutions.
It is to be understood that the appended drawings are not to scale, but are merely drawn with appropriate simplifications to illustrate various features of the basic principles of the invention. Specific design features of the invention disclosed herein, including, for example, specific dimensions, orientations, locations, and configurations, will be determined in part by the particular intended application and use environment.
In the several figures of the drawings, identical or equivalent components (elements) are referenced with the same reference numerals.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Fig. 1A and 1B are schematic structural views of an auxiliary device for automatic leveling of a tripod provided in an embodiment of the present invention. As shown in fig. 1A and 1B, the auxiliary device for automatic leveling of a tripod can be directly mounted on the tripod as an accessory, and the bottom surface of the auxiliary device bottom plate 1 is overlapped with the working surface of the tripod when the auxiliary device is mounted. The workbench 3 of the auxiliary device is used as a new working surface of an automatic leveling tripod and is used for installing instruments and equipment needing to be supported by the tripod, such as a camera, a total station and the like.
Referring to fig. 1A and 1B, in the present embodiment, an auxiliary device for tripod auto-leveling includes a base plate 1, a first adjusting leg 2, a table 3, a second adjusting leg 4, a fixed leg 5, and a two-axis tilt sensor 6. A auxiliary device for tripod automatic leveling is including adopting first regulation landing leg 2, the three-leg structure of landing leg 4 and fixed landing leg 5 is adjusted to the second, bottom plate 1 and workstation 3 are installed at the both ends of each landing leg through coupling mechanism respectively, the lower surface of workstation 3 is provided with biax angular transducer 6, the x axle of biax angular transducer 6 and two perpendicular bisectors that adjust the landing leg installation center coincide on workstation 3, this biax angular transducer 6 is used for the levelness of real-time measurement workstation 3, provide the motion feedback of first regulation landing leg 2 and second regulation landing leg 4, workstation 3 realizes tripod automatic leveling under the collaborative work of biax angular transducer 6 and each landing leg. In the leveling process, the length of the fixed supporting leg 5 is kept unchanged, and the first adjusting supporting leg 2 and the second adjusting supporting leg 4 telescopically adjust the angle of the workbench 3 through respective electric cylinders 8. Specifically, the workbench 3 is driven to rotate by the extension and contraction of the electric cylinder 8.
Fig. 2 is a schematic structural diagram of an adjusting leg of an auxiliary device for automatic leveling of a tripod provided in an embodiment of the present invention, referring to fig. 2, in the embodiment, a first adjusting leg 2 and a second adjusting leg 4 are identical in structure and each comprise a first hinge 7, an electric cylinder 8 and a first spherical hinge 9; the electric cylinder 8 is used as a driving component, the top end of the electric cylinder 8 is connected with the workbench 3 through a first spherical hinge 9, and the bottom end of the electric cylinder 8 is connected with the bottom plate 1 through a first hinge 7.
Fig. 3 is a structural view of a fixed leg of an auxiliary device for automatic leveling of a tripod provided in an embodiment of the present invention. Referring to fig. 3, in the present embodiment, the fixed leg 5 includes a second hinge 10, a fixed leg body 11, and a second ball joint 12; the fixed landing leg main part 11 of fixed landing leg 5 is cylindrical section bar, and the top of fixed landing leg main part 11 is connected with workstation 3 through second ball pivot 12, and the bottom of fixed landing leg main part 11 is connected with bottom plate 1 through second hinge 10.
When in use, the auxiliary device for automatically leveling the tripod is directly installed on the tripod as an accessory, and the bottom surface of the leveling bottom plate 1 is superposed with the working table surface of the tripod when in installation; the workbench 3 serves as a new working surface of the automatic leveling tripod and is used for installing instruments and equipment needing to be supported by the tripod, such as a camera, a total station and the like. Specifically, the leveling comprises the following steps:
step 1: the data of the double-shaft tilt angle sensor 6 is collected by the singlechip, the extension and retraction of the two adjusting supporting legs are controlled according to the data, and the angle of the workbench 3 is adjusted to ensure that the x-axis reading of the double-shaft tilt angle sensor 6 is smaller than a given threshold epsilonx；
Step 2: the single chip microcomputer collects y-axis data of the double-axis tilt sensor 6, and controls the extension and retraction of any one motion adjusting supporting leg according to the y-axis data so that the y-axis reading of the double-axis tilt sensor 6 is smaller than a given threshold epsilony；
And step 3: repeating steps 1) and 2) until the readings of the x-axis and the y-axis of the dual-axis tilt sensor 6 respectively satisfy ex＜εx、ey＜εyWherein e isx、eyThe horizontal errors in the x-axis and y-axis directions measured by the biaxial tilt sensor 6 are respectively.
The above description of exemplary embodiments has been presented only to illustrate the technical solution of the invention and is not intended to be exhaustive or to limit the invention to the precise form described. Obviously, many modifications and variations are possible in light of the above teaching to those skilled in the art. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to thereby enable others skilled in the art to understand, implement and utilize the invention in various exemplary embodiments and with various alternatives and modifications. It is intended that the scope of the invention be defined by the following claims and their equivalents.
Claims (2)
1. An auxiliary device for automatic leveling of a tripod is characterized by comprising a base plate (1), a first adjusting supporting leg (2), a workbench (3), a second adjusting supporting leg (4), a fixed supporting leg (5) and a double-shaft tilt sensor (6); the automatic tripod leveling device is characterized in that the base plate (1) and the workbench (3) are respectively installed at two ends of each supporting leg through a connecting mechanism, a double-shaft tilt sensor (6) is arranged on the lower surface of the workbench (3), the x axis of the double-shaft tilt sensor (6) is superposed with the perpendicular bisector of the installation center of the two adjusting supporting legs on the workbench (3), the double-shaft tilt sensor (6) is used for measuring the levelness of the workbench (3) in real time and providing motion feedback of the first adjusting supporting leg (2) and the second adjusting supporting leg (4), and the workbench (3) realizes automatic tripod leveling under the cooperative work of the double-shaft tilt sensor (6) and each supporting leg;
the first adjusting supporting leg (2) and the second adjusting supporting leg (4) have the same structure and respectively comprise a first hinge (7), an electric cylinder (8) and a first spherical hinge (9); the electric cylinder (8) is used as a driving part, the top end of the electric cylinder (8) is connected with the workbench (3) through a first spherical hinge (9), and the bottom end of the electric cylinder (8) is connected with the bottom plate (1) through a first hinge (7);
the fixed leg (5) comprises a second hinge (10), a fixed leg main body (11) and a second spherical hinge (12); a fixed supporting leg main body (11) of the fixed supporting leg (5) is a cylindrical section, the top end of the fixed supporting leg main body (11) is connected with the workbench (3) through a second spherical hinge (12), and the bottom end of the fixed supporting leg main body (11) is connected with the bottom plate (1) through a second hinge (10);
when in use, the auxiliary device for automatically leveling the tripod is directly installed on the tripod as an accessory, and the bottom surface of the leveling bottom plate (1) is superposed with the working table surface of the tripod when in installation; the workbench (3) is used as a new working surface of the automatic leveling tripod and is used for installing cameras, total stations and other instruments needing to be supported by the tripod.
2. An auxiliary device for automatic leveling of a tripod according to claim 1, wherein leveling with the auxiliary device for automatic leveling of a tripod comprises the following steps:
step 1: the data of the double-shaft tilt angle sensor (6) is collected by the singlechip, the extension of the two adjusting supporting legs is controlled according to the data, and the angle of the workbench (3) is adjusted to ensure that the reading of the x-axis of the double-shaft tilt angle sensor (6) is smaller than a given threshold epsilonx；
Step 2: the y-axis data of the double-axis tilt sensor (6) acquired by the single chip microcomputer controls the extension and retraction of any one motion adjusting supporting leg according to the y-axis data, so that the y-axis reading of the double-axis tilt sensor (6) is smaller than a given threshold epsilony；
And step 3: repeating the steps 1) and 2) until the readings of the x-axis and the y-axis of the double-axis tilt angle sensor (6) respectively satisfy ex<εx、ey<εyWherein e isx、eyThe levelness errors in the x-axis direction and the y-axis direction are respectively measured by the double-axis tilt angle sensor (6).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010179627.3A CN111207727A (en) | 2020-03-16 | 2020-03-16 | Auxiliary device for automatic leveling of tripod |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010179627.3A CN111207727A (en) | 2020-03-16 | 2020-03-16 | Auxiliary device for automatic leveling of tripod |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113483225A (en) * | 2021-07-20 | 2021-10-08 | 江苏亨通光电股份有限公司 | Automatic horizontal adjusting device and tripod |
| DE102020006290A1 (en) | 2020-10-13 | 2022-04-14 | Leo Bobenstetter | Adapter for a support member of a surveying instrument and method |
| CN114485585A (en) * | 2022-01-05 | 2022-05-13 | 中国煤炭科工集团太原研究院有限公司 | Total station leveling device and total station leveling method |
| CN114700989A (en) * | 2022-04-24 | 2022-07-05 | 安吉八塔机器人有限公司 | Automatic leveling device for plane camera and control method thereof |
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| CN208221928U (en) * | 2018-03-05 | 2018-12-11 | 王黎明 | One kind can self-leveling mapping tripod |
| CN110185902A (en) * | 2019-07-02 | 2019-08-30 | 中国科学院青岛生物能源与过程研究所 | Three axis levelling devices of one kind and its application |
| CN210034927U (en) * | 2019-01-16 | 2020-02-07 | 沈阳飞机工业（集团）有限公司 | Automatic leveling device for electric supporting leg |
| CN211668492U (en) * | 2020-03-16 | 2020-10-13 | 沈阳飞机工业（集团）有限公司 | Auxiliary device for automatic leveling of tripod |
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2020
- 2020-03-16 CN CN202010179627.3A patent/CN111207727A/en active Pending
Patent Citations (5)
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| CN207408311U (en) * | 2017-11-27 | 2018-05-25 | 吴江萍 | A kind of multi-functional accurate highway detection device |
| CN208221928U (en) * | 2018-03-05 | 2018-12-11 | 王黎明 | One kind can self-leveling mapping tripod |
| CN210034927U (en) * | 2019-01-16 | 2020-02-07 | 沈阳飞机工业（集团）有限公司 | Automatic leveling device for electric supporting leg |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102020006290A1 (en) | 2020-10-13 | 2022-04-14 | Leo Bobenstetter | Adapter for a support member of a surveying instrument and method |
| CN113483225A (en) * | 2021-07-20 | 2021-10-08 | 江苏亨通光电股份有限公司 | Automatic horizontal adjusting device and tripod |
| CN114485585A (en) * | 2022-01-05 | 2022-05-13 | 中国煤炭科工集团太原研究院有限公司 | Total station leveling device and total station leveling method |
| CN114700989A (en) * | 2022-04-24 | 2022-07-05 | 安吉八塔机器人有限公司 | Automatic leveling device for plane camera and control method thereof |
| CN114700989B (en) * | 2022-04-24 | 2024-08-27 | 安吉八塔机器人有限公司 | Automatic leveling device for plane camera and control method thereof |
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