An automatic leveling and plumbing system

Abstract

The invention relates to the technical field of instrument calibration, and in particular to an automatic leveling and plumbing system. The system comprises: a laser emitting module, a laser receiving module, an emission verification module, an abnormality analysis module, a plumbing correction module and a result output module. The laser emitting module emits laser, the laser receiving module obtains light spot information, the emission verification module controls the laser emission quantity and parameters, the abnormality analysis module determines the clarity and stability of the laser emission, and judges whether it meets the plumbing detection conditions. The plumbing correction module judges whether to perform laser verification according to the analysis result, and issues a control instruction to the emission verification module. The result output module outputs the plumbing detection result, and judges whether it meets the plumbing requirement. The invention improves the automation level and measurement accuracy of plumbing detection, reduces human errors, and enhances the stability and reliability of the system.

Description

Technical Field

[0001] The invention relates to the technical field of instrument calibration, and in particular to an automatic leveling and plumbing system. Background Art

[0002] A plumb line is a precision instrument used to measure the verticality of an object. It is widely used in fields such as construction, civil engineering, and machinery manufacturing. Existing technologies mainly include two types: optical plumb lines and laser plumb lines. The optical plumb line uses an optical lens system to determine the vertical state by observing the intersection, while the laser plumb line emits a laser beam and monitors the position of the light spot in real time to provide high-precision verticality measurement. In recent years, with the development of laser technology and sensor technology, the laser plumb line has significantly improved in measurement accuracy and automation, and can achieve faster and more reliable measurement results.

[0003] Chinese patent publication number: CN110657823A, discloses an indoor image-based plumb line calibration device, including an image processing system and a working base, a working platform is provided on the working base, a supporting frame is provided on the working platform, a two-dimensional tilting platform for carrying the plumb line to be calibrated is fixed on the supporting frame, a supporting arm integrally formed with the base is provided next to the working platform, a collimator arranged in the vertical direction is fixedly connected to the supporting arm, the objective end of the collimator is downwardly aligned with the upward plumb line position emitted by the plumb line to be calibrated, a first image capturing device is installed on the collimator, the first image capturing device is used to capture the graticule of the collimator and the image on the graticule, and the first image capturing device is connected to the image processing system signal; it can be seen that the indoor image-based plumb line calibration device has the following problems: it is impossible to eliminate the error of the laser emission part of the plumb line itself, resulting in inaccurate calibration results, affecting the detection accuracy of the plumb line. Summary of the invention

[0004] To this end, the present invention provides an automatic leveling and plumbing system to overcome the problem in the prior art that the error of the laser emission part of the plumb line instrument itself cannot be eliminated, resulting in inaccurate calibration results and affecting the detection accuracy of the plumb line instrument.

[0005] To achieve the above object, the present invention provides an automatic leveling and plumbing system, comprising:

[0006] A laser emission module is arranged on the top of the target to be measured and is used to emit a number of parallel lasers downward;

[0007] A laser receiving module, which is arranged vertically below the laser emitting module and is used to obtain laser spot information, wherein the laser spot information includes spot parameters and laser spot coordinates;

[0008] An emission verification module, which is connected to the laser emission module and is used to control the number of laser emissions of the laser emission module and the emission parameters of each laser;

[0009] an abnormality analysis module, which is connected to the emission verification module and the laser receiving module respectively, and is used to determine the emission clarity state and emission stability state of the laser according to the spot information of the laser, and to determine whether the vertical alignment detection condition is met according to the determined emission stability state, the emission parameters of each laser and the corresponding spot information, wherein the emission clarity state includes a spot clarity state and a spot blur state, and the emission stability state includes a laser stability state and a laser oscillation state;

[0010] A vertical alignment correction module, which is connected to the laser receiving module, the emission verification module and the abnormality analysis module respectively, and is used to determine whether to perform laser verification according to the emission clear state and the emission stable state, and to issue a control instruction to the emission verification module according to the determination result of the laser verification;

[0011] A result output module, which is connected to the laser receiving module and is used to obtain the vertical alignment detection result of the target to be measured according to the laser coordinates, and to determine whether the target to be measured meets the vertical alignment requirements;

[0012] Wherein, the abnormal analysis module calculates the uniform characterization parameters of the light spots of each ring according to the brightness values ​​of several brightness detection points selected on each ring light spot. If the uniform characterization parameters of the light spots of each ring are all within the interval [0.05, 0.1], and the average brightness difference of the light spots of each ring is greater than the standard deviation, the emission clarity state is determined to be the light spot clarity state; if there is at least one ring of light spot uniform characterization parameters that is not within the interval [0.05, 0.1], or there is at least one ring of light spots whose average brightness difference is less than or equal to the standard deviation, the emission clarity state is determined to be the light spot blur state;

[0013] The abnormal analysis module determines the emission stable state of the current laser according to the single laser spot coordinates and the spot edge shape. If the single laser spot coordinates and the spot edge shape both meet the corresponding laser stability conditions, the emission stable state of the current laser is the laser stable state; if the single laser spot coordinates do not meet the corresponding laser stability conditions, or the spot edge shape does not meet the corresponding laser stability conditions, the emission stable state of the current laser is the laser oscillation state; the laser stability condition of the spot edge shape is determined according to the relative position of each positioning point and the spot edge, and the laser stability condition of the laser spot coordinates is determined according to the coordinate change of each positioning point and the spot center.

[0014] Furthermore, the laser emission module comprises:

[0015] A laser transmitter, which is used to emit a plurality of parallel lasers;

[0016] A laser corrector is arranged below the laser emitter and is used for vertically correcting the laser.

[0017] Furthermore, the laser receiving module comprises:

[0018] A light spot receiving unit, used for receiving the laser emitted by the laser emitting module;

[0019] A light spot acquisition unit, connected to the light spot receiving unit, for acquiring light spot parameters of the light spot receiving unit;

[0020] A light spot recognition unit, connected to the light spot acquisition unit, for acquiring the light spot parameters and analyzing them to obtain the laser spot coordinates;

[0021] The light spot parameters include the light spot center position, the light spot edge shape, the distance between the light spot edge and the light spot center, and the light spot brightness, and the laser light spot coordinates include the light spot center coordinates and the light spot edge coordinates.

[0022] Furthermore, the light spot uniformity characterization parameter is equal to the ratio of the average deviation of the brightness of the brightness detection points of the corresponding ring to the average brightness of the brightness detection points.

[0023] Furthermore, the laser stability condition for the spot edge shape is that each positioning point is located at the spot edge, and the laser stability condition for the laser spot coordinates is that the coordinate changes of each positioning point and the spot center are less than 0.0001.

[0024] Further, the vertical alignment correction module performs laser calibration according to the abnormality analysis module determining that the current laser emission clear state is a spot clear state and the emission stable state is a laser stable state.

[0025] Furthermore, the vertical alignment correction module sends control instructions to the emission verification module, including medium verification instructions and vertical verification instructions.

[0026] The medium verification instruction is for the vertical alignment correction module to control the emission verification module to adjust the number of laser emissions and the emission parameters of each emitted laser;

[0027] The vertical verification instruction is for the vertical correction module to control the emission verification module to keep the number of laser emissions unchanged and adjust the emission parameters of each laser;

[0028] The emission parameters include laser type, laser emission interval and laser emission angle.

[0029] Further, the abnormality analysis module determines whether the vertical verification instruction can be executed according to the emission parameters of the medium verification instruction and the corresponding light spot information;

[0030] If the actual interval between the light spots obtained by the center coordinates of the light spots of the lasers is equal to the laser emission interval, the abnormality analysis module determines to perform the vertical verification instruction.

[0031] Further, the abnormal analysis module determines whether the vertical alignment detection condition is met according to the emission parameters of the vertical verification instruction and the corresponding light spot information;

[0032] If the center coordinates of the light spots do not change, the abnormality analysis module determines that the vertical detection condition is met.

[0033] Furthermore, the vertical alignment correction module obtains a vertical alignment detection result of the target to be measured according to the center of the light spot receiving unit and the light spot center coordinates.

[0034] Compared with the prior art, the beneficial effect of the present invention is that the present invention adopts a liquid double wedge compensator to ensure the vertical correction of the laser, uses a ring-shaped laser spot to improve the positioning accuracy, and maintains the stability of the spot shape in a complex environment. By analyzing parameters such as the spot brightness, center position, and edge shape, the system can automatically determine the clear state and stable state of the laser emission, and execute medium verification and vertical verification instructions accordingly to ensure the precise adjustment of the laser emission module. Finally, the system can accurately calculate the vertical alignment detection results of the target to be measured based on the spot coordinates, and determine whether it meets the vertical alignment requirements. The present invention improves the automation level and measurement accuracy of vertical alignment detection, reduces human errors, and enhances the stability and reliability of the system.

[0035] Furthermore, in the present invention, the liquid double wedge compensator is located below the laser transmitter, and is used to vertically correct the emitted laser to ensure that the laser line is perpendicular to the liquid horizontal surface, thereby realizing accurate simulation of the gravity plumb line. The compensator uses two layers of liquid with different refractive indices to be poured into a circular transparent container. After the laser beam passes perpendicularly to the liquid surface, the laser will be emitted perpendicular to the liquid horizontal surface, which significantly improves the accuracy of the vertical detection.

[0036] Furthermore, in the present invention, the light spot receiving unit serves as a recognition camera, and the digital receiving target formed by the light spot acquisition unit and the light spot recognition unit not only has a larger target surface receiving area, but also the built-in program can automatically identify the center position and edge shape of the light spot ring grating, thereby accurately obtaining the center coordinates and edge coordinates of the light spot, which significantly improves the recognition accuracy.

[0037] Furthermore, in the present invention, the abnormal analysis module realizes accurate determination of the stable state of laser emission by monitoring the coordinates of the laser spot and the edge shape of the spot. By selecting multiple edge points of the spot as positioning points and setting strict stability conditions, the stable or oscillating state of the laser can be effectively identified, which not only improves the real-time monitoring capability of the laser emission stability, but also can respond quickly when the position changes, and timely detect abnormal conditions such as system vibration, thereby ensuring the high stability and reliability of the laser emission process.

[0038] Furthermore, in the present invention, the vertical alignment correction module ensures the accuracy and consistency of laser emission by issuing medium verification instructions and vertical verification instructions. First, the medium verification instruction adjusts the number and parameters of laser emission to verify the uniformity of the medium in the laser corrector, laying the foundation for subsequent vertical verification instructions. The vertical verification instruction keeps the number of laser emissions unchanged on the premise of confirming that the medium is uniform, and further adjusts the laser emission parameters to determine whether the installation error of the laser emission module is within the system's automatic correction capability. This step-by-step verification process effectively avoids the refractive index deviation caused by medium unevenness, ensures that the corrected laser meets the expected angle, thereby realizing a high-precision laser automatic correction function and improving the reliability and stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic diagram of the structure of an automatic leveling and plumbing system according to an embodiment of the present invention;

[0040] Figure 2 Schematic diagram of laser correction of the laser emission module according to an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of the structure of a laser receiving module according to an embodiment of the present invention;

[0042] Figure 4 This is a front view of a laser receiving module according to an embodiment of the present invention;

[0043] Figure 5 The ring-shaped laser spot diagram received by the laser receiving module of the embodiment of the present invention;

[0044] In the figure: 1, light spot acquisition unit; 2, light spot receiving unit; 3, housing; 4, fixture; 5, light spot recognition unit. DETAILED DESCRIPTION

[0045] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0046] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0047] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0048] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] See also Figure 1 As shown, it is a schematic diagram of the structure of an automatic leveling and plumbing system according to an embodiment of the present invention; the present invention provides an automatic leveling and plumbing system, comprising:

[0050] A laser emission module is arranged on the top of the target to be measured and is used to emit a number of parallel lasers downward;

[0051] A laser receiving module, which is arranged vertically below the laser emitting module and is used to obtain laser spot information, wherein the laser spot information includes spot parameters and laser spot coordinates;

[0052] An emission verification module, which is connected to the laser emission module and is used to control the number of laser emissions of the laser emission module and the emission parameters of each laser;

[0053] an abnormality analysis module, which is connected to the emission verification module and the laser receiving module respectively, and is used to determine the emission clarity state and emission stability state of the laser according to the spot information of the laser, and to determine whether the vertical alignment detection condition is met according to the determined emission stability state, the emission parameters of each laser and the corresponding spot information, wherein the emission clarity state includes a spot clarity state and a spot blur state, and the emission stability state includes a laser stability state and a laser oscillation state;

[0054] A vertical alignment correction module, which is connected to the laser receiving module, the emission verification module and the abnormality analysis module respectively, and is used to determine whether to perform laser verification according to the emission clear state and the emission stable state, and to issue a control instruction to the emission verification module according to the determination result of the laser verification;

[0055] The result output module is connected to the laser receiving module and is used to obtain the vertical alignment detection result of the target to be measured according to the laser coordinates and to determine whether the target to be measured meets the vertical alignment requirements.

[0056] The present invention adopts a liquid double wedge compensator to ensure the vertical correction of the laser, uses a ring-shaped laser spot to improve the positioning accuracy, and maintains the stability of the spot shape in complex environments. By analyzing parameters such as the spot brightness, center position, and edge shape, the system can automatically determine the clear state and stable state of the laser emission, and execute medium verification and vertical verification instructions accordingly to ensure the precise adjustment of the laser emission module. Finally, the system can accurately calculate the vertical alignment detection results of the target to be measured based on the spot coordinates, and determine whether it meets the vertical alignment requirements. The present invention improves the automation level and measurement accuracy of vertical alignment detection, reduces human errors, and enhances the stability and reliability of the system.

[0057] See also Figure 2 As shown, it is a schematic diagram of laser correction of a laser emitting module according to an embodiment of the present invention, and the laser emitting module includes:

[0058] A laser transmitter, which is used to emit a plurality of parallel lasers;

[0059] A laser corrector is arranged below the laser emitter and is used for vertically correcting the laser.

[0060] In practice, the laser corrector is a liquid double wedge compensator, which uses two layers of liquid with different refractive indices to be poured into a circular transparent container. After the laser beam passes perpendicularly to the liquid surface, the laser will be emitted perpendicular to the liquid horizontal plane. The emitted laser line is perpendicular to the liquid horizontal plane, which is the gravity plumb line. The compensation range of the liquid double wedge compensator is 0~15', that is, if the incident light is deflected within 15' relative to the actual gravity plumb line, the outgoing light can be compensated to the vertical liquid horizontal plane, which is equal to the gravity plumb line. The compensation error can reach 0.05" / 1'.

[0061] When the target is being vertically detected, the laser falls on the end to form a grating laser spot. The grating laser spot is conducive to improving positioning accuracy. Under complex environmental conditions, such as light interference, the grating laser spot can better resist these interference factors due to its unique structure, thereby maintaining the stability of the spot shape and ensuring the accuracy of the measurement.

[0062] In the present invention, the liquid double wedge compensator is located below the laser transmitter and is used to vertically correct the emitted laser to ensure that the laser line is perpendicular to the liquid horizontal surface, thereby realizing accurate simulation of the gravity plumb line. The compensator uses two layers of liquid with different refractive indices to be poured into a circular transparent container. After the laser beam passes perpendicularly to the liquid surface, the laser will be emitted perpendicular to the liquid horizontal surface, which significantly improves the accuracy of the vertical detection.

[0063] See also Figure 3 , Figure 4 and Figure 5 As shown, Figure 3 is a schematic structural diagram of a laser receiving module according to an embodiment of the present invention, Figure 4 This is a front view of a laser receiving module according to an embodiment of the present invention. Figure 5 The ring-shaped laser spot pattern received by the laser receiving module of the embodiment of the present invention, the laser receiving module comprises:

[0064] A light spot receiving unit 2, which is used to receive the laser emitted by the laser emitting module;

[0065] A light spot acquisition unit 1, which is connected to the light spot receiving unit 2 and is used to acquire the light spot parameters of the light spot receiving unit 2;

[0066] A light spot recognition unit 5, which is connected to the light spot acquisition unit 1, and is used to acquire the light spot parameters and analyze them to obtain the laser spot coordinates;

[0067] The light spot parameters include the light spot center position, the light spot edge shape, the distance between the light spot edge and the light spot center, and the light spot brightness, and the laser light spot coordinates include the light spot center coordinates and the light spot edge coordinates.

[0068] In implementation, the spot acquisition unit 1 is a recognition camera, the spot receiving unit 2 is a receiving mirror, the spot recognition unit 5 is arranged inside the spot acquisition unit 1, which is a circuit board with an embedded program, and the laser receiving module also includes a shell 3 and a clamp 4. The spot receiving unit 2 is arranged on the surface of the shell 3, the spot acquisition unit 1 and the spot recognition unit 5 are arranged inside the shell 3, and the clamp 4 is arranged on the side of the shell 3 to fix the shell 3 and its internal units.

[0069] The light spot receiving unit 2 is a laser receiving target, which is combined with the light spot acquisition unit 1 and the light spot recognition unit 5 to form a digital receiving target. The target surface receiving area is larger. When reading, the program in the receiving target automatically identifies the center position and edge shape of the light spot ring grating and obtains the corresponding coordinates and distance.

[0070] It is understandable that the use of a homemade digital receiving target has a larger target surface receiving area, and the built-in program can automatically identify the center of the light spot ring grating. The recognition accuracy of the digital receiving target is much higher than that of manual readings, and it can achieve accurate measurement of the center of the light spot.

[0071] The accuracy of the spot coordinates is four decimal places.

[0072] In the present invention, the light spot receiving unit is used as a recognition camera, and the digital receiving target formed by combining the light spot acquisition unit and the light spot recognition unit not only has a larger target surface receiving area, but also the built-in program can automatically identify the center position and edge shape of the light spot ring grating, thereby accurately obtaining the center coordinates and edge coordinates of the light spot, which significantly improves the recognition accuracy.

[0073] Specifically, the abnormal analysis module determines the emission clarity state of the current laser according to the light spot brightness, and the emission clarity state includes a light spot clarity state and a light spot blur state.

[0074] In implementation, the abnormal analysis module selects several brightness detection points on each ring light spot and calculates the light spot uniformity characterization parameters of each ring. If the light spot uniformity characterization parameters of each ring are within the interval [0.05, 0.1], and the average brightness difference of each ring light spot is greater than the standard deviation, the emission clarity state is determined to be the light spot clear state. On the contrary, if there is at least one ring of light spot uniformity characterization parameters that are not within the interval [0.05, 0.1], or there is at least one ring of light spot whose average brightness difference is less than or equal to the standard deviation, the emission clarity state is determined to be the light spot blurred state.

[0075] The spot uniformity characterization parameter is equal to the ratio of the average deviation of the brightness of the brightness detection point of the corresponding ring to the average brightness of the brightness detection point. The standard deviation of the brightness difference of each ring spot is determined based on the brightness difference of the same ring-shaped grating laser spot that meets the vertical detection conditions in the historical data.

[0076] It is understandable that if the brightness distribution of each ring spot is uneven, or the brightness similarity of each ring spot is high, it may be due to the uneven surface of the laser emission or the uneven surface of the laser corrector used to pass the laser, which will cause the laser to fail to form an obvious ring-shaped spot, affecting the accuracy of the degree.

[0077] Specifically, the abnormal analysis module determines the emission stable state of the current laser according to the single laser spot coordinate and the spot edge shape;

[0078] If the single laser spot coordinate and the spot edge shape both meet the corresponding laser stability conditions, the emission stability state of the current laser is the laser stability state;

[0079] If the coordinates of a single laser spot do not meet the corresponding laser stability conditions, or the edge shape of the spot does not meet the corresponding laser stability conditions, the emission stability state of the current laser is a laser oscillation state;

[0080] The laser stabilization condition of the spot edge shape is determined according to the relative position of each positioning point and the spot edge, and the laser stabilization condition of the laser spot coordinate is determined according to the coordinate change of each positioning point and the spot center.

[0081] In the implementation, several edge points of the light spot are selected as positioning points, the number of positioning points is not less than 2, preferably 4, and each positioning point is equidistantly arranged on the edge of the light spot with the center of the light spot as the origin. As a better implementation method, the laser stability condition of the edge shape of the light spot is that each positioning point is located at the edge of the light spot, and the laser stability condition of the laser spot coordinate is that the coordinate change of each positioning point and the center of the light spot is less than 0.0001;

[0082] If there is a positioning point that does not fall on the edge of the light spot, that is, the outermost circle of the grating, it is directly determined that the current laser emission stable state is an unstable emission state (that is, laser oscillation state);

[0083] The coordinates of the center of the light spot, the edge of the light spot and the coordinates of each positioning point are continuously obtained. If the change of each coordinate does not exceed 0.0001 of the coordinate value, the current laser emission stability state is determined to be a laser stable state. If the coordinate change of any point is greater than 0.0001, the current laser emission stability state is determined to be an unstable emission state (i.e., a laser oscillation state).

[0084] It can be understood that if there is an obvious position change at any point, it can be determined that the current laser emission state is unstable. For example, if the position or shape of the center point changes, it can be determined that there is vibration at the laser transmitter, causing the received laser to be in an unstable state (i.e., laser oscillation state).

[0085] In the present invention, the abnormal analysis module realizes accurate determination of the stable state of laser emission by monitoring the coordinates of the laser spot and the edge shape of the spot. By selecting multiple edge points of the spot as positioning points and setting strict stability conditions, the stable or oscillating state of the laser can be effectively identified, which not only improves the real-time monitoring capability of the laser emission stability, but also can respond quickly when the position changes, and timely detect abnormal conditions such as system vibration, ensuring the high stability and reliability of the laser emission process.

[0086] Specifically, the vertical alignment correction module performs laser calibration according to the abnormality analysis module determining that the current laser emission clear state is a spot clear state and the emission stable state is a laser stable state.

[0087] It is understandable that if the laser is in an oscillating state, no matter what adjustments are made at this time, the plumb system cannot meet the conditions for plumb detection. Therefore, only when the laser is in a stable state, subsequent laser calibration analysis can be performed, that is, when the control instruction of laser calibration is executed, the stable state of laser emission is the laser stable state.

[0088] Specifically, the vertical alignment correction module sends control instructions to the emission verification module, including medium verification instructions and vertical verification instructions.

[0089] The medium verification instruction is for the vertical alignment correction module to control the emission verification module to adjust the number of laser emissions and the emission parameters of each emitted laser;

[0090] The vertical verification instruction is for the vertical correction module to control the emission verification module to keep the number of laser emissions unchanged and adjust the emission parameters of each laser;

[0091] The emission parameters include laser type, laser emission interval and laser emission angle.

[0092] In implementation, the laser types include end point lasers and end ring-shaped lasers. When the vertical alignment system starts to calibrate, the laser emission module emits a single end ring-shaped laser. After determining the emission state of the laser, the vertical alignment correction module controls the emission calibration module to switch the emitted laser to the end point laser.

[0093] It can be understood that the system first executes the medium verification instruction and then executes the vertical verification instruction. The verification result of the medium verification instruction meets the requirements and is the basis for the subsequent execution of the vertical verification instruction. Only when the medium in the laser corrector is ensured to be uniform can it be guaranteed that the laser corrected by the corrector is in line with the expected laser. On the contrary, if the medium in the laser corrector is not uniform, the refractive index will be different from the expected one, that is, the angle of the laser emitted and corrected by the laser corrector will deviate from the expected angle, thereby failing to realize the function of automatic laser correction.

[0094] In the present invention, the vertical calibration module ensures the accuracy and consistency of laser emission by issuing medium calibration instructions and vertical calibration instructions. First, the medium calibration instruction adjusts the number and parameters of laser emission to verify the uniformity of the medium in the laser corrector, laying the foundation for subsequent vertical calibration instructions. The vertical calibration instruction keeps the number of laser emissions unchanged on the premise of confirming that the medium is uniform, and further adjusts the laser emission parameters to determine whether the installation error of the laser emission module is within the system's automatic correction capability. This step-by-step calibration process effectively avoids the refractive index deviation caused by medium unevenness, ensures that the corrected laser meets the expected angle, thereby realizing a high-precision laser automatic correction function and improving the reliability and stability of the system.

[0095] Specifically, the abnormality analysis module determines whether the vertical verification instruction can be executed according to the emission parameters of the medium verification instruction and the corresponding light spot information;

[0096] If the actual interval between the light spots obtained by the center coordinates of the light spots of the lasers is equal to the laser emission interval, the abnormality analysis module determines to perform the vertical verification instruction.

[0097] In implementation, when executing the medium verification instruction, the number of laser emissions is increased to no less than 3, preferably 4, and the added lasers are evenly and equidistantly distributed on the edge of the original laser, and the laser type is all end point lasers. The laser receiving module can automatically identify the spot center of the point laser.

[0098] When executing the vertical calibration command, the laser emission parameter adjusted is the laser emission angle. With the center of the laser emitter as the axis, the laser emission angle is adjusted within the range of -15' to 15'.

[0099] Specifically, the abnormal analysis module determines whether the vertical alignment detection condition is met according to the emission parameters of the vertical verification instruction and the corresponding light spot information;

[0100] If the center coordinates of the light spots do not change, the abnormality analysis module determines that the vertical detection condition is met.

[0101] It can be understood that the compensation range of the liquid double wedge compensator is 0 to 15', that is, when the incident light is deflected within 15' relative to the actual gravity plumb line, the outgoing light can be compensated to the vertical liquid horizontal plane, which is equal to the gravity plumb line. Therefore, when the center coordinates of the light spot do not change, it can be determined that the installation error of the system's laser emission module is within the allowable range and will not affect the actual vertical detection result of the target to be measured.

[0102] Specifically, the vertical alignment correction module obtains the vertical alignment detection result of the target to be measured according to the center of the light spot receiving unit and the light spot center coordinates.

[0103] In implementation, the unit of the vertical detection result is angle unit, and the vertical detection result is arctan(l / l0), where l is the offset distance and l0 is the reference distance. The offset distance is determined based on the center of the light spot receiving unit and the coordinates of the light spot center. The reference distance is the vertical height of the laser emission point from the plane where the center of the light spot receiving unit is located.

[0104] According to the "JGJ / T408-2017 Construction Measurement Standard", the standard angle deviation value of the target to be measured is determined. If the vertical alignment test result of the target to be measured is greater than the corresponding standard angle deviation value, it is judged that it does not meet the vertical alignment requirements.

[0105] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0106] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic leveling and plumbing system, characterized in that: include: A laser emission module is arranged on the top of the target to be measured, and is used to emit a number of parallel lasers downward, wherein, at the beginning of the calibration, the laser emission module emits a single end ring-shaped laser, and after determining the emission state of the laser, the laser emitted is switched to an end point laser; the laser emission module includes a laser corrector, which is arranged below the laser emitter, and is used to perform vertical correction on the laser; A laser receiving module, which is arranged vertically below the laser emitting module and is used to obtain laser spot information, wherein the laser spot information includes spot parameters and laser spot coordinates; An emission verification module, which is connected to the laser emission module and is used to control the number of laser emissions of the laser emission module and the emission parameters of each laser; an abnormality analysis module, which is connected to the emission verification module and the laser receiving module respectively, and is used to determine the emission clarity state and emission stability state of the laser according to the spot information of the ring-shaped laser spot of the laser, and to determine whether the vertical alignment detection condition is met according to the determined emission stability state, the emission parameters of each laser and the corresponding spot information, wherein the emission clarity state includes a spot clarity state and a spot blur state, and the emission stability state includes a laser stability state and a laser oscillation state; A vertical alignment correction module, which is respectively connected to the laser receiving module, the emission verification module and the abnormality analysis module, and is used to determine whether to perform laser verification according to the emission clarity state and the emission stability state, and to send a control instruction to the emission verification module according to the judgment result of the laser verification, wherein the vertical alignment correction module determines to perform laser verification according to the current laser emission clarity state determined by the abnormality analysis module as a spot clarity state, and the emission stability state as a laser stability state, and sends a control instruction including a medium verification instruction and a vertical verification instruction to the emission verification module, wherein the medium verification instruction is executed first, and then the vertical verification instruction is executed, and the vertical verification instruction is executed after the verification result of the medium verification instruction meets the requirements, wherein the verification result of the medium verification instruction meets the requirements for uniformity of the medium in the laser corrector, and the medium verification instruction is for the vertical alignment correction module to control the emission verification module to adjust the number of laser emissions, and the emission parameters of each emitted laser; the vertical verification instruction is for the vertical alignment correction module to control the emission verification module to keep the number of laser emissions unchanged, and adjust the emission parameters of each of the lasers, and the emission parameters include the laser type, laser emission interval and laser emission angle; A result output module, which is connected to the laser receiving module and is used to obtain the vertical alignment detection result of the target to be measured according to the laser coordinates, and to determine whether the target to be measured meets the vertical alignment requirements; Wherein, the abnormal analysis module calculates the uniform characterization parameters of the light spots of each ring according to the brightness values ​​of several brightness detection points selected on each ring light spot. If the uniform characterization parameters of the light spots of each ring are all within the interval [0.05, 0.1], and the average brightness difference of the light spots of each ring is greater than the standard deviation, the emission clarity state is determined to be the light spot clarity state; if there is at least one ring of light spot uniform characterization parameters that is not within the interval [0.05, 0.1], or there is at least one ring of light spots whose average brightness difference is less than or equal to the standard deviation, the emission clarity state is determined to be the light spot blur state; The abnormal analysis module determines the emission stable state of the current laser according to the single laser spot coordinates and the spot edge shape. If the single laser spot coordinates and the spot edge shape both meet the corresponding laser stability conditions, the emission stable state of the current laser is the laser stable state; if the single laser spot coordinates do not meet the corresponding laser stability conditions, or the spot edge shape does not meet the corresponding laser stability conditions, the emission stable state of the current laser is the laser oscillation state; the laser stability condition of the spot edge shape is determined according to the relative position of each positioning point and the spot edge, and the laser stability condition of the laser spot coordinates is determined according to the coordinate change of each positioning point and the spot center.

2. The automatic leveling and plumbing system according to claim 1, characterized in that: The laser receiving module comprises: A light spot receiving unit, used for receiving the laser emitted by the laser emitting module; A light spot acquisition unit, connected to the light spot receiving unit, for acquiring light spot parameters of the light spot receiving unit; A light spot recognition unit, connected to the light spot acquisition unit, for acquiring the light spot parameters and analyzing them to obtain the laser spot coordinates; The light spot parameters include the light spot center position, the light spot edge shape, the distance between the light spot edge and the light spot center, and the light spot brightness, and the laser light spot coordinates include the light spot center coordinates and the light spot edge coordinates.

3. The automatic leveling and plumbing system according to claim 2, characterized in that: The light spot uniformity characterization parameter is equal to the ratio of the average deviation of the brightness of the brightness detection points of the corresponding ring to the average brightness of the brightness detection points.

4. The automatic leveling and plumbing system according to claim 3, characterized in that: The laser stability condition for the spot edge shape is that each positioning point is located at the spot edge, and the laser stability condition for the laser spot coordinates is that the coordinate changes of each positioning point and the spot center are less than 0.0001.

5. The automatic leveling and plumbing system according to claim 3, characterized in that: The vertical alignment correction module performs laser calibration according to the abnormality analysis module determining that the current laser emission clear state is a spot clear state and the emission stable state is a laser stable state.

6. The automatic leveling and plumbing system according to claim 5, characterized in that: The abnormality analysis module determines whether the vertical verification instruction can be executed according to the emission parameters of the medium verification instruction and the corresponding light spot information; If the actual interval between the light spots obtained by the center coordinates of the light spots of the lasers is equal to the laser emission interval, the abnormality analysis module determines to perform the vertical verification instruction.

7. The automatic leveling and plumbing system according to claim 6, characterized in that: The abnormality analysis module determines whether the vertical alignment detection condition is met according to the emission parameters of the vertical verification instruction and the corresponding light spot information; If the center coordinates of the light spots do not change, the abnormality analysis module determines that the vertical detection condition is met.

8. The automatic leveling and plumbing system according to claim 7, characterized in that: The vertical alignment correction module obtains the vertical alignment detection result of the target to be measured according to the center of the light spot receiving unit and the light spot center coordinates.

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