Leveling method and device of automatic leveling platform

Abstract

The invention discloses a leveling method and device for an automatic leveling platform, a tilt angle sensor detects tilt angle data of a platform surface in real time, calculates error angle data of an X axis and a Y axis of the platform and sets a leveling threshold value based on tilt angle data information, if x is smaller than or equal to theta and y is smaller than or equal to theta, it is considered that the platform is leveled, otherwise, it is considered that the platform is leveled. If yes, angle pulse ratio constants NX and NY are calculated based on the mechanical structure parameters and the pulse lead ratio of the stepping motors, pulse error data PX and PY are calculated according to the error angle data, and control pulse quantities M1 and M2 of the first stepping motor and the second stepping motor are calculated; after receiving the control signal, the stepping motor driver drives the stepping motor to adjust the angle of the platform and synchronously monitors the limit switch, if the leveling condition is met, the leveling completion is fed back to the upper computer, the platform is finally ensured to reach an ideal horizontal state, and the automatic leveling platform has wide application prospects in multiple fields.

Description

Technical Field

[0001] The invention relates to the technical field of automatic leveling control, and in particular to a leveling method and device for an automatic leveling platform. Background Art

[0002] With the rapid development of modern industry, leveling platforms play an important role in a variety of application scenarios; for example; in the aerospace field, leveling platforms are used to ensure the precise level of satellite launch platforms and flight simulators, improve the launch success rate and training effect; in the shipbuilding industry, leveling platforms ensure the stability of hull construction and offshore platforms, and ensure construction quality and operation safety; in mechanical manufacturing, leveling platforms improve the processing accuracy and production efficiency of CNC machine tools and automated production lines; leveling platforms can improve accuracy, improve efficiency, ensure safety and are highly adaptable, and can meet the needs of different working conditions and environments.

[0003] The leveling platform is placed on the platform surface by placing the object to be measured, and the leveling platform is manually adjusted according to the current posture of the leveling platform to adjust the platform surface to a horizontal state, thereby ensuring that the object to be measured can quickly proceed to the next test stage. However, most of the existing leveling platforms use manual adjustment methods, which only include mechanical structural parts and no electrical control system. This leveling method has a low cost, but the leveling time is long and the leveling accuracy is poor, which is difficult to meet the requirements of modern industry for fast and high-precision leveling.

[0004] In order to solve this problem, we propose a leveling method and device for an automatic leveling platform. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a leveling method and device for an automatic leveling platform, which can effectively solve the problems in the above-mentioned background technology.

[0006] To achieve the above object, the technical solution adopted by the present invention is: A leveling method for an automatic leveling platform comprises the following steps: S1. The inclination sensor detects the X-axis inclination data x° and the Y-axis inclination data y° of the platform table in real time. The host computer receives the X-axis and Y-axis inclination data and packages them into a set of inclination data information; S2. Based on the inclination data information, obtain the error angle data △x and △y of the platform X and Y axes, where △x=x° and △y=y°; Set a leveling threshold θ, and when |△x|≤θ, |△y|≤θ, proceed to step S7, otherwise, proceed to step S3; S3. Based on the mechanical structure parameters and the pulse lead ratio of the two stepper motors, the angle pulse ratio constant N of the platform X and Y axes is calculated. X and N Y ; Based on the error angle information and the angle pulse ratio constant, the pulse error data △P of the platform X and Y axes is calculated. X and △P Y , where △P X =△x / N X , △P Y =△y / N Y ; S4. Based on the pulse error data of the platform X and Y axes, the automatic leveling mechanism is decoupled and separated to obtain the first stepper motor control pulse quantity △M1 and the second stepper motor control pulse quantity △M2: S5. Based on the control pulse quantities △M1 and △M2, the stepper motor driver receives the control signal and drives the first stepper motor and the second stepper motor, and the first stepper motor and the second stepper motor adjust the angles of the X and Y axes of the platform; S6, when the first stepper motor and the second stepper motor level the platform, the input signal of the limit switch is monitored synchronously. If the limit switch is detected to be triggered, the process proceeds to step S1, otherwise, the process proceeds to step S7; S7, set the time period, delay for a time period, wait for the tilt sensor data to stabilize, and then continue to detect for 10 seconds whether |△x|≤θ, |△y|≤θ are satisfied. If so, feedback to the upper computer that the leveling is completed; if not, go to S8; S8, continuously checking for 10 seconds whether the limit switch signal is continuously triggered. If it is detected that the limit switch is continuously triggered, the automatic leveling mechanism will feedback to the upper computer that the leveling cannot be completed. Otherwise, steps S1 to S6 will be repeated.

[0007] Preferably, the inclination sensor in S1 detects the X-axis inclination data x° and the Y-axis inclination data y° of the platform table in real time, specifically including: The cross hinge is set at the center of the bottom of the platform. The two rotation axes of the cross hinge are at an angle of 45 degrees with the X-axis and Y-axis of the platform respectively. The platform can rotate in multiple directions on the cross hinge. Define a coordinate system, set the front and back directions of the platform to the positive direction of the X-axis and the negative direction of the X-axis, and set the left and right directions of the platform to the negative direction of the Y-axis and the positive direction of the Y-axis; The first stepper motor and the second stepper motor are respectively connected to the middle parts of the two rotating shafts of the cross hinge through couplings, and are respectively used to drive the two rotating shafts to rotate; When the first stepper motor / second stepper motor rotates, the torque is transmitted to the rotating axis of the cross hinge through the coupling. Since the rotating axis forms a 45-degree angle with the X-axis / Y-axis direction, the platform will tilt along the X-axis and Y-axis directions; The inclination sensor is set at the center above the platform, and the inclination sensor and the platform share a coordinate system to reflect the overall inclination state of the platform; When the platform is tilted, the gravity acceleration g measured by the inclination sensor through the accelerometer will have components in the Z-axis and Y-axis directions of the inclination sensor. The inclination angle is calculated based on the components of gravity acceleration in different directions to reflect the platform's X-axis inclination data x° and Y-axis inclination data y°; Inclination data defines positive and negative values ​​based on the platform's tilt direction; When the platform is horizontal, x°=0, y°=0; When the front end of the platform is higher than the rear end, that is, the positive direction of the platform's X-axis is higher than the negative direction of the X-axis, x° is a positive value; When the rear end of the platform is higher than the front end, that is, the negative direction of the platform's X-axis is higher than the positive direction of the X-axis, x° is a negative value; When the right side of the platform is higher than the left side, that is, when the negative direction of the platform's Y axis is higher than the positive direction of the Y axis, y° is a positive value; When the left side of the platform is higher than the right side, that is, when the positive direction of the platform Y axis is higher than the negative direction of the Y axis, y° is a negative value.

[0008] Preferably, in S3, the angle pulse ratio constant N of the platform X and Y axes is calculated based on the mechanical structure parameters and the pulse lead ratio of the two stepper motors. X and N Y , specifically including: Obtain the transmission ratio R between the two stepper motors and the rotating shaft of the cross hinge, and the pulse lead ratio S of the two stepper motors; Since the angle between the rotation axis of the cross hinge and the X-axis and Y-axis is 45 degrees, when one of the stepper motors is driven, the angle changes of the platform on the X-axis and Y-axis are coupled; Angle pulse ratio constant N X and N Y The calculation formula is: In the formula, divided by This is because a 45-degree angle will result in equal changes in the angles on the X and Y axes. And the change in the X-axis and Y-axis directions is the total change .

[0009] Preferably, the automatic leveling mechanism is decoupled and separated based on the pulse error data of the platform X and Y axes in S4 to obtain the first stepper motor control pulse amount △M1 and the second stepper motor control pulse amount △M2, which specifically includes: It is used to quantify the angle error into the control pulse amount of the stepper motor. The calculation method is as follows: (1) When △x>+θ, △y>+θ, the first stepper motor control pulse quantity △M1=-△P X / 2-△P Y , the second stepper motor controls the pulse quantity △M2=△P X / 2-△P Y ; (2) When △x>+θ, △y<-θ, the first stepper motor control pulse quantity △M1=-△P X / 2+△P Y , the second stepper motor controls the pulse quantity △M2=△P X / 2+△P Y ; (3) When △x<-θ, △y>+θ, the first stepper motor control pulse quantity △M1=△P X / 2-△P Y , the second stepper motor control pulse quantity △M2=-△P X / 2-△P Y ; (4) When △x<-θ, △y<-θ, the first stepper motor control pulse quantity △M1=△P X / 2+△P Y , the second stepper motor control pulse quantity △M2=-△P X / 2+△P Y .

[0010] Preferably, the synchronous monitoring of the input signal of the limit switch in S6 specifically includes: The limit switches are respectively set at the two ends of the maximum stroke of the first stepper motor and the second motor. When the first stepper motor / the second stepper motor reaches its maximum stroke, the corresponding limit switch is triggered and an abnormal signal is transmitted to the upper computer. The upper computer synchronously monitors the input signal of the limit switch and obtains the abnormal signal.

[0011] Preferably, if it is detected in S7 that the limit switch is continuously triggered, the automatic leveling mechanism feeds back to the upper computer that the leveling cannot be completed, which specifically includes: When the limit switch is detected to be continuously triggered, the movement of the first stepper motor and the second stepper motor is stopped immediately, and a fault alarm signal is sent to the upper computer to prompt the operator to check the equipment; The operator manually resets the automatic leveling mechanism, restarts the leveling process after ensuring safety, and proceeds to step S1.

[0012] Furthermore, the present invention also provides an automatic leveling platform device for implementing any of the above-mentioned leveling methods, comprising: A platform, wherein a cross hinge is arranged at the center of the bottom of the platform, and two vertically arranged rotation axes are arranged on the cross hinge, and the two rotation axes of the cross hinge are respectively at an angle of 45 degrees with the X-axis and the Y-axis of the platform, and the platform can rotate on the cross hinge; A first stepper motor, wherein the first stepper motor is fixedly connected to a middle portion of a rotating shaft in the cross hinge through a coupling; a second stepper motor, the second stepper motor being fixedly connected to the middle of another rotating shaft in the cross hinge through a coupling; A tilt sensor is arranged at the center of the upper part of the platform, and is used to detect the tilt angle of the platform relative to the horizontal plane. The tilt sensor and the platform share a coordinate system, that is, the X-axis and Y-axis of the tilt sensor coincide with the X-axis and Y-axis of the platform; A host computer, electrically connected to the inclination sensor, and used to obtain and organize the inclination data information of the platform collected by the inclination sensor; An automatic leveling mechanism, connected to the host computer, for receiving inclination data information and control instructions from the host computer; Two stepper motor drivers, used for receiving control information of the automatic leveling mechanism and driving the first stepper motor / the second stepper motor to operate; Two limit switches are respectively set at the two ends of the maximum travel of the first stepper motor and the second stepper motor. Connected with automatic leveling mechanism.

[0013] Preferably, the automatic leveling mechanism comprises: A central control unit is used to receive the inclination data information and control instructions of the upper computer, and the central control unit sends status feedback information to the upper computer through the data transceiver, and the limit switch is electrically connected to the central control unit; The central control unit also calculates the inclination data information and the control instruction according to the leveling algorithm to obtain the control pulse amount of the first stepper motor / the second stepper motor, and converts the control pulse amount of the first stepper motor / the second stepper motor into two TTL pulse signals; Two pulse isolators receive two TTL pulse signals respectively, convert the TTL pulse signals into special protocol signals and send them to two stepper motor drivers to control the first stepper motor / the second stepper motor to operate according to the received signals; The clock generator is connected to the central control unit and is used to generate a clock signal to synchronize the operations of each unit.

[0014] Compared with the prior art, the present invention provides a leveling method and device for an automatic leveling platform, which has the following beneficial effects: The automatic leveling platform achieves high-precision leveling by integrating components such as inclination sensors, central control units and stepper motors. The inclination sensors detect the X-axis and Y-axis inclination data of the platform in real time and transmit the data to the central control unit. The central control unit calculates the optimal control pulse amount according to the leveling algorithm, drives the stepper motor to accurately adjust the angle of the platform, and ensures that the platform is always in a precise horizontal state through a closed-loop control system. This leveling method realizes a high-precision, fast-response leveling function, which can improve leveling accuracy, shorten leveling time, improve system reliability, enhance adaptability and flexibility, reduce labor costs, and improve data management capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The present invention is a flow chart of a leveling method for an automatic leveling platform.

[0016] Figure 2 It is a structural schematic diagram of an automatic leveling platform of the present invention; Figure 3 It is a structural schematic diagram of the automatic leveling mechanism of the present invention.

[0017] In the figure: 1. Automatic leveling mechanism; 11. Data transceiver; 12. Pulse isolator; 13. Clock generator; 14. Central control unit; 2. Stepper motor driver; 3. First stepper motor; 4. Second stepper motor; 5. Inclination sensor; 6. Limit switch. DETAILED DESCRIPTION

[0018] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the present invention will be further described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] In order to address the shortcomings of the existing technology, such as Figure 1 As shown, the present invention provides a leveling method for an automatic leveling platform, comprising the following steps: S1. The inclination sensor detects the X-axis inclination data x° and the Y-axis inclination data y° of the platform table in real time. The host computer receives the X-axis and Y-axis inclination data and packages them into a set of inclination data information; S2. Based on the inclination data information, obtain the error angle data △x and △y of the platform X and Y axes, where △x=x° and △y=y°; Set a leveling threshold θ, and when |△x|≤θ, |△y|≤θ, proceed to step S7, otherwise, proceed to step S3; S3. Based on the mechanical structure parameters and the pulse lead ratio of the two stepper motors, the angle pulse ratio constant N of the platform X and Y axes is calculated. X and N Y ; Based on the error angle information and the angle pulse ratio constant, the pulse error data △P of the platform X and Y axes is calculated. X and △P Y , where △P X =△x / N X , △P Y =△y / N Y ; S4. Based on the pulse error data of the platform X and Y axes, the automatic leveling mechanism is decoupled and separated to obtain the first stepper motor control pulse quantity △M1 and the second stepper motor control pulse quantity △M2: S5. Based on the control pulse quantities △M1 and △M2, the stepper motor driver receives the control signal and drives the first stepper motor and the second stepper motor, and the first stepper motor and the second stepper motor adjust the angles of the X and Y axes of the platform; S6, when the first stepper motor and the second stepper motor level the platform, the input signal of the limit switch is monitored synchronously. If the limit switch is detected to be triggered, the process proceeds to step S1, otherwise, the process proceeds to step S7; S7, set the time period, delay for a time period, wait for the tilt sensor data to stabilize, and then continue to detect for 10 seconds whether |△x|≤θ, |△y|≤θ are satisfied. If so, feedback to the upper computer that the leveling is completed; if not, go to S8; S8, continuously checking for 10 seconds whether the limit switch signal is continuously triggered. If it is detected that the limit switch is continuously triggered, the automatic leveling mechanism will feedback to the upper computer that the leveling cannot be completed. Otherwise, steps S1 to S6 will be repeated.

[0020] Specifically, the inclination sensor in S1 detects the X-axis inclination data x° and the Y-axis inclination data y° of the platform table in real time, including: The cross hinge is set at the center of the bottom of the platform. The two rotation axes of the cross hinge are at an angle of 45 degrees with the X-axis and Y-axis of the platform respectively. The platform can rotate in multiple directions on the cross hinge. Define a coordinate system, set the front and back directions of the platform to the positive direction of the X-axis and the negative direction of the X-axis, and set the left and right directions of the platform to the negative direction of the Y-axis and the positive direction of the Y-axis; The first stepper motor and the second stepper motor are respectively connected to the middle parts of the two rotating shafts of the cross hinge through couplings, and are respectively used to drive the two rotating shafts to rotate; When the first stepper motor / second stepper motor rotates, the torque is transmitted to the rotating axis of the cross hinge through the coupling. Since the rotating axis forms a 45-degree angle with the X-axis / Y-axis direction, the platform will tilt along the X-axis and Y-axis directions; The inclination sensor is set at the center above the platform, and the inclination sensor and the platform share a coordinate system to reflect the overall inclination state of the platform; When the platform is tilted, the gravity acceleration g measured by the inclination sensor through the accelerometer will have components in the Z-axis and Y-axis directions of the inclination sensor. The inclination angle is calculated based on the components of gravity acceleration in different directions to reflect the platform's X-axis inclination data x° and Y-axis inclination data y°; Inclination data defines positive and negative values ​​based on the platform's tilt direction; When the platform is horizontal, x°=0, y°=0; When the front end of the platform is higher than the rear end, that is, the positive direction of the platform's X-axis is higher than the negative direction of the X-axis, x° is a positive value; When the rear end of the platform is higher than the front end, that is, the negative direction of the platform's X-axis is higher than the positive direction of the X-axis, x° is a negative value; When the right side of the platform is higher than the left side, that is, when the negative direction of the platform's Y axis is higher than the positive direction of the Y axis, y° is a positive value; When the left side of the platform is higher than the right side, that is, when the positive direction of the platform Y axis is higher than the negative direction of the Y axis, y° is a negative value.

[0021] Specifically, in S3, the angle pulse ratio constant N of the platform X and Y axes is calculated based on the mechanical structure parameters and the pulse lead ratio of the two stepper motors. X and N Y , specifically including: Obtain the transmission ratio R between the two stepper motors and the rotating shaft of the cross hinge, and the pulse lead ratio S of the two stepper motors; Since the angle between the rotation axis of the cross hinge and the X-axis and Y-axis is 45 degrees, when one of the stepper motors is driven, the angle changes of the platform on the X-axis and Y-axis are coupled; Angle pulse ratio constant N X and N Y The calculation formula is: In the formula, divided by This is because the 45-degree angle will cause the angle changes on the X-axis and Y-axis to be equal, and the change in the direction of the X-axis and Y-axis is the total change .

[0022] Specifically, in S4, based on the pulse error data of the platform X and Y axes, the automatic leveling mechanism is decoupled and separated to obtain the first stepper motor control pulse amount △M1 and the second stepper motor control pulse amount △M2, which specifically includes: It is used to quantify the angle error into the control pulse amount of the stepper motor. The calculation method is as follows: (1) When △x>+θ, △y>+θ, the first stepper motor control pulse quantity △M1=-△P X / 2-△P Y , the second stepper motor controls the pulse quantity △M2=△P X / 2-△P Y ; (2) When △x>+θ, △y<-θ, the first stepper motor control pulse quantity △M1=-△P X / 2+△P Y , the second stepper motor controls the pulse quantity △M2=△P X / 2+△P Y ; (3) When △x<-θ, △y>+θ, the first stepper motor control pulse quantity △M1=△P X / 2-△P Y , the second stepper motor control pulse quantity △M2=-△P X / 2-△P Y ; (4) When △x<-θ, △y<-θ, the first stepper motor control pulse quantity △M1=△P X / 2+△P Y , the second stepper motor control pulse quantity △M2=-△P X / 2+△P Y .

[0023] Specifically, the input signal of the limit switch is synchronously monitored in S6, including: The limit switches are respectively set at the two ends of the maximum stroke of the first stepper motor and the second motor. When the first stepper motor / the second stepper motor reaches its maximum stroke, the corresponding limit switch is triggered and an abnormal signal is transmitted to the upper computer. The upper computer synchronously monitors the input signal of the limit switch and obtains the abnormal signal.

[0024] Specifically, if the limit switch is detected to be continuously triggered in S7, the automatic leveling mechanism will feedback to the upper computer that the leveling cannot be completed, including: When the limit switch is detected to be continuously triggered, the movement of the first stepper motor and the second stepper motor is stopped immediately. The central control unit simultaneously monitors the input signal of the limit switch to ensure the safety and reliability of the system, and sends a fault alarm signal to the upper computer to prompt the operator to check the equipment. The operator manually resets the automatic leveling mechanism, restarts the leveling process after ensuring safety, and proceeds to step S1.

[0025] It should be noted that in this method, the central control unit calculates the optimal control pulse amount through the control algorithm based on the inclination data detected in real time by the inclination sensor, drives the stepper motor to adjust the angle of the platform, and finally ensures that the platform reaches the ideal horizontal state. This automatic leveling platform has broad application prospects in multiple fields and can significantly improve the leveling accuracy and efficiency.

[0026] Further, such as Figure 2 As shown, the present invention also proposes an automatic leveling platform device, which is used to implement any of the above-mentioned leveling methods, including: The platform has a cross hinge at the center of the bottom of the platform. The cross hinge has two vertically arranged rotation axes. The two rotation axes of the cross hinge are at an angle of 45 degrees with the X-axis and Y-axis of the platform respectively. The platform can rotate on the cross hinge. A first stepper motor, the first stepper motor is fixedly connected to a middle portion of a rotating shaft in the cross hinge through a coupling; A second stepper motor, the second stepper motor is fixedly connected to the middle part of another rotating shaft in the cross hinge through a coupling; The tilt sensor is set at the center of the upper part of the platform to detect the tilt angle of the platform relative to the horizontal plane. The tilt sensor and the platform share a coordinate system, that is, the X-axis and Y-axis of the tilt sensor coincide with the X-axis and Y-axis of the platform; The host computer is electrically connected to the inclination sensor, and is used to obtain and organize the inclination data information of the platform collected by the inclination sensor; The automatic leveling mechanism is connected to the host computer and is used to receive the inclination data information and control instructions of the host computer; Two stepper motor drivers, used for receiving control information of the automatic leveling mechanism and driving the first stepper motor / the second stepper motor to operate; Two limit switches are respectively set at the two ends of the maximum travel of the first stepper motor and the second stepper motor. Connected with automatic leveling mechanism.

[0027] Specifically, Figure 3 As shown, the automatic leveling mechanism includes: The central control unit is used to receive the inclination data information and control instructions of the upper computer, and the central control unit sends status feedback information to the upper computer through the data transceiver, and the limit switch is electrically connected to the central control unit; The central control unit also calculates the inclination data information and the control command according to the leveling algorithm, obtains the control pulse quantity of the first stepper motor / the second stepper motor, and converts the control pulse quantity of the first stepper motor / the second stepper motor into two TTL pulse signals; Two pulse isolators receive two TTL pulse signals respectively, convert the TTL pulse signals into special protocol signals and send them to two stepper motor drivers to control the first stepper motor / the second stepper motor to operate according to the received signals; The clock generator is connected to the central control unit and is used to generate clock signals to synchronize the operations of each unit to ensure the coordinated and stable operation of the system; The automatic leveling platform can adapt to different working conditions and environments and is suitable for aerospace, shipbuilding, machinery manufacturing, construction engineering, medical equipment and other fields; In summary, the basic working principle of the present invention is: the inclination sensor detects the inclination data of the platform table in real time, calculates the error angle data of the platform X-axis and Y-axis based on the inclination data information, and sets the leveling threshold. If |△x|≤θ, |△y|≤θ, the platform is considered to have been leveled. Otherwise, the angle pulse ratio constant N is calculated based on the mechanical structure parameters and the pulse lead ratio of the stepper motor. X and N Y , and calculate the pulse error data △P based on the error angle data X and △P Y , calculate the control pulse quantities △M1 and △M2 of the first stepper motor and the second stepper motor; after receiving the control signal, the stepper motor driver drives the stepper motor to adjust the angle of the platform and simultaneously monitors the limit switch. If the leveling conditions are met, the leveling is fed back to the upper computer. If it is detected that the limit switch is continuously triggered, the automatic leveling mechanism feeds back to the upper computer that the leveling cannot be completed, and the operator needs to manually reset and restart the leveling process.

[0028] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A leveling method for an automatic leveling platform, characterized in that: The steps include: S1. The inclination sensor detects the X-axis inclination data x° and the Y-axis inclination data y° of the platform table in real time. The host computer receives the X-axis and Y-axis inclination data and packages them into a set of inclination data information; S2. Based on the inclination data information, obtain the error angle data △x and △y of the platform X and Y axes, where △x=x° and △y=y°; Set a leveling threshold θ, and when |△x|≤θ, |△y|≤θ, proceed to step S7, otherwise, proceed to step S3; S3. Based on the mechanical structure parameters and the pulse lead ratio of the two stepper motors, the angle pulse ratio constant N of the platform X and Y axes is calculated. X and N Y ; Based on the error angle information and the angle pulse ratio constant, the pulse error data △P of the platform X and Y axes is calculated. X and △P Y , where △P X =△x / N X , △P Y =△y / N Y ; S4. Based on the pulse error data of the platform X and Y axes, the automatic leveling mechanism is decoupled and separated to obtain the first stepper motor control pulse quantity △M1 and the second stepper motor control pulse quantity △M2: S5. Based on the control pulse quantities △M1 and △M2, the stepper motor driver receives the control signal and drives the first stepper motor and the second stepper motor, and the first stepper motor and the second stepper motor adjust the angles of the X and Y axes of the platform; S6, when the first stepper motor and the second stepper motor level the platform, the input signal of the limit switch is monitored synchronously. If the limit switch is detected to be triggered, the process proceeds to step S1, otherwise, the process proceeds to step S7; S7, set the time period, delay for a time period, wait for the tilt sensor data to stabilize, and then continue to detect for 10 seconds whether |△x|≤θ, |△y|≤θ are satisfied. If so, feedback to the upper computer that the leveling is completed; if not, go to S8; S8. Check for 10 seconds whether the limit switch signal is continuously triggered. If it is detected that the limit switch is continuously triggered, the automatic leveling mechanism will feedback to the upper computer that the leveling cannot be completed. Otherwise, repeat steps S1 to S6.

2. The leveling method of an automatic leveling platform according to claim 1, characterized in that: The inclination sensor in S1 detects the X-axis inclination data x° and the Y-axis inclination data y° of the platform table in real time, specifically including: The cross hinge is set at the center of the bottom of the platform. The two rotation axes of the cross hinge are at an angle of 45 degrees with the X-axis and Y-axis of the platform respectively. The platform can rotate in multiple directions on the cross hinge. Define a coordinate system, set the front and back directions of the platform to the positive direction of the X-axis and the negative direction of the X-axis, and set the left and right directions of the platform to the negative direction of the Y-axis and the positive direction of the Y-axis; The first stepper motor and the second stepper motor are respectively connected to the middle parts of the two rotating shafts of the cross hinge through couplings, and are respectively used to drive the two rotating shafts to rotate; The inclination sensor is set at the center above the platform, and the inclination sensor and the platform share a coordinate system to reflect the overall inclination state of the platform; When the platform is tilted, the gravity acceleration g measured by the inclination sensor through the accelerometer will have components in the Z-axis and Y-axis directions of the inclination sensor. The inclination angle is calculated based on the components of gravity acceleration in different directions to reflect the platform's X-axis inclination data x° and Y-axis inclination data y°; Inclination data defines positive and negative values ​​based on the platform's tilt direction; When the platform is horizontal, x°=0, y°=0; When the front end of the platform is higher than the rear end, that is, the positive direction of the platform's X-axis is higher than the negative direction of the X-axis, x° is a positive value; When the rear end of the platform is higher than the front end, that is, the negative direction of the platform's X-axis is higher than the positive direction of the X-axis, x° is a negative value; When the right side of the platform is higher than the left side, that is, when the negative direction of the platform's Y axis is higher than the positive direction of the Y axis, y° is a positive value; When the left side of the platform is higher than the right side, that is, when the positive direction of the platform Y axis is higher than the negative direction of the Y axis, y° is a negative value.

3. The leveling method of an automatic leveling platform according to claim 2, characterized in that: In S3, the angle pulse ratio constant N of the platform X and Y axes is calculated based on the mechanical structure parameters and the pulse lead ratio of the two stepper motors. X and N Y , specifically including: Obtain the transmission ratio R between the two stepper motors and the rotating shaft of the cross hinge, and the pulse lead ratio S of the two stepper motors; Since the angle between the rotation axis of the cross hinge and the X-axis and Y-axis is 45 degrees, when one of the stepper motors is driven, the angle changes of the platform on the X-axis and Y-axis are coupled; Angle pulse ratio constant N X and N Y The calculation formula is: In the formula, divided by This is because the 45-degree angle will cause the angle changes on the X-axis and Y-axis to be equal, and the change in the direction of the X-axis and Y-axis is the total change .

4. The leveling method of an automatic leveling platform according to claim 3, characterized in that: In S4, based on the pulse error data of the platform X and Y axes, the automatic leveling mechanism is decoupled and separated to obtain the first stepper motor control pulse amount △M1 and the second stepper motor control pulse amount △M2, which specifically includes: It is used to quantify the angle error into the control pulse amount of the stepper motor. The calculation method is as follows: (1) When △x>+θ, △y>+θ, the first stepper motor control pulse quantity △M1=-△P X / 2-△P Y , the second stepper motor controls the pulse quantity △M2=△P X / 2-△P Y ; (2) When △x>+θ, △y<-θ, the first stepper motor control pulse quantity △M1=-△P X / 2+△P Y , the second stepper motor controls the pulse quantity △M2=△P X / 2+△P Y ; (3) When △x<-θ, △y>+θ, the first stepper motor control pulse quantity △M1=△P X / 2-△P Y , the second stepper motor control pulse quantity △M2=-△P X / 2-△P Y ; (4) When △x<-θ, △y<-θ, the first stepper motor control pulse quantity △M1=△P X / 2+△P Y , the second stepper motor control pulse quantity △M2=-△P X / 2+△P Y .

5. The leveling method of the automatic leveling platform according to claim 4, characterized in that: The synchronous monitoring of the input signal of the limit switch in S6 specifically includes: The limit switches are respectively set at the two ends of the maximum stroke of the first stepper motor and the second motor. When the first stepper motor / the second stepper motor reaches its maximum stroke, the corresponding limit switch is triggered and an abnormal signal is transmitted to the upper computer. The upper computer synchronously monitors the input signal of the limit switch and obtains the abnormal signal.

6. A leveling method for an automatic leveling platform according to claim 5, characterized in that: If the limit switch is detected to be continuously triggered in S7, the automatic leveling mechanism will feedback to the upper computer that the leveling cannot be completed, which specifically includes: When the limit switch is detected to be continuously triggered, the movement of the first stepper motor and the second stepper motor is stopped immediately, and a fault alarm signal is sent to the upper computer to prompt the operator to check the equipment; The operator manually resets the automatic leveling mechanism, restarts the leveling process after ensuring safety, and proceeds to step S1.

7. An automatic leveling platform device, used to implement the leveling method of an automatic leveling platform as claimed in any one of claims 1 to 6, characterized in that: include: A platform, wherein a cross hinge is arranged at the center of the bottom of the platform, and two vertically arranged rotation axes are arranged on the cross hinge, and the two rotation axes of the cross hinge are respectively at an angle of 45 degrees with the X-axis and the Y-axis of the platform, and the platform can rotate on the cross hinge; A first stepper motor, wherein the first stepper motor is fixedly connected to a middle portion of a rotating shaft in the cross hinge through a coupling; a second stepper motor, the second stepper motor being fixedly connected to the middle of another rotating shaft in the cross hinge through a coupling; A tilt sensor is arranged at the center of the upper part of the platform, and is used to detect the tilt angle of the platform relative to the horizontal plane. The tilt sensor and the platform share a coordinate system, that is, the X-axis and Y-axis of the tilt sensor coincide with the X-axis and Y-axis of the platform; A host computer, electrically connected to the inclination sensor, and used to obtain and organize the inclination data information of the platform collected by the inclination sensor; An automatic leveling mechanism, connected to the host computer, for receiving inclination data information and control instructions from the host computer; Two stepper motor drivers, used for receiving control information of the automatic leveling mechanism and driving the first stepper motor / the second stepper motor to operate; Two limit switches are respectively set at the two ends of the maximum travel of the first stepper motor and the second stepper motor. Connected with automatic leveling mechanism.

8. The leveling method of an automatic leveling platform according to claim 7, characterized in that: The automatic leveling mechanism comprises: A central control unit is used to receive the inclination data information and control instructions of the upper computer, and the central control unit sends status feedback information to the upper computer through the data transceiver, and the limit switch is electrically connected to the central control unit; The central control unit also calculates the inclination data information and the control instruction according to the leveling algorithm to obtain the control pulse amount of the first stepper motor / the second stepper motor, and converts the control pulse amount of the first stepper motor / the second stepper motor into two TTL pulse signals; Two pulse isolators receive two TTL pulse signals respectively, convert the TTL pulse signals into special protocol signals and send them to two stepper motor drivers to control the first stepper motor / the second stepper motor to operate according to the received signals; The clock generator is connected to the central control unit and is used to generate a clock signal to synchronize the operations of each unit.

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