Leveling instrument and leveling control method

Abstract

The invention relates to the technical field of swinger control, in particular to a swinger and a leveling control method. The method comprises the following steps: determining a movement angle when a movement of the leveling motor is horizontal as a movement angle reference value; the current movement angle of the movement is collected, the difference between the current movement angle and the movement angle reference value is obtained, the difference value is obtained, and the absolute value of the difference value is the movement angle inclination value; and according to the angle inclination value of the machine core, the leveling motor is controlled to continuously operate or intermittently operate. According to the invention, the leveling motor can be controlled to run and stop at different speeds by adopting a proportional control algorithm in different leveling processes according to the angle inclination value of the machine core, so that the leveling efficiency and the leveling precision are improved, and finally, the effects of higher leveling precision and shorter leveling time are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of level control, and particularly to a level and a leveling control method. Background Art

[0002] As a traditional surveying instrument, a level can provide a common reference plane for geodetic surveying, engineering surveying, excavation construction, etc., to ensure the requirements of construction. Its core function is to quickly calibrate the horizontal reference through laser plane projection.

[0003] The leveling accuracy and leveling duration of a level are two important indicators of the instrument. In the prior art, the leveling process of a level mainly relies on the collaborative control of a spirit level and a motor. For example, the spirit level detects the inclination state through optoelectronic elements and outputs a corresponding voltage signal, and the control module drives the motor to adjust the spirit level to the horizontal position according to this signal.

[0004] However, currently, the speed of driving the motor to adjust the spirit level is fixed. When the inclination angle is large, it may lead to too long leveling time and affect construction efficiency. When the inclination is small, the spirit level may overshoot the balance position due to mechanical inertia or the transmission mechanism being too sensitive, resulting in repeated oscillations and reducing the leveling accuracy. In view of the above related technologies, there is an urgent need to provide a control method that can dynamically adjust the motor speed and balance the leveling efficiency and leveling accuracy to overcome the limitations of the prior art. Summary of the Invention

[0005] In order to improve the problem that the driving motor speed in the current level control method is fixed and it is difficult to balance the leveling efficiency and leveling accuracy, the purpose of the present invention is to provide a level and a leveling control method, which, in different leveling processes, control the leveling motor to run and stop at different speeds according to the inclination value of the movement angle, improving the leveling efficiency and leveling accuracy.

[0006] In order to achieve the purpose of the present invention, the present invention first provides a leveling control method for a level, adopting the following technical solution:

[0007] A leveling control method for a level includes the following steps:

[0008] Determine the movement angle when the movement of the leveling motor is horizontal as the movement angle reference value;

[0009] Collect the current movement angle of the movement, subtract it from the movement angle reference value, and obtain a difference value. The absolute value of the difference value is the movement angle inclination value;

[0010] Control the leveling motor to run continuously or intermittently according to the movement angle inclination value.

[0011] Through the above technical solution, when the inclination value of the movement angle is large, it indicates that the movement is in a large-angle inclination state. At this time, the leveling motor is controlled to run at a high speed and continuously to quickly shorten the leveling time. When the value of the movement angle inclination value decreases to a certain range, the leveling motor is controlled to run intermittently, giving the bubble sensor a stable time to reduce the occurrence of over-leveling or repeated leveling, and achieving fast and accurate leveling.

[0012] The implementation method may include any or all of the following features.

[0013] In some embodiments, controlling the leveling motor to run continuously or intermittently according to the movement angle inclination value includes:

[0014] S31. When the movement angle inclination value is greater than E1, control the leveling motor to run at a constant speed and continuously in the opposite direction of the movement inclination;

[0015] S32. When the movement angle inclination value is greater than E2 and less than or equal to E1, control the leveling motor to run at a constant speed and intermittently in the opposite direction of the movement inclination;

[0016] S33. When the movement angle inclination value is greater than E3 and less than or equal to E2, control the leveling motor to run at a variable speed and intermittently in the opposite direction of the movement inclination. The running time of the intermittent operation is t1, the stop time of the intermittent operation is t2, and the running cycle of the intermittent operation is T. t1 = movement angle inclination value * Kp, t2 = T - t1, where Kp is the proportionality coefficient;

[0017] E1 > E2 > E3.

[0018] Through the above technical solution, in different leveling processes, based on the movement angle inclination value of the leveling motor as the basis for adjusting the running time parameters of the leveling motor, and finally determining the running time of the leveling motor using the proportional control algorithm according to the proportionality coefficient, it is possible to dynamically adjust the running time parameters of the leveling motor according to the actual running situation, achieving a more accurate and effective leveling control effect.

[0019] Give different adjustment strategies to the leveling motor in multiple adjustment intervals. When the movement angle inclination value is within a large range, control the leveling motor to run at full speed continuously. As the movement angle inclination value of the leveling motor decreases, control the leveling motor to run intermittently. When the movement angle inclination value continues to decrease to the fine leveling range, control the leveling motor to run at a variable speed and intermittently to ensure the leveling accuracy. The above technical solution mainly controls the change of the running time of the leveling motor and supplemented by controlling the change of the running speed of the leveling motor. The two are combined to make the bubble sensor quickly stable during the leveling process, reduce the occurrence of over-leveling and repeated leveling, and achieve the purpose of fast and accurate leveling.

[0020] In some embodiments, in the step S31, first determine the tilting direction of the movement. When the current tilting direction of the movement is different from the previous one, it is recorded as one leveling process. When the number of leveling processes exceeds N1 times, control the leveling motor to stop for a time t2′, and after running for a time t1′, recalculate the angle tilting value of the movement, and control the leveling motor to run according to the method of S31 - S33 based on the recalculated angle tilting value of the movement.

[0021] In some embodiments, the variable-speed operation in the step S33 includes:

[0022] When the angle tilting value of the movement is greater than E3 and less than E2, the running speed of the leveling motor is the speed V0, and repeated leveling monitoring is set;

[0023] When the number of repeated leveling processes exceeds N2 times, the running speed of the leveling motor is V1, and when the number of repeated leveling processes exceeds N3 times, the running speed of the leveling motor is V2;

[0024] The running speed V0 > V1 > V2.

[0025] In some embodiments, the step S3 further includes a step of monitoring the actual change of the angle of the movement. Within 4T time, when the change amount of the angle tilting value of the movement is less than E3, control the running period T to remain unchanged, increase the running time t1, and decrease the stop time t2.

[0026] In some embodiments, leveling is completed when the angle tilting value of the movement ≤ E3. After leveling is completed, monitor the angle tilting value of the movement. When the angle tilting value of the movement is greater than E4, run the step S33 again until the angle tilting value of the movement is less than E4, where E3 < E4 < E2.

[0027] In some embodiments, in the step S31, the running speed of the leveling motor is V0; in the step S32, the running speed of the leveling motor is V0.

[0028] To achieve the object of the present invention, the present invention also provides a spirit level, adopting the following technical solution:

[0029] A spirit level includes a control module, a leveling motor, and a bubble sensor. The leveling motor and the bubble sensor are connected to the control module. The bubble sensor collects the angle of the movement of the leveling motor, and the control module controls the leveling of the spirit level by using the leveling control method of a spirit level as described above based on the angle value of the movement of the leveling motor collected by the bubble sensor.

[0030] In summary, the present invention provides a spirit level and a leveling control method, having the following beneficial effects:

[0031] First, the proportional control algorithm is adopted to determine the leveling strategy according to the inclination value of the movement angle. During different leveling processes, leveling parameters including the running speed, running time, and stopping time of the leveling motor are adjusted to control the leveling motor to run and stop at different speeds and times, ultimately achieving the effect of reducing the leveling time and improving the leveling accuracy.

[0032] Second, during the leveling process, a shaking monitoring mechanism for over-leveling and repeated leveling is adopted. According to the monitoring results, the leveling parameters are adjusted in real time to dynamically compensate for the impacts caused by over-leveling and repeated leveling, which can widely solve the problems of long leveling time and low accuracy during the leveling process of machines with large differences in parts and assembly, resulting in inconsistent resistance of the transmission mechanism. Description of the Drawings

[0033] Figure 1 It is a schematic structural diagram of the laser leveler in the embodiment;

[0034] Figure 2 It is a schematic flowchart of the control method S1 - S3 in the embodiment;

[0035] Figure 3 It is Figure 2 The main flowchart of S3 in

[0036] Figure 4 It is a schematic position diagram corresponding to the values of B1, P, C1, C0, A0, and B0 on the bubble sensor in the embodiment;

[0037] Description of the reference numerals: 1, movement; 11, control module; 12, leveling motor; 13, bubble sensor. Detailed Embodiments

[0038] To make the objectives and technical solutions of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. The directional terms mentioned in the following embodiments, such as: up, down, left, right, front, back, bottom, top, etc., are only with reference to the directions of the attached drawings. Therefore, the directional terms used are for illustration purposes and not to limit the present invention.

[0039] In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" 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 an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0040] An embodiment of the present invention discloses a spirit level and a leveling control method. By regulating the running speed, running time, and stopping time of the leveling motor differently in different leveling processes, the effects of fast, accurate, and effective leveling are finally achieved. The leveling process includes rough leveling and fine leveling. According to the actual inclination angle of the leveling motor movement, rough leveling or fine leveling is performed. When rough leveling, the actual inclination angle of the leveling motor movement is greater than that when fine leveling.

[0041] As an example, the spirit level may be a laser spirit level, hereinafter referred to as the spirit level. Referring to Figure 1 , the spirit level of the present invention includes a housing. A movement 1 is installed inside the housing. A leveling motor 12 is installed at the chassis part of the movement 1. The output end of the leveling motor 12 is coupled with the movement 1. There are at least two leveling motors 12, namely the leveling motors 12 in the X and Y directions, which are used to control the inclination angles in the X and Y directions respectively. A bubble sensor 13 is installed on the movement 1. There are at least three bubble sensors, which are respectively used to detect the inclination angles in the X, Y, and Z directions. A control module 11 is also installed on the movement 1. The leveling motor 12 and the bubble sensor 13 are connected to the control module 11. The bubble sensor 13 collects the current movement angle of the leveling motor movement 12. The control module 11 controls the operation of the leveling motor 12 according to the current movement angle collected by the bubble sensor 13, so as to realize the closed-loop control of the leveling of the spirit level. The control module 11 generally includes a power supply, a single-chip microcomputer (MCU Microcontroller Unit), a motor drive circuit, etc. The bubble sensor 13 can adopt a photoelectric sensor or other sensor types commonly used for bubble sensors. The leveling motor 12 can adopt a two-axis servo motor unit.

[0042] Specifically, the control module 11 adopts the following leveling control method to realize the closed-loop control of the leveling of the spirit level:

[0043] The bubble sensor 13 indicates the current core angle of the leveling motor 12's core 1 and outputs a voltage signal to the control module 11. The control module 11 converts the voltage signal of the bubble sensor 13 into a digital quantity, hereinafter referred to as a value. The control module 11 subtracts the value of the current core angle of the leveling motor 12's core 1 from the value of the angle when the core 1 of the leveling motor 12 is horizontal and obtains a difference. The absolute value of the difference is determined as the core angle inclination value of the leveling motor 12's core 1. According to the core angle inclination value, the leveling motor 12 is controlled to run continuously or intermittently, and the proportional control algorithm is used to determine the running time of the intermittent operation of the leveling motor 12, where the intermittent operation includes constant-speed intermittent operation and variable-speed intermittent operation. The control module 11 can convert the voltage signal of the bubble sensor 13 into a digital quantity through an analog-to-digital converter (ADC).

[0044] Specifically, referring to Figure 2 , the leveling control method includes the following steps:

[0045] S1. Determine the core angle reference value:

[0046] The value corresponding to the voltage signal of the bubble sensor 13 when the core 1 of the leveling motor 12 is horizontal is determined as the core angle reference value;

[0047] S2. Determine the core angle inclination value:

[0048] The bubble sensor 13 indicates the current core angle of the core 1. The control module 11 converts the voltage signal of the current core angle of the core 1 indicated by the bubble sensor 13 into a corresponding value. The value collected from the bubble sensor 13 is recorded as the current core angle value. The current core angle value is subtracted from the core angle reference value to obtain a difference. The absolute value of the difference is the core angle inclination value;

[0049] S3. According to the core angle inclination value, control the leveling motor 12 to run continuously or intermittently:

[0050] The values corresponding to the voltage signals within the range of the bubble sensor 13 are divided into a plurality of adjustment intervals. According to the adjustment interval in which the core angle inclination value is located, the control module 11 controls the leveling motor 12 to run continuously or intermittently.

[0051] Among them, in step S1, the core angle reference value is denoted as A0. Generally, the core angle reference value takes the value when the core 1 of the leveling motor 12 is absolutely horizontal. This core angle reference value is calibrated during the production of the level and stored in the storage module of the level and retrieved during use;

[0052] In step S2, the current core angle value is denoted as A(t). The core angle inclination value is obtained through equation (1):

[0053] A = |A(t) - A0| Equation (1);

[0054] Where A represents the inclination value of the movement angle.

[0055] In step S3, referring to Figure 3 , it includes the following specific steps:

[0056] Leveling stage 1:

[0057] Step S131. When A > E1, first determine the inclination direction of movement 1. When the current inclination direction of movement 1 is different from the previous one, it is recorded as one over-leveling. When the number of over-leveling times exceeds N1 times, control the leveling motor 12 to stop for t2' time, run at speed V0 for t1' time, then recalculate the movement angle inclination value A, and control the leveling motor to run according to the method of the following stage 2 based on the recalculated movement angle inclination value A;

[0058] When the number of over-leveling times is less than or equal to N1 times, perform the first rough leveling. Specifically: the control module 11 controls the leveling motor 12 to continuously run in the opposite direction of the inclination of movement 1. The running is at a constant speed, and the running speed is V0. In this step, during the running of the leveling motor 12, the value of the bubble sensor 13 is monitored in real time. When the movement angle inclination value A ≤ E1, enter the next step.

[0059] Step S132. When A ≤ E1, switch to the following leveling stage 2.

[0060] Leveling stage 2:

[0061] Step S231. When A > E1, switch to the leveling stage 1.

[0062] Step S232. When E2 < A ≤ E1, perform the second rough leveling. Specifically: the control module 11 controls the leveling motor 12 to run intermittently in the opposite direction of the inclination of movement 1. The running speed is constant at V0, and the intermittent running is to run for a period of time and stop for a period of time.

[0063] S233. When E3 < A ≤ E2, perform fine leveling. Specifically: the control module 11 controls the leveling motor 12 to run intermittently in the opposite direction of the inclination of movement 1. The running speed is defaulted to V0. The intermittent running is that the running time is t1, the stop time is t2, and the running period is T. Among them,

[0064] t1 = A * Kp Equation (2)

[0065] t2 = T - t1 Equation (3)

[0066] Among them, A represents the inclination value of the movement angle, Kp is the proportionality coefficient. In a specific embodiment, Kp = 0.002, T = 600 ms, and the units of the running time t1 and the stop time t2 are both ms.

[0067] Over-leveling will cause the movement 1 to shake, increase the leveling time, and interfere with the leveling accuracy. When the number of over-leveling times is too large, it indicates that the bubble sensor 13 or the transmission mechanism is too sensitive. In the above step S131, over-leveling monitoring is set. Through the above over-leveling monitoring and feedback control method, the running stroke of the leveling motor 12 is shortened, and the bubble sensor 13 is controlled to stabilize as soon as possible within the stop time t2', so as to effectively complete the leveling.

[0068] In the above step S131, in a specific embodiment, N1 can be 2, and the stop time t2' for controlling the leveling motor 12 to stop can be any integer or non-integer time between 600 ms and 800 ms, and the running time t1' can be any integer or non-integer time between 600 ms and 800 ms. For example, the stop time t2' is 750 ms and the running time t1' is 750 ms.

[0069] In the above step S131, the filtering coefficient Lp of the bubble sensor 13 is adjusted to the maximum value. In a specific embodiment, the filtering coefficient Lp of the bubble sensor 13 = 0.2.

[0070] Through the setting of the above filtering coefficient, the change of the movement angle inclination value can be quickly identified. Especially in the rough leveling stage, mean filtering is adopted, with fast response, and the purpose of "fast" in control can be achieved.

[0071] In the above step S232, in a specific embodiment, the running time of this step of intermittent operation can be any integer or non-integer time between 600 ms and 800 ms, and the stop time can be any integer or non-integer between 600 ms and 800 ms. For example, the running time is 750 ms and the stop time is 750 ms. In this step, during the operation of the leveling motor 12, the value of the bubble sensor 13 is monitored in real time.

[0072] In the above step S232, in order to achieve the effect of rapid leveling, the filtering coefficient Lp of the bubble sensor 13 is also adjusted to the maximum value. In a specific embodiment, the filtering coefficient Lp of the bubble sensor 13 = 0.2.

[0073] In step S233, to prevent misdetection of the signal of the water bubble sensor 13, the filtering coefficient Lp of the water bubble sensor 13 is adjusted to Lp = 0.06. In this step, when the micro change or no change occurs in the inclination value of the movement angle, through the setting of this filtering coefficient, the interference signal can be filtered out, and a low-pass filter is added, which is applicable to the fine leveling stage, achieving the effects of "stable" and "accurate" in control.

[0074] In the above steps S131 - S233, E1 - E3 can take different values according to different models of the level. In a specific embodiment, E1 = 1900, E2 = 1500, E3 = 40 can be adopted. That is to say, the plural adjustment intervals described in S3 are successively: A > 1900, 1500 < A ≤ 1900, 40 < A ≤ 1500. In a specific embodiment, when A > 1900, it represents that the inclination value A of the movement angle exceeds the sensor range; when 1500 < A ≤ 1900, it represents that the inclination value A of the movement angle exceeds A ± 132"; when 40 < A ≤ 1500, it represents that the inclination value A of the movement angle is less than or equal to A ± 132".

[0075] It is set that when the fine leveling is completed in the above steps S131 - S233, the inclination value A of the movement of the leveling motor 12 is less than C0. In a specific embodiment, E3 = C0 = 40.

[0076] The leveling accuracy of the leveling motor 12 is specified as P. For example, in a specific embodiment, the accuracy P = 110, which is the value corresponding to the accuracy of a 10″ level.

[0077] The angle value at one end of the range of the water bubble sensor 13 is B0, and the angle value at the other end is B1. The range of the water bubble sensor 13 refers to the effective range of the inclination angle of the movement of the leveling motor 12 in two inclination directions, and the values in this range are converted by an analog-to-digital converter (ADC). In a specific embodiment, considering the measurement error, when A ≤ E1 (1900), it can be considered that the inclination value A of the movement angle enters the range of the water bubble sensor 13.

[0078] It is set that when the secondary fine leveling is started, the inclination value A of the movement of the leveling motor 12 is greater than C1, and C1 > C0. In a specific embodiment, C1 = 60.

[0079] Refer to Figure 4, are the positions corresponding to the respective values of A0, C0, C1, P, B1, and B0 on the bubble sensor 13. A0 is the reference value of the movement angle. A0 represents the value of the voltage signal of the bubble sensor 13 when the movement 1 of the leveling motor 12 is horizontal. The closer to A0, the smaller the tilt angle of the movement 1 and the smaller the corresponding value. The farther from A0, the larger the tilt angle of the movement 1 and the larger the corresponding value. The area D0 between C0 and C0 is the leveling completion area after the execution of the above steps S131 to S233. In the range extending to the left and right from C0, leveling needs to be performed according to the above leveling control method.

[0080] Further, in a specific embodiment, repeated leveling monitoring is set during the execution of step S233, referring to Figure 4 , the repeated leveling means that when the movement angle tilt value A is in the D1 or D1' area, due to factors such as the transmission mechanism being too sensitive, the motor running speed being too high, and the running time being too long, the movement angle tilt value A frequently sways in the D1 interval and the D1' area, and fine leveling cannot be completed for a long time. When the movement angle tilt value A sways from the D1 interval to the D1' interval or from the D1' interval to the D1 interval, it is recorded as 1 time of repeated leveling. The repeated leveling monitoring means using the control module 11 to monitor the number of times of repeated leveling. When the number of times of repeated leveling exceeds N2 times, the running speed of the leveling motor 12 is reduced to V1. When the number of times of repeated leveling exceeds N3 times, the running speed of the leveling motor 12 is reduced to V2, where V0 > V1 > V2, and the values of V0, V1, and V2 are adjusted according to conventional values.

[0081] By this method, machines with overly sensitive transmission mechanisms, especially those with long usage time, whose transmission mechanisms have been run-in for a long time, have small resistance, and are sensitive, can be leveled quickly and accurately. In a specific embodiment, the N2 times can be 2 times, and the N3 times can be 4 times.

[0082] Further, in a specific embodiment, during the execution of step S233, the control module 11 monitors the change process of the movement angle inclination value A. Within 4*T time, if the change amount of the movement angle inclination value A < C0, it indicates that the resistance of the transmission mechanism is large. At this time, the running time t1 of the leveling motor 12 is increased to drive the transmission mechanism to operate with a greater driving force. In a specific embodiment, the method for increasing the running time t1 is as follows: when increasing the driving force for the first time, the running time is increased by 1.5 ms. If the previous increase in the driving force is ineffective, when increasing the driving force again, the increment of the running time is twice that of the previous running time increment. For example, when increasing the driving force for the first time, the running time is increased by 1.5 ms. If the previous increase in the driving force has no effect, when increasing the driving force again, the running time is increased by 3 ms to increase the running time t1. The stop time is reduced accordingly according to the method of increasing the running time t1. For example, when increasing the driving force for the first time, the stop time is reduced by 1.5 ms. If the previous increase in the driving force has no effect, when increasing the driving force again, the stop time is reduced by 3 ms accordingly, and the running cycle T is controlled to remain unchanged. This method is applicable to the case where the resistance of the transmission mechanism is large, especially for a new transmission mechanism that has not been run-in. The ineffectiveness of increasing the driving force means that after adjusting the running time t1 and the stop time t2, it is monitored that within 4*T time, the change amount of the movement angle inclination value A < C0. In a specific embodiment, E3 = C0 = 40.

[0083] Further, execute the above S233 step until the movement angle inclination value A < E3, and the leveling is completed. The leveling motor 12 stops working. After that, during the operation of the laser level, when the control module 11 monitors that the movement angle inclination value A is greater than E4, the fine leveling step of the S233 step is run again to ensure that the subsequent movement angle inclination value A is within E4, thereby controlling the leveling accuracy during the operation of the laser level within a certain error range. E3 < E4. In a specific embodiment, E4 = C1 = 60, and the re - running of the S233 step under this condition is defined as secondary fine leveling.

[0084] Using the above leveling control method, the fine leveling accuracy is ±4″, the secondary fine leveling accuracy is ±6″, the theoretical error of the laser level is ±6″, and other errors come from the measurement system error.

[0085] Starting from the state where the movement inclination angle of the leveling motor 12 is 5.7°, the above leveling control method is tested. The results show that it takes 15 seconds to complete the rough leveling and about 20 seconds to complete the fine leveling. This control method can achieve the effects of relatively high leveling accuracy and relatively short leveling time.

[0086] Of course, the above embodiments are the best embodiments of the present invention, only for explaining the technical concept and features of the present invention. The purpose is to enable those who are familiar with this technology to understand the content of the present invention and implement it accordingly, and it cannot be used to limit the protection scope of the present invention. All modifications made according to the spirit and essence of the main technical solution of the present invention should be covered within the protection scope of the present invention.

Claims

1. A leveling control method for a leveling instrument, characterized in that: The following steps are involved: The movement angle of the leveling motor when the movement is horizontal is determined as the movement angle reference value; Collect the current movement angle of the movement, subtract it from the movement angle reference value, and obtain the difference, the absolute value of the difference is the movement angle inclination value; According to the inclination value of the movement angle, the leveling motor is controlled to run continuously or intermittently.

2. A leveling control method for a rotary leveling device as claimed in claim 1, characterized in that: The method of controlling the leveling motor to run continuously or intermittently according to the inclination value of the movement angle includes: S31, when the inclination value of the movement angle is greater than E1, controlling the leveling motor to run continuously at a constant speed in the opposite direction of the movement inclination; S32, when the inclination value of the movement angle is greater than E2 and less than or equal to E1, controlling the leveling motor to run at a constant speed and intermittently in the opposite direction of the movement inclination; S33, when the inclination value of the movement angle is greater than E3 and less than or equal to E2, the leveling motor is controlled to change speed and run intermittently in the opposite direction of the movement inclination, the running time of the intermittent operation is t1, the stop time of the intermittent operation is t2, and the running cycle of the intermittent operation is T, t1=movement angle inclination value*Kp, t2=T-t1, where Kp is a proportional coefficient; Said E1>E2>E3.

3. A leveling control method for a rotary leveling device as claimed in claim 2, characterized in that: In the step S31, the tilt direction of the movement is first determined. When the tilt direction of the movement this time is different from that of the last time, it is recorded as an over-leveling. When the number of over-leveling times exceeds N1 times, the leveling motor is controlled to stop for t2′ time. After running for t1′ time, the movement angle tilt value is recalculated, and the leveling motor is controlled to operate according to the methods of S31 to S33 based on the recalculated movement angle tilt value.

4. A leveling control method for a rotary leveling device as claimed in claim 3, characterized in that: The speed change operation in step S33 includes: When the movement angle inclination value is greater than E3 and less than E2, the running speed of the leveling motor is speed V0, and repeated leveling monitoring is set; When the number of repeated leveling exceeds N2 times, the running speed of the leveling motor is V1, and when the number of repeated leveling exceeds N3 times, the running speed of the leveling motor is V2; The running speed V0>V1>V2.

5. The leveling control method of a rotary leveling device according to claim 4, characterized in that: The step S33 also includes a step of monitoring the actual change of the movement angle. Within 4*T time, when the change in the movement angle inclination value is less than E3, the operation cycle T is controlled to remain unchanged, the operation time t1 is increased, and the stop time t2 is reduced.

6. The leveling control method of a rotary leveling device according to claim 2, characterized in that: When the movement angle inclination value is less than or equal to E3, the leveling is completed. After the leveling is completed, the movement angle inclination value is monitored. When the movement angle inclination value is greater than E4, the S33 step is executed again until the movement angle inclination value is less than E4, and E3<E4<E2.

7. The leveling control method of a rotary leveling device according to claim 2, characterized in that: In the step S31, the running speed of the leveling motor is V0; In the step S32, the running speed of the leveling motor is V0.

8. A leveling instrument, comprising a control module, a leveling motor, and a bubble sensor, wherein the leveling motor and the bubble sensor are connected to the control module, and the bubble sensor collects the angle of the leveling motor movement, characterized in that: The control module collects the angle value of the leveling motor movement according to the bubble sensor, and performs leveling control on the leveling instrument using the leveling control method of the leveling instrument as described in any one of claims 1 to 7.

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