Multi-axis laser leveler automatic leveling system for decoration construction

Abstract

The application relates to the technical field of precision measuring instruments, and particularly discloses a multi-axis laser leveler automatic leveling system for decoration construction, which adopts an intelligent leveling mechanism based on a magneto-rheological fluid in view of the deficiencies of traditional leveling methods in speed, precision and environmental adaptability; through modules such as unconstrained posture platform generation, real-time horizontal signal acquisition, non-uniform guide magnetic field generation and rigid support structure formation, fast switching from coarse adjustment to fine adjustment is realized; and through the phase change of the magneto-rheological fluid between the liquid state and the semi-solid state, large-range passive self-leveling is realized through gravity potential energy, high-precision active leveling is realized through the non-uniform magnetic field guidance, finally, a rigid integrated support structure is formed to isolate vibration, and a high-stability reference laser line is projected; the application significantly improves the leveling efficiency and the anti-interference capability, reduces the manufacturing cost, and is suitable for high-precision positioning and leveling requirements in complex construction environments.

Description

Technical Field

[0001] This invention relates to the field of precision measuring instrument technology, and more specifically, to an automatic leveling system for a multi-axis laser level used in decoration construction. Background Technology

[0002] In practical applications, especially in complex construction sites, multi-axis laser levels face a trade-off between leveling speed, accuracy, and environmental adaptability. The instrument needs to quickly complete initial leveling over a wide area, withstand ground vibrations and unexpected impacts, and ultimately output a highly stable reference laser line. This places extremely high demands on the dynamic response capability and stability of the leveling system after locking. Achieving rapid switching from coarse to fine adjustment and obtaining excellent anti-interference capabilities after locking are core technical challenges that urgently need to be solved in this field.

[0003] To address these challenges, the commonly used solutions in the industry currently include purely physical self-leveling systems based on gravity pendulums and electronic leveling systems based on servo motors. Physical self-leveling systems utilize magnetic damping or air damping to suppress pendulum swaying, naturally stabilizing it to a horizontal position; they are simple in structure and low in cost. Electronic leveling systems, on the other hand, actively adjust optical components through tilt sensors and servo motors to achieve higher precision leveling, but they are complex in structure and expensive. These two solutions represent trade-offs in different performance dimensions.

[0004] However, traditional methods have significant drawbacks: systems based on purely physical pendulums have limited self-leveling ranges, failing to function beyond these ranges, and require a long stabilization time during leveling, especially after external impacts, taking considerable time to regain stability. Their damping characteristics are fixed and cannot intelligently adapt to swaying conditions. While electronic leveling systems offer high precision, their leveling range is also limited, and their complex servo mechanical structures have relatively low reliability and high energy consumption in harsh construction environments. More importantly, after final stabilization, both solutions still maintain a flexible or semi-flexible connection between the core leveling components and the base, which is ineffective in isolating continuous high-frequency ground vibrations, causing the laser line to easily vibrate. Summary of the Invention

[0005] In view of this, in order to solve the problems mentioned in the background art, an automatic leveling system for a multi-axis laser level used in decoration construction is proposed.

[0006] The objective of this invention can be achieved through the following technical solution: This invention provides an automatic leveling system for a multi-axis laser level used in decoration construction, comprising: an unconstrained posture upper platform generation module, which receives a leveling command and, based on the leveling command, cancels the locking magnetic field applied to the spherical hinge connecting the upper platform and the base, thereby liquefying the magnetorheological fluid inside the spherical hinge to generate an unconstrained posture upper platform.

[0007] The real-time approach-to-horizontal signal generation module utilizes the preset low center of mass of the unconstrained posture platform to automatically swing under the action of gravity, and simultaneously collects the angle change data of the unconstrained posture platform to generate a real-time approach-to-horizontal signal that represents the swing amplitude and swing frequency.

[0008] The non-uniform guiding magnetic field generation module analyzes real-time approaching horizontal signals to identify overshoot oscillations and static deviations, and calculates the guiding force based on the identification results to drive the electromagnetic coil to generate a non-uniform guiding magnetic field.

[0009] The locked attitude confirmation module applies a non-uniform guiding magnetic field to the magnetorheological fluid to generate a directional traction force. The directional traction force counteracts the swaying inertia of the platform in the unconstrained attitude and guides it to the target attitude. When the attitude of the platform in the unconstrained attitude enters the preset stability threshold, a locked attitude confirmation signal is generated.

[0010] The rigid support structure forming module receives the attitude confirmation signal to be locked and applies a strong magnetic field to the magnetorheological fluid, causing the magnetorheological fluid to change from a liquid phase to a semi-solid phase, so as to form a rigid integrated support structure.

[0011] The stability reference laser line projection module activates the internal fine-tuning system for final fine-tuning based on the stability provided by the rigid integrated support structure, so as to project a highly stable reference laser line.

[0012] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects: (1) The present invention greatly improves the leveling efficiency by using gravitational potential energy for a wide range of self-leveling in the coarse adjustment stage and using non-contact magnetic field guidance in the fine adjustment stage. Compared with the slow damping process of the traditional pendulum system or the limited adjustment range of the electronic servo system, this method first uses liquefied magnetorheological fluid to achieve a free swing state with almost no damping, so that the instrument can quickly approach the horizontal using its own gravity. This not only expands the effective self-leveling angle range, but also significantly shortens the time required from instrument placement to entering the fine adjustment stage.

[0013] (2) After leveling, the present invention instantly solidifies the magnetorheological fluid to form a rigid integrated support structure, thereby achieving excellent vibration resistance and impact stability. Unlike traditional leveling systems that maintain a flexible connection after completion, this rigid locking state makes the upper platform and the base act as a whole, effectively isolating and absorbing high-frequency vibrations and accidental impacts from the ground, ensuring that the final projected reference laser line has extremely high stability and will not vibrate or drift due to external environmental interference.

[0014] (3) This invention utilizes a non-uniform guiding magnetic field to achieve active damping and precise guidance of the upper platform's attitude, thereby improving the accuracy and speed of leveling. The system can analyze the platform's sway signal in real time and intelligently generate a dynamically changing compensation magnetic field. This magnetic field can actively suppress overshoot sway and compensate for static deviations. Compared with traditional fixed magnetic damping or air damping, this active and adaptive control method can dissipate sway energy more quickly and gently complete the final attitude fine-tuning in a non-contact manner, achieving rapid convergence and high-precision positioning in the leveling process.

[0015] (4) This invention integrates multiple functions such as unlocking, coarse adjustment, fine adjustment, damping, and locking into a spherical hinge based on magnetorheological fluid, simplifying the overall mechanical structure of the instrument. By controlling different magnetic field modes, a single component can achieve state switching from omnidirectional free rotation to high-precision active guidance, and then to high-strength rigid locking, replacing the independent locking device, complex damper, and some servo mechanism that may be required in traditional solutions. This reduces the complexity of the system, potential failure points, and manufacturing costs, and improves the overall reliability and durability of the equipment. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the system module structure connection of the present invention.

[0018] Figure 2 This is a flowchart of the non-uniform guiding magnetic field control process of the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figure 1 The present invention provides an automatic leveling system for a multi-axis laser level used in decoration construction, comprising: an unconstrained posture platform generation module, a real-time approach level signal generation module, a non-uniform guiding magnetic field generation module, a posture confirmation module, a rigid support structure formation module, and a stability reference laser line projection module.

[0021] The unconstrained attitude platform generation module is connected to the real-time approach horizontal signal generation module, which is also connected to the non-uniform guiding magnetic field generation module. Both the unconstrained attitude platform generation module and the non-uniform guiding magnetic field generation module are connected to the attitude confirmation module to be locked. The attitude confirmation module to be locked is connected to the rigid support structure forming module, which is also connected to the stability reference laser line projection module.

[0022] The unconstrained attitude upper platform generation module receives a leveling command and, based on the leveling command, removes the locking magnetic field applied to the spherical hinge connecting the upper platform and the base, causing the magnetorheological fluid inside the spherical hinge to liquefy, thereby generating an unconstrained attitude upper platform.

[0023] In a specific embodiment of the present invention, the specific steps for generating the unconstrained attitude platform include: acquiring a start signal generated by the power switch circuit of a multi-axis laser level or a position change signal generated by a triaxial accelerometer.

[0024] It should be noted that this step aims to unlock the upper structure of the multi-axis laser level by releasing the lock of a special connecting mechanism, restoring its free movement capability and preparing for the subsequent automatic leveling process. The implementation process begins with the system's perception of changes in external conditions. First, the microcontroller built into the multi-axis laser level continuously monitors two input signal sources: a power switch circuit and a three-axis accelerometer. When the user presses the power button, the power switch circuit generates a high-level start signal; or, when the user moves the level, causing a change in its position or posture, the three-axis accelerometer detects an acceleration change exceeding a preset threshold, thereby generating a position change signal.

[0025] The start signal or position change signal is parsed into a leveling command.

[0026] Cut off the current supply to the electromagnetic coil used to generate the locking magnetic field, causing the magnetorheological fluid to change from a semi-solid state to a liquid state, thereby generating an unconstrained attitude platform.

[0027] It should be noted that upon receiving either a start signal or a position change signal, the microcontroller immediately parses and converts it into an internal leveling command. This leveling command is sent to a dedicated drive module that manages the magnetic field state of the spherical hinge. Before receiving the leveling command, this drive module continuously supplies a stable DC current to an electromagnetic coil surrounding the spherical hinge, generating a uniform and strong locking magnetic field. This magnetic field causes the magnetorheological fluid inside the spherical hinge to exhibit a near-solid state, thus forming a rigid constraint on the upper platform. Upon receiving the leveling command, the drive module immediately cuts off the current supply to the electromagnetic coil, causing the locking magnetic field to disappear instantaneously. With the removal of the locking magnetic field, the physical properties of the magnetorheological fluid filling the spherical hinge change instantly. The suspended magnetic particles inside lose their directional alignment constraint, transforming from an ordered chain structure to a disordered suspension state. Macroscopically, this manifests as the magnetorheological fluid rapidly transitioning from a high-strength semi-solid state to a low-viscosity Newtonian fluid state. Due to the liquefaction of the magnetorheological fluid, the rigid constraints previously formed by its solidified state were completely released, and the mechanical characteristics of the spherical hinge between the upper platform carrying the laser emission module and the base below were restored. That is, the upper platform can rotate freely in all directions without friction or obstruction around the geometric center of the spherical hinge under the action of gravity. Thus, the system successfully generated an unconstrained attitude upper platform for the subsequent coarse leveling stage.

[0028] The multi-axis laser level is a precision measuring tool capable of simultaneously projecting multiple horizontal and vertical reference laser lines, used for positioning and leveling in decoration construction. The base is the structural part supporting the entire level, consisting of a base and an upper platform. The upper platform is the upper part of the base, bearing core components such as the laser emitting unit. Rigid constraint refers to a physical connection state where there is no relative movement between the upper platform and the base, acting as a single unit. This state is achieved through the solidification of magnetorheological fluid. Magnetorheological fluid is a smart material composed of micron-sized magnetic particles suspended in a non-magnetic liquid. Its fluidity is controlled by the strength of an external magnetic field. Data shows that when a magnetic field of 0.5 Tesla is applied, its shear yield strength can reach 50 kPa, exhibiting a semi-solid state. Without a magnetic field, its viscosity is close to that of ordinary lubricating oil, exhibiting a liquid state. This characteristic is based on test data from various industrial-grade magnetorheological fluid samples on the market. The spherical hinge is a mechanical connector, its structure similar to a human joint, allowing the upper platform to rotate relative to the base in three-dimensional space. The base is the lower half of the platform, typically connected to a tripod or placed directly on the work surface. The start signal or position change signal is a digital electrical signal generated by a sensor inside the level, used to trigger the automatic leveling program. Its generation threshold is set when the equipment's tilt angle changes by more than 0.5 degrees or is subjected to an acceleration impact greater than 0.2g. This threshold is based on the analysis of measured data from multiple typical construction site handling and placement operations. The locking magnetic field is a strong magnetic field generated by an electromagnetic coil surrounding the spherical hinge, used to solidify the magnetorheological fluid. The unconstrained attitude of the upper platform refers to the free state of the upper platform after the rigid constraints are removed. At this point, it is only subject to gravity and the geometric constraints of the spherical hinge, allowing for omnidirectional free rotation.

[0029] For example, when a worker places a multi-axis laser level on a tripod at a construction site and presses the power switch, the power management chip inside the device detects the start signal and transmits it to the central microcontroller. Upon receiving this start signal, the microcontroller immediately generates and issues a leveling command. This leveling command is passed to the power drive circuit connected to the locking magnetic field coil. In response to the command, the circuit cuts off the 2-amp DC power supply to the coil. After the current is interrupted, the locking magnetic field of 0.6 Tesla strength that was maintained around the spherical hinge disappears. The magnetorheological fluid filling the spherical hinge thus changes from a semi-solid to a liquid state within 10 milliseconds. This change removes the rigid constraint on the upper platform, allowing the upper platform carrying the laser head to swing freely around the center of the spherical hinge, forming an unconstrained upper platform, creating the necessary conditions for the subsequent gravity-driven self-leveling process.

[0030] The real-time approach-to-horizontal signal generation module utilizes the preset low center of mass of the unconstrained posture platform to automatically swing under the action of gravity, and simultaneously collects the angle change data of the unconstrained posture platform to generate a real-time approach-to-horizontal signal that represents the swing amplitude and swing frequency.

[0031] In a specific embodiment of the present invention, the specific steps of collecting angle change data of the unconstrained posture platform to generate a real-time approaching horizontal signal characterizing the swing amplitude and swing frequency include: using a preset low center of mass to generate a restoring torque under the action of gravity to drive the unconstrained posture platform to automatically swing to a horizontal position.

[0032] It should be noted that, following the unconstrained attitude platform generated in the previous step, this step utilizes physical principles to perform preliminary passive leveling without external energy input, and simultaneously converts this process into data signals usable by the subsequent control system. The implementation process begins with the natural swaying of the unconstrained attitude platform due to gravity. During the design phase, the structure of the platform and the layout of its internal components were precisely calculated and weighted, ensuring that the center of mass of the entire platform system was set at a specific position below its rotational center, i.e., the geometric center of the spherical hinge. When the platform is tilted, gravity acts on this lowered center of mass, generating a restoring torque. This torque continuously drives the unconstrained attitude platform to oscillate around the center of the spherical hinge, and due to energy dissipation, its oscillation eventually tends towards a stable state where the system's center of mass is at its lowest point, i.e., a physically horizontal position.

[0033] The tilt sensor continuously collects data on the angle change of the platform during the swinging process in an unconstrained posture.

[0034] It should be noted that as the platform begins to automatically swing towards a horizontal position in an unconstrained posture, a tilt sensor fixed to the platform is simultaneously activated. This tilt sensor continuously measures and outputs the instantaneous tilt angle of the platform in two orthogonal directions at a fixed high frequency, for example, 200 times per second. Thus, the tilt sensor generates a continuous time-series data stream, accurately recording the entire process of the platform gradually approaching a horizontal position from its initial tilted state through reciprocating oscillations.

[0035] The angle change data is processed into a real-time approaching horizontal signal that includes information on swing amplitude and swing frequency.

[0036] It should be noted that, next, the microcontroller receives this raw angle change data stream and processes it in real time. The processing algorithm first calculates the maximum and minimum angle values ​​within a set time period to determine the current swing amplitude, and then calculates the swing frequency by analyzing the time interval between the zero-crossing points of the angle data. In this way, the raw angle data is transformed into a new data stream containing two key dynamic features: swing amplitude and swing frequency. This data stream is the real-time approach-level signal, which can dynamically describe the real-time behavioral characteristics of the platform approaching a horizontal state, providing a basis for subsequent precise active control.

[0037] It should also be noted that the specific method for determining the current swing amplitude is as follows: the processing algorithm continuously collects angle change data of the platform in an unconstrained posture within a set time period. Then, the algorithm finds the maximum and minimum values ​​of the angle data within the set time period, and the difference between the maximum and minimum values ​​is determined as the current swing amplitude. The specific method for calculating the swing frequency is as follows: the time of each angle change from positive to negative or from negative to positive (i.e., the zero-crossing point) is recorded. By calculating the time interval between two adjacent zero-crossing points, the algorithm can determine the swing period. Then, using the formula Calculate the oscillation frequency, where Represents frequency, Represents the cycle.

[0038] The center of mass of the upper platform system is the equivalent mass concentration point of the upper platform and all its load-bearing components. Its position is designed to ensure that it can generate an automatic self-aligning torque in the gravitational field. The tilt sensor is an electronic component, typically based on microelectromechanical systems (MEMS) technology, capable of measuring the tilt angle of an object relative to the horizontal plane in real time. It is configured for dual-axis measurement with a measurement accuracy of 0.01 degrees and a sampling frequency of 200 Hz. This frequency setting is based on the analysis of the system's oscillation characteristics, ensuring that all key dynamic changes are captured without signal aliasing. The real-time approach-level signal is a composite data signal; it is not a single angle reading, but a processed dataset reflecting the system's dynamic process. Its data structure is a two-dimensional vector containing a timestamp, real-time oscillation amplitude value, and real-time oscillation frequency value.

[0039] For example, continuing from the previous example, after the locking magnetic field disappears, the unrestrained platform, which was initially tilted at 5 degrees, begins to swing around the center of the spherical hinge under the influence of gravity because its system center of mass is 2 mm below the geometric center of the spherical hinge. Simultaneously, a dual-axis tilt sensor mounted on the platform begins to operate at a frequency of 200 times per second, collecting angle data. In the first 0.5 seconds, it records that the platform's swing amplitude swings from 5 degrees across the horizontal position to a reverse 3.5 degrees, with a swing frequency of approximately 2 Hz. The microcontroller analyzes these continuous angle change data in real time, processing them into a real-time approaching horizontal signal. This signal, at this moment, contains "T+0.5 seconds, current swing amplitude 8.5 degrees, current swing frequency 2 Hz," and continuously outputs this signal to the analysis module in the next step.

[0040] Please see Figure 2 The non-uniform guiding magnetic field generation module analyzes the real-time approaching horizontal signal to identify overshoot oscillation and static deviation, and calculates the guiding force based on the identification results to drive the electromagnetic coil to generate a non-uniform guiding magnetic field.

[0041] In a specific embodiment of the present invention, the specific steps of analyzing the real-time approaching horizontal signal to identify overshoot oscillation and static deviation, and calculating the guiding force based on the identification results to drive the electromagnetic coil to generate a non-uniform guiding magnetic field include: identifying overshoot oscillation caused by inertia and final static deviation caused by minor disturbances from the real-time approaching horizontal signal.

[0042] It should be noted that this step receives and interprets the real-time approaching horizontal signal generated in the previous process, transforming it into a precise physical field for active control. The implementation process begins with the microcontroller continuously parsing the real-time approaching horizontal signal data stream. A built-in analysis algorithm first identifies the oscillation amplitude data in the signal. When the upper platform oscillates past the horizontal zero point, the algorithm records the maximum angle reached by its reverse motion; this angle value is identified as overshoot oscillation. Simultaneously, the algorithm continuously monitors the attenuation of the oscillation amplitude. When the amplitude falls below a preset small threshold for a continuous set time, the system is considered to have entered a quasi-static state. At this point, the algorithm calculates the average value of the upper platform tilt angle readings. The difference between this average value and the ideal horizontal position of zero degrees is identified as the final static deviation.

[0043] In one specific embodiment of the present invention, during the process of the algorithm continuously monitoring the attenuation of the swing amplitude, the preset small threshold value can be typically 0.1 degrees. This value is based on a comprehensive consideration of the system accuracy requirements and the interference factors of the actual construction site environment.

[0044] The magnitude and direction of the guiding force are calculated based on the overshoot oscillation and the final static deviation.

[0045] In a specific embodiment of the present invention, the specific steps of calculating the magnitude and direction of the guiding force based on the overshoot oscillation and the final static deviation include: for the overshoot oscillation, calculating a dynamic damping force whose magnitude is proportional to the oscillation angular velocity and whose direction is opposite to the oscillation direction.

[0046] For the final static deviation, a static correction force is calculated that is proportional to the deviation angle and points to the ideal horizontal position.

[0047] The dynamic damping force and the static correction force are vector-superimposed to form a comprehensive guiding force that changes dynamically over time.

[0048] It should be noted that after identifying overshoot and final static deviation, the control algorithm immediately calculates the guiding force. For overshoot, the algorithm calculates a dynamic damping force whose magnitude is proportional to the angular velocity of the oscillation and whose direction is opposite to the oscillation direction; for final static deviation, the algorithm calculates a static correction force whose magnitude is proportional to the deviation angle and whose direction is towards the ideal horizontal position. Subsequently, these two forces are vector-superimposed to form a comprehensive guiding force that dynamically changes over time.

[0049] It should also be noted that this step involves calculating the conversion of dynamic signals into physical forces. To ensure the clarity and reproducibility of the technical solution, the following formula is introduced to guide the force. Calculation: ,in, This represents the guiding force ultimately applied to the upper platform, measured in Newton-meters. It is a vector whose direction is used to counteract sway and deviation. It is a dynamic damping coefficient, measured in Newton-meter-seconds per radian. Its value is determined experimentally based on the rotational inertia of the upper platform and the desired decay rate; a typical value might be set to... . The angular velocity is obtained by taking the time derivative of the angle data in the real-time approaching horizontal signal, and the unit is radians per second. It represents the speed of overshoot oscillation. It is a static stiffness coefficient, measured in Newton-meters per radian. Its value is set according to the system's accuracy requirements; a typical value may be set to... . It is the instantaneous angle in the real-time approach horizontal signal. It is the target horizontal angle, ideally 0 degrees, therefore This is the final static deviation, in radians. .

[0050] The guiding force is decomposed into two mutually perpendicular components, which respectively drive two sets of orthogonal electromagnetic coils integrated on the outer wall of the spherical hinge to generate a non-uniform guiding magnetic field.

[0051] It should be noted that this guiding force is decomposed into two mutually perpendicular components, corresponding to two sets of orthogonal electromagnetic coils integrated on the outer wall of the spherical hinge. The microcontroller precisely adjusts the magnitude and direction of the current supplied to these two sets of coils, enabling each to generate a magnetic field of controllable intensity. Since the two sets of coils are orthogonal in space, their magnetic fields, when superimposed inside the spherical hinge, form a composite magnetic field with non-uniform intensity and direction in space. The distribution of this magnetic field gradient and direction is precisely designed to ensure that its force on the magnetic particles in the magnetorheological fluid is macroscopically equivalent to the calculated guiding force. Thus, the system successfully generates a non-uniform guiding magnetic field for precise attitude guidance.

[0052] Overshoot refers to the phenomenon where, under the influence of gravity, the upper platform moves towards a horizontal position but, due to inertia, exceeds its equilibrium point and continues to move in the opposite direction. The final static deviation is caused by minute friction or other disturbances in the system, resulting in a small angular error between the stable posture and absolute horizontal position of the upper platform after its free swing has stopped. The guiding force is a virtual, calculated control force that combines the functions of suppressing sway and correcting deviation. Two sets of orthogonal electromagnetic coils are the actuators, typically consisting of X-axis and Y-axis coils, vertically arranged outside the spherical hinge, capable of independently generating magnetic fields along their respective axes. The non-uniform guiding magnetic field is a vector superposition of magnetic fields generated by the two sets of orthogonal electromagnetic coils. Its strength and direction vary in space, thus generating a non-contact, precisely controllable pushing or pulling force on the magnetic particles within the magnetorheological fluid.

[0053] For example, continuing from the previous example, after the microcontroller receives a real-time approaching-level signal of "T+0.5 seconds, current swing amplitude 8.5 degrees, current swing frequency 2 Hz", the analysis algorithm identifies that overshoot oscillation is occurring. Based on the preset control model and formula... The algorithm calculates that a damping force opposite to the current swing direction is needed to suppress the overshoot. Assuming the upper platform is currently swinging along the X-axis, the microcontroller outputs a precisely calculated pulse current to the X-axis solenoid coil while keeping the Y-axis coil current zero. This current generates a non-uniform guiding magnetic field within the spherical hinge, with its gradient direction opposite to the upper platform's motion, precisely preparing for subsequent fine-tuning.

[0054] The locked attitude confirmation module applies a non-uniform guiding magnetic field to the magnetorheological fluid to generate a directional traction force. The directional traction force counteracts the swaying inertia of the platform in the unconstrained attitude and guides it to the target attitude. When the attitude of the platform in the unconstrained attitude enters a preset stability threshold, a locked attitude confirmation signal is generated.

[0055] In a specific embodiment of the present invention, the specific steps of generating a lockable attitude confirmation signal when the attitude of the platform in an unconstrained attitude enters a preset stable threshold include: using a non-uniform guiding magnetic field to generate a directional traction force on magnetic particles in a magnetorheological fluid.

[0056] It should be noted that this step utilizes the non-uniform guiding magnetic field generated in the previous step to actively and non-contactly adjust the attitude of the upper platform until it reaches a highly stable preset state. The implementation process begins with the effect of the non-uniform guiding magnetic field on the liquid magnetorheological fluid inside the spherical hinge. Under the influence of the non-uniform guiding magnetic field, the micron-sized magnetic particles suspended in the magnetorheological fluid will experience a magnetic force pointing in the direction of magnetic field enhancement. Because the magnetic field is non-uniform, this magnetic force varies in magnitude and direction in different regions inside the magnetorheological fluid, thus generating a directional traction force on the liquid magnetorheological fluid on a macroscopic scale. The overall effect of this directional traction force is precisely designed to be completely consistent with the guiding force calculated in the previous stage in both magnitude and direction.

[0057] The platform actively counteracts the swaying inertia of the unconstrained attitude by using directional traction force, and guides it to the target attitude.

[0058] Once the tilt sensor confirms that the attitude of the platform in an unconstrained state remains within a preset stability threshold for a preset time, it generates a confirmation signal for the attitude to be locked.

[0059] It should be noted that through this directional traction force, the system actively and gently counteracts the natural swaying inertia of the upper platform. When the upper platform tends to overshoot, the traction force applies a counter-damping effect, acting like an invisible brake, effectively absorbing the swaying energy and causing it to decay rapidly. Simultaneously, for the final static deviation, the traction force provides a continuous, small pulling force directed towards the target horizontal attitude, gently guiding the upper platform to the precise position to eliminate the deviation. Throughout the fine-tuning process, the tilt sensor remains operational, feeding back its collected real-time angle data to the microcontroller. The microcontroller continuously compares the real-time attitude with a preset stability threshold. Once the microcontroller confirms that the real-time attitude of the upper platform remains within the preset stability threshold for a predetermined period, such as 100 milliseconds, it determines that the fine-tuning phase has been successfully completed and immediately generates a lock-on attitude confirmation signal to trigger the next locking operation.

[0060] The target attitude, or ideal horizontal position, is the ultimate goal of the leveling process. The preset stability threshold is a numerical range used to determine whether the upper platform's attitude is sufficiently stable to proceed to the next locking step. Its setting is based on the initial attitude requirements of the multi-axis laser level's internal self-leveling system, and can be set to a value that... The internal self-leveling system is a precision leveling mechanism integrated into the multi-axis laser level, such as a magnetically damped pendulum or electronic compensation module. It is responsible for performing a final calibration with higher precision based on coarse and fine adjustments.

[0061] For example, continuing from the previous example, a non-uniform guiding magnetic field generated by an X-axis electromagnetic coil is applied to the liquid magnetorheological fluid within the spherical hinge. The magnetic particles in the magnetorheological fluid are acted upon by the magnetic field force, generating a macroscopic traction force that counteracts the oscillation inertia of the upper platform along the X-axis. The 3.5-degree reverse overshoot that occurred in the previous oscillation is effectively suppressed in this oscillation, reaching only 0.5 degrees. After two seconds of repeated fine-tuning, the oscillation of the upper platform is completely suppressed, and its final static deviation is also corrected. At this time, the readings continuously sent by the tilt sensor show that the attitude of the upper platform is stable within a preset stability threshold of ±0.05 degrees in both the X and Y axes. After confirming that this stable state has lasted for 100 milliseconds, the microcontroller generates a lockable attitude confirmation signal and sends it to the locking module of the magnetic field control system, marking the end of the non-contact fine-tuning phase.

[0062] The rigid support structure forming module receives a confirmation signal of the attitude to be locked and applies a strong magnetic field to the magnetorheological fluid, causing the magnetorheological fluid to change from a liquid phase to a semi-solid phase, so as to form a rigid integrated support structure.

[0063] In a specific embodiment of the present invention, the specific steps of applying a strong magnetic field to the magnetorheological fluid to change the magnetorheological fluid from a liquid phase to a semi-solid phase in order to form a rigid integrated support structure include: after receiving the confirmation signal of the attitude to be locked, immediately cutting off the current of the electromagnetic coil used to generate the non-uniform guiding magnetic field.

[0064] It should be noted that this step, based on the locked attitude confirmation signal from the previous process, performs a rapid physical state transition operation to firmly fix the upper platform in the already adjusted precise attitude. The core of the implementation process is an instantaneous locking mechanism. First, the locking module in the magnetic field control system continuously listens for signals from the microcontroller in standby mode. Once a high-level locked attitude confirmation signal is received, the locking module is immediately triggered. The first action after triggering is to immediately and completely cut off all current supply to the two sets of orthogonal electromagnetic coils. This operation aims to eliminate the non-uniform guiding magnetic field used for fine-tuning, preventing it from interfering with the upcoming locking process.

[0065] A strong direct current is applied to an independent locked magnetic field system to generate a strong magnetic field.

[0066] It should be noted that, immediately following this, almost simultaneously, the locking module connects a high-power DC power supply to a separate locking magnetic field system pre-installed around the spherical hinge. This locking magnetic field system consists of one or more high-power electromagnetic coils, designed to generate a strong magnetic field with a much higher intensity than the guiding magnetic field and a highly uniform spatial distribution. When a strong DC current is applied to this system, a uniform strong magnetic field with an intensity of up to 1.0 Tesla is rapidly established throughout the entire internal space of the spherical hinge.

[0067] A strong magnetic field is used to induce a phase transition of the magnetorheological fluid from a liquid state to a high-strength semi-solid state within milliseconds, thereby forming a rigid integrated support structure.

[0068] It should be noted that under the influence of this strong magnetic field, the physical properties of the magnetorheological fluid undergo a rapid phase transition from a liquid to a semi-solid state. All the magnetic particles suspended in the magnetorheological fluid instantly align themselves along the magnetic field lines, forming a stable and robust chain-like microstructure. This transforms the magnetorheological fluid from a low-viscosity liquid into a solid-like material with extremely high shear strength and yield stress within milliseconds. After this phase transition, the spherical hinge function that previously allowed the upper platform to rotate freely is completely suppressed. The solidified magnetorheological fluid forms a seamless, weld-like connection between the upper platform and the base, eliminating any mechanical contact gaps and creating a rigid, integrated support structure with high rigidity and vibration resistance.

[0069] The locking magnetic field system is a separate electromagnetic coil system from the fine-tuning coil, specifically designed to generate a strong magnetic field for achieving solidification and locking. The high-current direct current required to drive the locking magnetic field system, with a set value of 10 amperes, is calculated based on the coil parameters and the required magnetic field strength, ensuring that 95% of the target magnetic field strength is reached within 1.5 milliseconds. The strong magnetic field generated by the locking magnetic field system, with a set strength of 1.0 Tesla, is based on the performance curve of the selected magnetorheological fluid, ensuring that it reaches its maximum shear yield strength, thereby achieving the strongest locking effect.

[0070] For example, continuing from the previous example, upon receiving the confirmation signal for the locked posture, the locking module immediately cuts off the current supplying the orthogonal electromagnetic coils of the X and Y axes from the microampere level to zero. Simultaneously, it connects a 24-volt DC power supply to the coils of the locking magnetic field system via a high-power relay, instantaneously generating a strong 10-ampere DC current. This current causes the magnetic field strength inside the spherical hinge to rapidly increase from almost zero to 1.0 Tesla within 1.5 milliseconds. Under the influence of this strong magnetic field, the internal magnetorheological fluid undergoes a phase transition from liquid to a high-strength semi-solid state, achieving a shear yield strength of 60 kPa. Thus, the upper platform carrying the multi-axis laser level is firmly locked in the precisely leveled posture after fine-tuning, forming a rigid integrated support structure with the base, effectively resisting external vibrations and impacts.

[0071] The stability reference laser line projection module activates its internal fine-tuning system for final fine-tuning based on the stability provided by the rigid integrated support structure, so as to project a highly stable reference laser line.

[0072] In a specific embodiment of the present invention, the specific steps of activating the internal fine-tuning system for final fine-tuning on the basis of stability provided by the rigid integrated support structure to project a highly stable reference laser line include: utilizing the material damping characteristics of the rigid integrated support structure to isolate high-frequency vibrations from the external environment.

[0073] Based on the stability achieved by isolating high-frequency vibrations, the internal fine-tuning system is activated to perform sub-millimeter precision fine-tuning to complete the entire leveling process, thereby outputting a highly stable reference laser line.

[0074] It should be noted that this step, based on the ultra-stable physical foundation established in the previous process, activates the instrument's built-in higher-precision adjustment mechanism to complete the entire leveling process and output the final results. The implementation process begins with utilizing the physical properties of the rigid integrated support structure. This structure, formed by solidified magnetorheological fluid, not only provides extremely high rigidity, but its material itself also possesses excellent damping characteristics. It can absorb and convert high-frequency vibration and impact energy transmitted from the ground or tripod into heat dissipation, thus providing effective passive vibration isolation protection for the supporting upper platform. On such an ultra-stable platform, almost unaffected by minor external vibrations, the microcontroller, after confirming the locking operation is complete, immediately issues a command to activate the fine-tuning system built into the multi-axis laser level. Depending on the instrument model, this fine-tuning system may be a magnetically damped pendulum or an electronic compensation system. After the command is issued, these systems begin to work, performing final, extremely fine-tuning of the high-precision level attitude achieved in the previous steps. They detect and correct any residual, extremely small attitude deviations, with a correction accuracy reaching the level of one-thousandth of a degree. Once this final sub-millimeter precision fine-tuning is complete, the fine-tuning system returns a stable and ready signal to the microcontroller. Upon receiving the signal, the microcontroller drives the laser emission module to operate at full power, projecting a clear and bright reference laser line. Due to the extremely stable platform on which it sits and the fact that its own attitude has undergone the highest precision calibration, this projected laser line has extremely high positional stability and will not jitter or drift due to environmental vibrations, thus forming the final highly stable reference laser line.

[0075] The fine-tuning system is a core component built into the multi-axis laser level at the factory, used to achieve the highest precision leveling. Magnetic damping pendulum or electronic compensation system are two common methods for implementing fine-tuning. The magnetic damping pendulum uses a suspended weight to sense the direction of gravity and quickly eliminates swaying through a magnetic field, thus stabilizing the laser beam. The electronic compensation system uses high-precision tilt sensors and servo motors to actively adjust optical elements to compensate for minute tilts of the instrument in real time. Sub-millimeter precision fine-tuning refers to adjusting the laser beam's pointing accuracy to an extremely high level. The standard for this is typically that at a specific working distance, the deviation of the laser line from an absolutely horizontal or vertical line is less than one millimeter; for example, at a distance of 10 meters, the deviation is less than 0.5 millimeters.

[0076] For example, continuing from the previous example, after the rigid integrated support structure is formed, even if construction workers walk nearby causing slight high-frequency vibrations in the floor, these vibrations are effectively absorbed by the solidified magnetorheological fluid and fail to be transmitted to the upper platform. At this point, the microcontroller activates the electronic compensation system inside the level. The system's built-in sensor detects a residual static deviation of 0.02 degrees along the Y-axis, and the servo motor then fine-tunes the angle of the compensation prism to completely correct this deviation. After correction, the laser diode is lit at full power, projecting a bright red horizontal line onto the wall 15 meters away. This highly stable reference laser line remains perfectly still even in the continuous construction environment, and the entire adaptive leveling process is now complete.

[0077] The above content is merely an example and illustration of the concept of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, and all such modifications and additions should fall within the protection scope of the present invention.

Claims

1. An automatic leveling system for a multi-axis laser level used in decorative construction, characterized in that, include: The unconstrained attitude upper platform generation module receives a leveling command and, based on the leveling command, removes the locking magnetic field applied to the spherical hinge connecting the upper platform and the base, causing the magnetorheological fluid inside the spherical hinge to liquefy, thereby generating an unconstrained attitude upper platform. The real-time approach-to-horizontal signal generation module utilizes the preset low center of mass of the unconstrained posture platform to automatically swing under the action of gravity, and simultaneously collects the angle change data of the unconstrained posture platform to generate a real-time approach-to-horizontal signal that represents the swing amplitude and swing frequency. The non-uniform guiding magnetic field generation module analyzes real-time approaching horizontal signals to identify overshoot oscillations and static deviations, and calculates the guiding force based on the identification results to drive the electromagnetic coil to generate a non-uniform guiding magnetic field. The specific steps of analyzing the real-time approaching horizontal signal to identify overshoot oscillation and static deviation, and calculating the guiding force based on the identification results to drive the electromagnetic coil to generate a non-uniform guiding magnetic field include: identifying overshoot oscillation caused by inertia and final static deviation caused by minor disturbances from the real-time approaching horizontal signal; The magnitude and direction of the guiding force are calculated based on the overshoot oscillation and the final static deviation. The specific steps for calculating the magnitude and direction of the guiding force based on overshoot oscillation and final static deviation include: for overshoot oscillation, calculating a dynamic damping force whose magnitude is proportional to the oscillation angular velocity and whose direction is opposite to the oscillation direction; For the final static deviation, calculate the static correction force whose magnitude is proportional to the deviation angle and whose direction is towards the ideal horizontal position; The dynamic damping force and the static correction force are vector-superimposed to form a comprehensive guiding force that changes dynamically over time. The guiding force is decomposed into two mutually perpendicular components, which respectively drive two sets of orthogonal electromagnetic coils integrated on the outer wall of the spherical hinge to generate a non-uniform guiding magnetic field. The locked attitude confirmation module applies a non-uniform guiding magnetic field to the magnetorheological fluid to generate a directional traction force. The directional traction force counteracts the swaying inertia of the platform in the unconstrained attitude and guides it to the target attitude. When the attitude of the platform in the unconstrained attitude enters the preset stability threshold, a locked attitude confirmation signal is generated. The rigid support structure forming module receives the attitude confirmation signal to be locked and applies a strong magnetic field to the magnetorheological fluid, causing the magnetorheological fluid to change from a liquid phase to a semi-solid phase, so as to form a rigid integrated support structure. The stability reference laser line projection module activates the internal fine-tuning system for final fine-tuning based on the stability provided by the rigid integrated support structure, so as to project a highly stable reference laser line.

2. The automatic leveling system for a multi-axis laser level used in decorative construction according to claim 1, characterized in that: The specific steps for generating the unconstrained posture on the platform include: Acquire the start signal generated by the power switch circuit of the multi-axis laser level or the position change signal generated by the triaxial accelerometer; The start signal or position change signal will be interpreted as a leveling command. Cut off the current supply to the electromagnetic coil used to generate the locking magnetic field, causing the magnetorheological fluid to change from a semi-solid state to a liquid state, thereby generating an unconstrained attitude platform.

3. The automatic leveling system for a multi-axis laser level used in decorative construction according to claim 1, characterized in that: The specific steps for collecting angle change data of the unconstrained posture platform to generate a real-time approaching horizontal signal characterizing the swing amplitude and swing frequency include: By utilizing a preset low center of mass to generate a restoring torque under the action of gravity, the platform in an unconstrained posture is automatically swung to a horizontal position. The tilt sensor continuously collects data on the angle change of the platform during the swinging process in an unconstrained posture. The angle change data is processed into a real-time approaching horizontal signal that includes information on swing amplitude and swing frequency.

4. The automatic leveling system for a multi-axis laser level used in decorative construction according to claim 1, characterized in that: The specific steps for generating a confirmation signal for the attitude to be locked when the platform's attitude enters a preset stability threshold in an unconstrained attitude include: A non-uniform guiding magnetic field is used to generate directional traction force on magnetic particles in a magnetorheological fluid. The swaying inertia of the platform in an unconstrained posture is actively countered by directional traction force, and it is guided to the target posture. Once the tilt sensor confirms that the attitude of the platform in an unconstrained state remains within a preset stability threshold for a preset time, it generates a confirmation signal for the attitude to be locked.

5. The automatic leveling system for a multi-axis laser level used in decorative construction according to claim 1, characterized in that: The specific steps of applying a strong magnetic field to the magnetorheological fluid to change the fluid from a liquid to a semi-solid state, thereby forming a rigid integrated support structure, include: Upon receiving the attitude confirmation signal to be locked, immediately cut off the current to the electromagnetic coil used to generate the non-uniform guiding magnetic field; A strong direct current is applied to an independent locking magnetic field system to generate a strong magnetic field; A strong magnetic field is used to induce a phase transition of the magnetorheological fluid from a liquid state to a high-strength semi-solid state within milliseconds, thereby forming a rigid integrated support structure.

6. The automatic leveling system for a multi-axis laser level used in decorative construction according to claim 1, characterized in that: The specific steps for activating the internal fine-tuning system for final fine-tuning based on the stability provided by the rigid integrated support structure to project a highly stable reference laser line include: By utilizing the material damping properties of a rigid integrated support structure, high-frequency vibrations from the external environment can be isolated. Based on the stability achieved by isolating high-frequency vibrations, the internal fine-tuning system is activated to perform sub-millimeter precision fine-tuning to complete the entire leveling process, thereby outputting a highly stable reference laser line.

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