Fully automatic leveling system and method for deck theodolite

Abstract

A fully automatic leveling system for a deck theodolite comprises: a leveling device, on which a deck theodolite is arranged and which is configured to adjust a horizontal axis system of the deck theodolite on the basis of a control instruction from a leveling controller; a first gradienter, which is arranged on the deck theodolite and configured to read and provide to the leveling controller the levelness of the deck theodolite in a certain direction; a reference plane extension device, which is arranged on a ship datum plane and configured to acquire values of levelness deviation between the reference plane extension device and the ship reference plane in different directions and provide the values of levelness deviation to the leveling controller; a second gradienter, which is arranged on the datum plane extension device and configured to read and provide to the leveling controller the levelness of the ship datum plane in a certain direction; and the leveling controller, which is configured to automatically rotate and adjust the deck theodolite on the basis of the read values of levelness deviation between the horizontal axis system of the deck theodolite and the ship reference plane, thus achieving automatic leveling of the deck theodolite by means of repeat iterations.

Description

A fully automatic leveling system and method for a deck theodolite Technical Field

[0001] The present invention relates to the technical field of ship-specific system alignment, and in particular to a full-automatic leveling system and method for a deck theodolite. Background Art

[0002] Alignment is crucial for ensuring the strike accuracy of shipborne specialized systems. It encompasses key parameters affecting the effectiveness of key equipment, including the sight's sheer angle and elevation, the detector's azimuth, range, elevation, and navigation attitude angle. The zero accuracy of the sight's sheer angle, elevation, and range is crucial for the system's strike accuracy, requiring periodic alignment during ship construction and after delivery.

[0003] The deck theodolite can complete the zero alignment of the sight system's side angle, elevation angle, and distance while the ship is moored, playing a significant role in ship mooring alignment. However, this also exposes shortcomings in the leveling process. The deck theodolite's horizontal axis needs to be aligned with the ship's reference plane. This requires manual synchronization of the spirit level located on the ship's reference plane and the spirit level located on top of the deck theodolite to align their measurement directions. The difference in level between the two must be manually read, and the deck theodolite's leveling knob must be adjusted. Repeated measurements and adjustments are required to achieve consistent levelness. This operation is difficult, inefficient, and results in unstable accuracy when the ship's platform is swaying.

[0004] Summary of the Invention

[0005] The object of the present invention is to provide a fully automatic leveling system for a deck theodolite, so as to improve the leveling efficiency and precision of the deck theodolite.

[0006] In order to solve the above technical problems, the present invention provides a technical solution: a fully automatic leveling system for a deck theodolite, the system comprising:

[0007] Leveling device; the deck theodolite is arranged on the leveling device, and the leveling device is used to adjust the horizontal axis system of the deck theodolite according to the control instructions of the leveling controller;

[0008] A first level, provided on the deck theodolite, for reading and providing the leveling controller with the horizontality of the deck theodolite in a certain direction;

[0009] The reference plane leading device is set on the ship's reference plane and is used to obtain the horizontal deviation value between itself and the ship's reference plane in different directions and provide it to the leveling controller;

[0010] The second level is arranged on the reference plane leading device, and is used to read and provide the levelness of a certain direction of the ship's reference plane to the leveling controller;

[0011] The leveling controller is electrically connected to the first level, the second level, the deck theodolite, the leveling device, and the reference plane lead-out device. By sending rotation instructions to the deck theodolite and the reference plane lead-out device, the horizontality of the first level and the second level in different horizontal directions is obtained. The horizontality deviation values ​​of the deck theodolite and the ship reference plane in different directions are combined to obtain the horizontality deviation values. Then, a control instruction is sent to the leveling device to adjust the horizontal axis system of the deck theodolite so that the horizontality difference between the horizontal axis system of the deck theodolite and the ship reference plane in a certain direction is reduced. After multiple iterations of "rotating the deck theodolite and the reference plane lead-out device" and "adjusting the horizontal axis system of the deck theodolite", the horizontality difference between the horizontal axis system of the deck theodolite and the ship reference plane in the set direction meets a preset range.

[0012] According to the above scheme, the reference plane lead-out device includes a ball bearing with a horizontal rotation direction. The ball bearing is provided with an outer portion and a central portion that can rotate relative to each other. A bracket is provided at the bottom of the outer portion, and a motor and a worm gear with a transmission connection are provided on the outer portion. An autocollimator is fixed to the central portion. The measuring direction of the autocollimator points to the ship's reference plane below. A worm is fixed to the top of the autocollimator along the circumferential direction. The worm is connected to the worm gear for transmission. A second spirit level is provided above the top of the autocollimator.

[0013] According to the above solution, a position sensor for obtaining the rotation angle of the autocollimator is provided between the outer portion and the worm.

[0014] A fully automatic leveling method for a deck theodolite comprises the following steps:

[0015] S1. Control the datum plane lead-out device and the deck theodolite to rotate to the target measurement direction. At this time, the measurement directions of the first level and the second level are the same.

[0016] S2. Receive the levelness from the first level meter and the second level meter, and obtain the levelness difference between the deck theodolite and the ship's reference plane in the target measurement direction by combining the levelness difference between the reference plane leading device and the ship's reference plane in different directions;

[0017] S3. Control the leveling device to adjust the horizontal axis of the deck theodolite so that the horizontal difference between the horizontal axis of the deck theodolite and the reference plane of the ship in the target measurement direction is reduced;

[0018] S4, change the target measurement direction and return to S1;

[0019] S5. Execute S1 to S4 in a loop until the horizontality difference between the horizontal axis system of the deck theodolite and the ship's reference plane in the set direction meets the preset range, and the leveling of the deck theodolite is completed.

[0020] According to the above scheme, the target measurement directions include 0°, 90°, 180°, and 270°, where 0° corresponds to the pitch direction of the ship and 270° corresponds to the roll direction of the ship.

[0021] According to the above scheme, the set directions include 0° and 270°.

[0022] A datum plane extraction method is implemented using the datum plane extraction device in the fully automatic leveling system of the deck theodolite described above. The method uses an autocollimator to measure the ship's datum plane to obtain the verticality deviation between the datum plane extraction device and the ship's datum plane, and converts the obtained verticality deviation into the horizontality deviation between the datum plane extraction device axis system and the ship's datum plane. A motor drives a worm gear and a worm to rotate the autocollimator, and the readings of the autocollimator in different directions are measured to obtain the horizontality deviation values ​​between the datum plane extraction device and the ship's datum plane in different directions.

[0023] The beneficial effects of the present invention are as follows: the system realizes automatic reading of the horizontal deviation of different planes between the horizontal axis system of the deck theodolite and the ship's reference plane, and realizes automatic leveling according to the deviation. Compared with the traditional manual measurement and leveling method, the leveling efficiency of the system is higher, the error caused by manual measurement is avoided, and it is more suitable for the environment where the ship is swaying. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] FIG1 is a schematic structural diagram of a fully automatic leveling system of a deck theodolite according to an embodiment of the present invention;

[0025] FIG2 is a schematic structural diagram of a reference plane lead-out device according to an embodiment of the present invention.

[0026] In the figure: 1-ball bearing, 2-bracket, 3-autocollimator, 4-worm, 5-position sensor, 6-CMOS, 7-second level, 8-motor, 9-worm gear, 10-light source. DETAILED DESCRIPTION

[0027] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0028] This embodiment is based on the existing technology: "A Deck Theodolite" (ZL 200710082225.6) and is improved by adding an automatic leveling design and a reference plane lead-out design. The improved deck theodolite can automatically adjust its own horizontal axis system to be parallel to the ship's reference plane, eliminating the need for manual rotation of the precision level, manual reading of horizontal difference data, and manual adjustment of the deck theodolite's horizontal axis system. This improves the accuracy and efficiency of alignment, with an estimated efficiency increase of 70%, and better meets the normalized zero-position alignment and accuracy inspection needs of ships underway.

[0029] Referring to FIG1 , a fully automatic leveling system for a deck theodolite is shown, the system comprising:

[0030] Leveling device; the deck theodolite is arranged on the leveling device, and the leveling device is used to adjust the horizontal axis system of the deck theodolite according to the control instructions of the leveling controller;

[0031] A first level, provided on the deck theodolite, for reading and providing the leveling controller with the horizontality of the deck theodolite in a certain direction;

[0032] A reference plane extraction device is provided on the ship's reference plane and is used to obtain horizontal deviation values ​​between itself and the ship's reference plane in different directions and provide them to the leveling controller; the reference plane extraction device includes a ball bearing 1 with a horizontal rotation direction, the ball bearing 1 having a peripheral portion and a central portion that can rotate relative to each other, a bracket provided at the bottom of the peripheral portion 2, a motor 8 and a worm gear 9 connected in a transmission manner provided on the peripheral portion, an autocollimator 3 fixed to the central portion, the measurement direction of the autocollimator 3 pointing downwardly toward the ship's reference plane, a worm 4 fixed circumferentially to the top of the autocollimator 3, the worm 4 being in transmission connection with the worm gear 9; a position sensor 5 for obtaining the rotation angle of the autocollimator 3 is provided between the peripheral portion and the worm 4;

[0033] The second level 7 is provided on the reference plane leading device and is used to read and provide the levelness of a certain direction of the ship's reference plane to the leveling controller;

[0034] The leveling controller is electrically connected to the first level meter, the second level meter 7, the deck theodolite, the leveling device, and the reference plane lead-out device. By sending rotation instructions to the deck theodolite and the reference plane lead-out device, the horizontality of the first level meter and the second level meter 7 in different horizontal directions is obtained. The horizontality deviation values ​​of the deck theodolite and the ship reference plane in different directions are combined to obtain the horizontality deviation values ​​of the deck theodolite and the ship reference plane in different directions. Then, a control instruction is sent to the leveling device to adjust the horizontal axis system of the deck theodolite so that the horizontality difference between the horizontal axis system of the deck theodolite and the ship reference plane in a certain direction is reduced. After multiple iterations of "rotating the deck theodolite and the reference plane lead-out device" and "adjusting the horizontal axis system of the deck theodolite", the horizontality difference between the horizontal axis system of the deck theodolite and the ship reference plane in the set direction meets the preset range.

[0035] A fully automatic leveling method for a deck theodolite comprises the following steps:

[0036] S1. Control the reference plane lead-out device and the deck theodolite to rotate to the target measurement direction (the target measurement directions include 0°, 90°, 180°, and 270°, where 0° corresponds to the pitch direction of the ship and 270° corresponds to the roll direction of the ship). At this time, the measurement directions of the first and second level instruments 7 are the same;

[0037] S2. Receive the levelness from the first and second level gauges 7, and obtain the levelness difference between the deck theodolite and the ship's reference plane in the target measurement direction by combining the levelness difference between the reference plane leading device and the ship's reference plane in different directions;

[0038] S3. Control the leveling device to adjust the horizontal axis of the deck theodolite so that the horizontal difference between the horizontal axis of the deck theodolite and the reference plane of the ship in the target measurement direction is reduced;

[0039] S4, change the target measurement direction and return to S1;

[0040] S5. Execute S1 to S4 in a loop until the horizontal difference between the horizontal axis of the deck theodolite and the ship's reference plane in the set direction (the set direction includes 0° and 270°) meets the preset range (or is 0), and the leveling of the deck theodolite is completed.

[0041] A reference plane extraction method is implemented using the reference plane extraction device in the fully automatic leveling system of the deck theodolite described above; the functions of the various parts of the reference plane extraction device are as follows: the autocollimator 3 emits a light beam through the light source 10, which is irradiated onto the ship's reference plane, the CMOS 6 receives the reflected light beam from the ship's reference plane and outputs a verticality deviation value, the motor 8, the worm gear 9, and the worm 4 are used to drive the device to rotate horizontally, the position sensor 5 is used to sense the rotation angle of the device, the bracket 2 and the ball bearing 1 are used to support and rotate the device, and the second level 7 completes the horizontality measurement of the device's axis system.

[0042] The method measures the ship's datum plane by using an autocollimator to obtain the verticality deviation between the datum plane lead-out device and the ship's datum plane, and converts the obtained verticality deviation into the horizontality deviation between the axis system of the datum plane lead-out device and the ship's datum plane; the motor 8 drives the worm gear 9 and the worm 4 to rotate the autocollimator 3, and measures the readings of the autocollimator 3 in different directions, thereby obtaining the horizontality deviation values ​​between the datum plane lead-out device and the ship's datum plane in different directions.

[0043] Specifically, the autocollimator starts from the 0° direction and measures and records an autocollimation reading {Ax i ,Ay i}, N is the number of measurements. The data can be fitted into a circle, where the radius of the circle represents the degree of deviation between the device's axis and the autocollimation optical axis. This deviation is a fixed deviation and can be eliminated by rotating the level meter. The center position represents the horizontal deviation angle {dx, dy} of the device's axis relative to the deck reference plane in the 0° direction (ship pitch) and 270° direction (ship roll), thereby solving the dx and dy values. The calculation method is as follows:

[0044] The leveling controller adds {dx,dy} corrections to the acquired horizontal axis system of the device in the directions of 0° and 270° respectively to obtain the horizontality value of the ship's reference plane, thereby completing the process of deriving the horizontality of the ship's reference plane.

[0045] The technical points of the present invention are:

[0046] (1) Automatic leveling design of deck theodolite: According to the horizontal difference between the horizontal axis of the deck theodolite and the ship's reference plane measured by a precision level, the horizontal axis of the deck theodolite is automatically adjusted to make the two tend to be consistent.

[0047] (2) Design of ship reference plane extraction: The horizontality of the ship reference plane is extracted to the axis system of the reference plane extraction device through the self-collimation method, so that the precision level instrument can measure the horizontality of its axis system through rotation measurement.

[0048] The fully automatic leveling method for a deck theodolite improves the accuracy and efficiency of alignment, can better meet the normalized zero-position alignment and accuracy inspection work of ships at sea, and can also be applied to the rapid inspection of the levelness of primary and auxiliary reference platforms and equipment, thereby achieving better economic and military benefits.

[0049] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A fully automatic leveling system for a deck theodolite, characterized by: The system includes, Leveling device; the deck theodolite is arranged on the leveling device, and the leveling device is used to adjust the horizontal axis system of the deck theodolite according to the control instructions of the leveling controller; A first level, provided on the deck theodolite, for reading and providing the leveling controller with the horizontality of the deck theodolite in a certain direction; The reference plane leading device is set on the ship's reference plane and is used to obtain the horizontal deviation value between itself and the ship's reference plane in different directions and provide it to the leveling controller; The second level is arranged on the reference plane leading device, and is used to read and provide the levelness of a certain direction of the ship's reference plane to the leveling controller; The leveling controller is electrically connected to the first level, the second level, the deck theodolite, the leveling device, and the reference plane lead-out device. The controller obtains the horizontality of the first level and the second level in different horizontal directions by sending rotation instructions to the deck theodolite and the reference plane lead-out device. The controller obtains the horizontality deviation values ​​of the deck theodolite and the ship's reference plane in different directions by combining the horizontality deviation values ​​of the reference plane lead-out device and the ship's reference plane in different directions. The controller then sends control instructions to the leveling device to adjust the horizontal axis system of the deck theodolite so as to reduce the horizontality difference between the horizontal axis system of the deck theodolite and the ship's reference plane in a certain direction. After multiple iterations of "rotating the deck theodolite and the reference plane lead-out device" and "adjusting the horizontal axis system of the deck theodolite", the horizontality difference between the horizontal axis system of the deck theodolite and the ship's reference plane in a set direction is ensured to meet a preset range.

2. The fully automatic leveling system for a deck theodolite according to claim 1, characterized in that: The reference plane lead-out device includes a ball bearing with a horizontal rotation direction. The ball bearing is provided with an outer portion and a central portion that can rotate relative to each other. A bracket is provided at the bottom of the outer portion. A motor and a worm gear with a transmission connection are provided on the outer portion. An autocollimator is fixed to the central portion. The measuring direction of the autocollimator points to the ship reference plane below. A worm is fixed to the top of the autocollimator along the circumferential direction. The worm is connected to the worm gear for transmission. A second spirit level is arranged above the top of the autocollimator.

3. The fully automatic leveling system for a deck theodolite according to claim 2, characterized in that: A position sensor for obtaining the rotation angle of the autocollimator is provided between the outer portion and the worm.

4. A fully automatic leveling method for a deck theodolite, characterized by: The following steps are included: S1. Control the datum plane lead-out device and the deck theodolite to rotate to the target measurement direction. At this time, the measurement directions of the first level and the second level are the same. S2. Receive the levelness from the first level meter and the second level meter, and obtain the levelness difference between the deck theodolite and the ship's reference plane in the target measurement direction by combining the levelness difference between the reference plane leading device and the ship's reference plane in different directions; S3. Control the leveling device to adjust the horizontal axis of the deck theodolite so that the horizontal difference between the horizontal axis of the deck theodolite and the reference plane of the ship in the target measurement direction is reduced; S4, change the target measurement direction and return to S1; S5. Execute S1 to S4 in a loop until the horizontality difference between the horizontal axis system of the deck theodolite and the ship's reference plane in the set direction meets the preset range, and the leveling of the deck theodolite is completed.

5. The fully automatic leveling method for a deck theodolite according to claim 4, characterized in that: The target measurement directions include 0°, 90°, 180°, and 270°, where 0° corresponds to the pitch direction of the ship and 270° corresponds to the roll direction of the ship.

6. The fully automatic leveling method for a deck theodolite according to claim 5, characterized in that: The setting directions include 0° and 270°.

7. A reference plane extraction method, characterized in that: The method is implemented by utilizing the datum plane lead-out device in the fully automatic leveling system of the deck theodolite according to claim 3; the method measures the ship's datum plane by means of an autocollimator to obtain the verticality deviation between the datum plane lead-out device and the ship's datum plane, and converts the obtained verticality deviation into the horizontality deviation between the axis system of the datum plane lead-out device and the ship's datum plane; the worm gear and worm are driven by a motor to rotate the autocollimator, and the readings of the autocollimator in different directions are measured to thereby obtain the horizontality deviation values ​​between the datum plane lead-out device and the ship's datum plane in different directions.

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