CN101825461B - Platform leveling device based on cylindrical model - Google Patents

Abstract

A platform leveling device based on a cylindrical model comprises an all-dimensional tilt sensor shell, an LED lighting source, a closed transparent conical container, light-tight liquid, a camera, an embedded system, a power source, a compass, a platform, a platform supporting leg position servo control action unit and a platform supporting leg position servo control drive unit, wherein the closed transparent conical container is formed by combining two cones in the same size back to back; the container is filled with the light-tight liquid which is half the volume of the container; the non-light-tight part of the transparent conical container, which is shot by the camera in front, is analyzed, judged and computed to obtain the measurement parameters of the platform to be measured, such as tilt angle, tilt azimuth and the like; and the multi-supporting leg platforms which are irregularly arranged are horizontally and automatically adjusted by using the measurement parameters according to different leveling strategies. The device has good operability, high measurement accuracy, good stability, strong applicability, low manufacture cost and strong real time and safe reliability.

Description

Platform leveling device based on cylindrical model

Technical field

The present invention relates to the horizontal automatic adjusting method of a kind of platform; Belong to the application aspect the level control of various platforms of physics, digital image processing techniques, LED technology, embedded technology, the network communications technology, surface level visualization technique, Computer Control Technology and mechanical designing technique, mainly be applicable to fields such as geophysical survey, earth movement monitoring, oil well/gas well monitoring, dam monitoring, heavy spreading machine, hull adjustment, deviation control, continuous casting technology, weapon platform adjustment.

Background technology

Along with the particularly development of military industry of modern industry, need the platform object of leveling more and more, scope is also more and more wider, and is increasingly high to reliability, rapidity and the accuracy requirement of leveling.

In general, level is adjusted platform automatically and mainly is made up of following three ingredients: 1) the comprehensive obliquity sensor of the levelness of detection platform; 2) be used to control the control hardware and the software systems of platform levelness; 3) be used for quick and precisely carrying out the servo-drive system that leveling is moved; Therefore the platform automatic horizontal control system of any function admirable must possess following functional parameter: 1) accuracy: the accuracy degree of system depends primarily on the resolution of obliquity sensor; 2) stability:, require platform that higher stability is arranged in order to adapt to the demand of modern weapons equipment high maneuverability and quick-reaction capability (QRC); 3) rapidity: the response speed of obliquity sensor significantly improves and advanced leveling control algolithm; 4) operability: in automatic horizontal control system, be designed with the man-machine interaction display panel,, and system carried out the parameter setting according to need of work through the state and the various real-time parameter of its graphical interfaces display system.Panel is provided with a plurality of function keys; Can freely define as required, realize the various operations of leveling system, be provided with the change-over switch of manual operation simultaneously; Can automatic horizontal control system break down or other in particular cases, accomplish leveling work by manual work.

In the horizontal tilt context of detection; The most frequently used means of measuring at present on the both direction of level inclination are to adopt double-shaft tilt angle sensor, and its principle of work is that the principle of utilizing angle and acceleration of gravity after acceleration transducer tilts to have functional relation is measured the inclination angle.Acceleration transducer is the surperficial MEMS polycide that is built in the silicon wafer top.The polysilicon reed is suspended in the structure of wafer surface, and a resistance that overcomes acceleration induction power is provided.With comprise two independently the differential capacitor mechanism that forms of the median plate that links to each other with motion matter piece of fixed head and come the deflection of measurement scale in the polycide of acceleration, export signal thereby produce voltage.Though the mode at this detection level inclination angle has many good qualities, and also exists the problem of the following aspects: 1) output is not directly perceived, can not directly export the important measurement data such as position angle and pitch angle of inclination; 2) manufacturing process is complicated, and cost is high; 3) information of output can only be for departing from the angle information of twin shaft, and the horizontal dynamic adjustment that carry out platform is restricted; 4) belong to indirect measurement, link is many in the testing process simultaneously, and relatively easy the generation detected the sum of errors fault; 5) can only be difficult to obtain absolute slant angle bearing through calculating the relative tilt position angle.

Aspect the action support of platform, at present for require can elevating movement and the system that can carry out horizontal adjustment adopt supported at three point, to support and 6 supports at 4 more, design feature adopts the pole form vertical with platform mostly.The benefit of supported at three point is to guarantee the centre of support of the action center of external force near support bar, supports relatively stable.And for the platform of the heavy object of supporting body bodice, for the rigidity that improves platform need take support or 6 supports at 4, support for 4 and certain statically indeterminate problems can occur, support for 6 that then the static indeterminacy number of times is corresponding has improved three times.Platform span for carrying bigger load is bigger, 6 supporting way of many employings in engineering, and the platform erection problem is also comparatively complicated.Generally must detect pitch angle and slant angle bearing for the platform erection problem by means of horizon sensor.

Aspect the control strategy of platform erection, present four point-supported platform erection problems have several different methods in engineering reality.A kind of method is to be both direction with the decoupling zero of four leveling supporting legs, on both direction, arranges level meter respectively, and the detection level degree is through the leveling implementation platform leveling of both direction.Promptly, lock the levelness of time direction then at a direction leveling platform, the direction of leveling another one again, this is a kind of leveling method based on 3 leveling; A kind of in addition method is to regulate the mathematical model of control through setting up platform, regulates four supporting legs simultaneously, realizes the horizontal adjustment to platform.The mode of in general, regulating four supporting legs simultaneously has the better dynamic responding ability.

Aspect the action drives mode of platform erection; The development of Along with computer technology and control technology, it is very general to use system controlled by computer at present, generally uses single-chip microcomputer or PLC as control center; With Hydraulic Elements or electromechanical compo as topworks; The electric liquid leveling system of 4 points, six-point supporting such as the leveling system of leveling system that is used in the missile truck platform and trailer-mounted radar, all is to control whole electrohydraulic system with microcomputer (single-chip microcomputer or PLC); And static pile press generally all is a four-point supporting, and its workbench weighs up to a hundred tons, and leveling system adopts electro-hydraulic servo control, electromechanical servo control or electric-hydraulic proportion control.In recent years, the appearance of high-tech laser weapon requires vehicular platform that higher leveling precision and stability are arranged, and adopts electrohydraulic servo system can not satisfy the requirement of system accuracy, has occurred replacing electrohydraulic system with electromechanical servo system thereupon.Particularly the development of computer technology, sensor technology and permanent-magnet synchronous AC servomotor drive technology is achieved the leveling system of high precision, high stability, and the servo-controlled precision of current position can reach millimeter level even more senior.

The leveling of any system can be reduced to the leveling to a certain platform plane.According to " 3 or two intersecting straight lines confirm a plane ", the essence of platform erection is with two intersecting straight lines furnishing levels on the platform.And based on theory analysis, two straight lines on the platform have only when each other vertical, and they are just not coupling in leveling separately.For this reason, on the X of platform, Y two orthogonal directions, respectively there is an obliquity sensor (being actually) to measure the level inclination on the both direction with a diaxon obliquity sensor.No matter which kind of leveling method all is the signal of gathering through obliquity sensor, with leveling method calculation control amount separately, drives the rising of supporting leg or descends through servo-drive system again and reach the purpose of leveling.

Aspect platform erection, still exist at present the accurate mathematics of control model that lacks each feet, especially under the many feets platform erection situation for informal arrangement, make to exist " empty pin " phenomenon on the above platform erection of three feets; The the underlying cause of so-called " empty pin " phenomenon be each strong point not in one plane; A lot of at present technology attempt detecting through the stressing conditions that detects each strong point whether " empty pin " phenomenon is arranged, such as the stressing conditions that detects the strong point through force transducer or pressure transducer; For the platform more than three feets; Like four feets, six feets, eight feets or any many feets; Hope with a kind of platform erection method can accurately calculate each feet before and after the platform erection separately offset deviation and in the platform erection process each feet translational speed separately, make in the platform erection process each feet can be even stressed and accomplish the leveling task rapidly by the platform erection control method.

Summary of the invention

Require the deficiency high, that measurement parameter is single etc. in order to overcome existing automatic horizontal control system manufacturing cost height, mechanism's more complicated, visuality and maintainable poor, environment for use, the present invention provides that a kind of operability is good, measuring accuracy is high, good stability, applicability by force, low cost of manufacture, real-time and the strong platform leveling device of safe reliability based on cylindrical model.

The technical solution adopted for the present invention to solve the technical problems is:

A kind of platform leveling device based on cylindrical model; Comprise omnibearing tilt sensor shell, LED lighting source, transparent cone container, light tight liquid, camera, microprocessor, power supply, compass, platform, platform feet position servo control motor unit and platform feet position servo control driver element; Described power supply is connected with described microprocessor with described lighting source; Described microprocessor is connected with described camera, and described transparent cone container is to be combined into a closed container by two onesize cones with back-to-back mode; Described transparent cone container is being fixed at described omnibearing tilt sensor shell middle part, and described LED lighting source is being fixed on top, and described camera is being fixed in the bottom; Described LED lighting source faces described transparent cone container center down and sends white light; The described up transparent cone container center induction of described camera sees through the transmitted light behind the transparent cone container; Described camera is through USB interface reads image data from described camera; Omnibearing tilt sensor is fixed on the described platform; Described platform is supported by described platform feet position servo control motor unit; Described platform feet position servo control driver element is controlled described platform feet position servo control motor unit and is moved up and down, and described microprocessor sends and moves control signal to described platform feet position servo control driver element;

Described omnibearing tilt sensor shell is column type, two planes of column type, and led light source is being fixed in one of them inboard, plane, and compass is being fixed in the outside, plane; On another plane, fixing camera, and direction is all inside; Transparent cone container is being fixed at the middle part of column type; The omnibearing tilt sensor shell adopts lighttight material, and the inwall of column type adopts the material of absorptive; The outer wall of column type is marked with the straight line that an axis with column type parallels, with this straight line as azimuthal initial point; Need rotate the omnibearing tilt sensor direction that the finger of compass is northern when using omnibearing tilt sensor overlaps with this straight line;

Described light tight liquid is injected in the described transparent cone container, and the state of the described light tight liquid in described transparent cone container will determine the horizontal tilt angle and the slant angle bearing of comprehensive horizontal detection; When omnibearing tilt sensor is in horizontality; Described lighting source is owing to receive the described light tight liquid interception in described transparent cone container, described camera can't receive send from described lighting source and through described transparent cone container transmitted light; When omnibearing tilt sensor is in heeling condition; Described light tight liquid takes place to flow in described transparent cone container and keeps horizontality; At this moment some zone of described transparent cone container between described lighting source and described camera is in the unshielding state, described camera receive send from described lighting source and through described transparent cone container part transmitted light;

Said microprocessor comprises: the horizontal control module of platform, be used to control the levelness of platform, and mainly comprise platform feet site error computing module and platform feet position servo control module;

Described platform feet site error computing module is used to calculate and will platform aligning and the displacement of adjusting to each strong point of horizontal level state lower platform be comprised preparation submodule and platform erection controlling sub that leveling is preceding; According to different demands, adopt right cylinder " peak " leveling algorithm, right cylinder " minimum point " leveling algorithm, right cylinder " intermediate point " leveling algorithm and " reference point " leveling algorithm;

Consider that each strong point of platform is not regularly arranged, can be evenly stressed in the platform erection process and accomplish the leveling task rapidly in order to guarantee each strong point according to the platform erection control method; According to the position height behind the platform erection, calculate the distance and position that each strong point need move with formula (6),

$z_x=\left\{\begin{array}{c}{R}_x\&times;\sin \mathrm{\&theta;}\&times;[\cos \left(\frac{{\mathrm{\&beta;}}_x}{R}\right)+1]+(z_c-z_o-\mathrm{\&Delta;})\&CenterDot;\&CenterDot;\&CenterDot;\mathrm{\&delta;}>1\\ R_x\&times;\sin \mathrm{\&theta;}\&times;[\cos \left(\frac{{\mathrm{\&beta;}}_x}{R}\right)+\mathrm{\&delta;}]\&CenterDot;\&CenterDot;\&CenterDot;\left|\mathrm{\&delta;}\right|\&le;1\\ R_x\&times;\sin \mathrm{\&theta;}\&times;[\cos \left(\frac{{\mathrm{\&beta;}}_x}{R}\right)-1]-(z_c-z_o+\mathrm{\&Delta;})\&CenterDot;\&CenterDot;\&CenterDot;\mathrm{\&delta;}<-1\end{array}\right.---\left(6\right)$

δ＝(z _c-z _o)/R×sinθ ₀

Δ＝2R×sinθ ₀

In the formula, z _xRepresent the required mobile vertical range of a certain strong point certain leveling of realization, R _xRepresent the distance of a certain strong point and right cylinder model center axle, θ representes the pitch angle of platform, β _xThe calculating slant angle bearing of representing a certain strong point, it is the angle β of X axle and a certain strong point and right cylinder model center axle line _XcWith measurement slant angle bearing β _cPoor, i.e. β _x=β _Xc-β _c, β _x∈ [0,2 π R] counterclockwise, z _oThe position of intermediate point on the Z axle before the expression platform erection, z _cThe position of intermediate point on the Z axle behind the expression platform erection, R representes the radius of right cylinder model, Δ is illustrated in right cylinder model medium dip platform peak and minimum point is projected in the distance on the Z axle, θ ₀The pitch angle of expression platform before leveling; δ representes the levelling range ratio of platform; | δ |≤1 expression levelling range is in right cylinder model medium dip platform peak and minimum point drop shadow spread; δ＜-1 expression leveling position is higher than the subpoint of peak on the Z axle of right cylinder model medium dip platform, and δ＞1 expression leveling position is lower than the subpoint of minimum point on the Z axle of right cylinder model medium dip platform; The tiltangle of platform and the calculating slant angle bearing β of the strong point in the formula (6) _xInformation be from the testing result of omnibearing tilt sensor, to obtain;

Differentiate can obtain the translational speed of each strong point of platform to formula (6), with formula (7) expression,

$\frac{{\&PartialD;z}_x}{\&PartialD;t}=R_x\&times;\cos \mathrm{\&theta;}\&times;[\cos \left(\frac{{\mathrm{\&beta;}}_x}{R}\right)+1]\frac{\&PartialD;\mathrm{\&theta;}}{\&PartialD;t}+\frac{\&PartialD;z_c}{\&PartialD;t}\&CenterDot;\&CenterDot;\&CenterDot;\mathrm{\&delta;}>1$

dz _x/dt＝R _x×cosθ×[cos(β _x/R)+δ]dθ/dt……………|δ|≤1 (7)

$\frac{{\&PartialD;z}_x}{\&PartialD;t}=R_x\&times;\cos \mathrm{\&theta;}\&times;[\cos \left(\frac{{\mathrm{\&beta;}}_x}{R}\right)-1]\frac{\&PartialD;\mathrm{\&theta;}}{\&PartialD;t}-\frac{\&PartialD;z_c}{\&PartialD;t}\&CenterDot;\&CenterDot;\&CenterDot;\mathrm{\&delta;}<-1$

Obtain following 3 kinds from formula (6) and formula (7) and aim at the leveling schemes: scheme 1) single leveling scheme; When the position after the leveling between the highs and lows of right cylinder model medium dip platform; Comprise highs and lows; Promptly satisfy | δ | during≤1 condition, can step implementation platform aligning leveling put in place, the leveling speed of each strong point must satisfy R _x* cos θ * [cos (β _x/ R)+and δ] d θ/dt, wherein d θ/dt is a leveling speed, the leveling rate curve is a compliant motion control curve; When the position after the leveling exceeds peak or the minimum point of right cylinder model medium dip platform; Promptly when δ＞1 or δ＜-1; Aim at leveling and need divide leveling and aim at this two various process completion, implementation can be that aligning also can be to aim at the back leveling earlier after the first leveling; The scheme of scheme 2) aiming at after the first leveling; Specific practice is, at first accomplishes leveling towards the peak or the minimum point direction of right cylinder model medium dip platform, when δ＞1; Peak to right cylinder model medium dip platform carries out leveling, and the leveling speed of each strong point must satisfy

Wherein

Be leveling speed, the leveling rate curve is a compliant motion control curve; When δ＜-1, carry out leveling to the minimum point of right cylinder model medium dip platform, the leveling speed of each strong point must satisfy

Wherein

Be leveling speed, the leveling rate curve is a compliant motion control curve; Then after the leveling release, all strong points are with identical speed

Carry out translation motion, wherein Be point-to-point speed, the point-to-point speed curve is a compliant motion control curve, moves to the height that sets up to platform plane; Scheme 3) scheme of aligning back leveling earlier, specific practice is that at first all strong points are with identical speed

Carry out translation motion, wherein

Be point-to-point speed, the point-to-point speed curve is a compliant motion control curve, each strong point (z that moves up when δ＞1 _c-z _o-Δ) distance, each strong point moves down (z when δ＜-1 _c-z _o+ Δ) distance; After alignment actions finishes, when δ＜-1, carry out leveling to the peak of sloping platform, the leveling speed of each strong point must satisfy

Wherein

Be leveling speed, the leveling rate curve is a compliant motion control curve; When δ＞1, carry out leveling to the minimum point of sloping platform, the leveling speed of each strong point must satisfy

Wherein

Be leveling speed, the leveling rate curve is a compliant motion control curve.

As preferred a kind of scheme: described light tight liquid, select the viscosity of light tight liquid according to the detection of dynamic demand, for the situation that has acting force in vertical direction, adopt the high light tight liquid of viscosity coefficient; For high detection of dynamic horizontality situation, adopt the low light tight liquid of viscosity coefficient; To light tight liquid, select can good absorption light, do not have corrosivity, to temperature-insensitive, satisfy range of viscosities liquid can be as light tight liquid.

Further, described microprocessor also comprises;

Image acquisition unit is used to read the video data that comes from camera, mainly comprises system initialization module and image read module;

System initialization module; Be used for reading some system datas that are stored in described system data storage unit, like the data such as reckoner of the width value δ of resolution, tiltangle and the light transmission part of the cone angle alpha of the radius R of transparent cone container, transparent cone container, initial orientation angle β 0, camera; Confirming of initial orientation angle β 0 is the angle according between the X-direction of straight line on the outer wall of column type and the video image that obtained;

The image read module is used to read the video data that comes from camera, and it is kept in the dynamic storage cell;

Pitch angle and slant angle bearing detecting unit; Be used to detect and calculate the tiltangle and the slant angle bearing β of testee, mainly comprise slant angle bearing β detection module, tiltangle detection module and tiltangle and slant angle bearing β rate of change computing module;

Slant angle bearing β detection module is used to detect the well azimuth of testee; The azimuthal definition of medium dip of the present invention is to begin to represent with the β angle value in a clockwise direction from direct north, and the detection slant angle bearing on the plane of delineation is to begin to represent with β c angle value in a clockwise direction from the X axle, and is as shown in Figure 3; Therefore between slant angle bearing β and detection slant angle bearing β c, exist following relation, shown in (1),

β＝βc+β0 (1)

In the formula: β is a slant angle bearing, and β c is for detecting slant angle bearing, and β 0 is the initial orientation angle;

Initial orientation angle β 0 dispatches from the factory when detecting at omnibearing tilt sensor and confirms according to the angle between the X-direction of straight line on the outer wall of column type and the video image that obtained, and is written in the system data storage unit;

Detect slant angle bearing β c and be and obtains transmitted light geometric configuration partly in the image according to institute and calculate definitely, the detection slant angle bearing is to begin to represent with β c angle value in a clockwise direction from the X axle; The combination that be shaped as half garden and half ellipse of light tight liquid when testee run-off the straight state in transparent cone container on the plane of delineation; Long axis of ellipse equals the radius in garden; The pitch angle has functional relation with oval minor axis; The more for a short time angle of inclination that shows of the minor axis data of the ellipse on the imaging plane is big more, and slant angle bearing then occurs in the positive dirction of ellipse short shaft; At this moment on imaging plane selenodont photosensitive region will appear; Selenodont middle part must appear in the angle position of ellipse short shaft; The computing method of angle position of calculating ellipse short shaft from image are shown in formula (2); Promptly begin to retrieve in a clockwise direction from the X axle, specific algorithm is following:

Step 1: drawing straight line from X-direction is that the center is the retrieval of straight line dextrorotation veer with the center of circle of image; If on X-direction, there is not bright pixel; Be that the center is the retrieval of straight line dextrorotation veer just from the center of circle that the X axle begins with image; Otherwise jumping to step 3, if the pixel of the circular outer ring that the rotation straight line runs into is bright pixel, is β 1 with regard to the angle of confirming as this rotation straight line and X-direction;

Step 2: then use the rotation straight line to continue to be the retrieval of straight line dextrorotation veer with the center of circle of image as the center, if the pixel right and wrong light pixel of the circular outer ring that the rotation straight line runs into, the rotation straight line of previous bright pixel and the angle of X-direction are β 2; Jump to step 5 then,

Step 3: then use the rotation straight line to continue to be the retrieval of straight line dextrorotation veer with the center of circle of image as the center, if the pixel right and wrong light pixel of the circular outer ring that the rotation straight line runs into, the rotation straight line of previous bright pixel and the angle of X-direction are β 2;

Step 4: then use the rotation straight line to continue to be rotated counterclockwise direction retrieval as the center as straight line with the center of circle of image, if the pixel right and wrong light pixel of the circular outer ring that the rotation straight line runs into, the rotation straight line of previous bright pixel and the angle of X-direction are β 1;

Step 5: through the angle beta c of formula (2) calculating ellipse short shaft,

βc＝(β1+β2)/2 (2)

And detection slant angle bearing β c must appear at the direction of ellipse short shaft;

The tiltangle detection module is used to detect the pitch angle of testee; Like Fig. 2 and shown in Figure 5, tiltangle can calculate through formula (3),

θ＝ctg ^-1[(R/δ-1)×ctg(α)] (3)

In the following formula, R is the radius of transparent cone container, and α is the coning angle of transparent cone container, and δ is the width value at the selenodont middle part of printing opacity, and θ is the pitch angle;

Described tiltangle detection module is used to detect the pitch angle of testee; Tiltangle can calculate through formula (4)

θ＝ctg ^-1[(R/δ-1)×ctg(α)] (4)

In the following formula, R is the radius of transparent cone container, and α is the coning angle of transparent cone container, and δ is the width value at the selenodont middle part of printing opacity, and θ is the pitch angle;

Here; Obtain in the system data of the cone angle alpha of the radius R of transparent cone container and transparent cone container from be stored in the system data storage unit; The width value δ at the selenodont middle part of printing opacity obtains through the analytical algorithm to image; Be that radioactive ray scan clockwise through imaging figure central point promptly, obtain the maximum transmission value on direction of axis line, specific algorithm is following:

According to the angle beta c of the resulting ellipse short shaft of formula (2) and the center of circle of image is that the center is the selenodont that straight line passes through printing opacity, calculates the pixel value of its printing opacity; If the resolution of camera is 640 * 480, the radius R of transparent cone container is that 200mm, each pixel are represented 0.83mm, if the printing opacity pixel value that calculates is 5 pixels, the width value δ at the selenodont middle part of printing opacity is 4.15mm so;

The radius R of the resolution of tiltangle and transparent cone container is relevant with the cone angle alpha of transparent cone container; Resolution according to the big more tiltangle of radius R of the transparent cone container of formula (4) is high more, and the cone angle alpha of transparent cone container and the resolution of tiltangle have functional relation; In general, the radius R of transparent cone container is to confirm that by the visual range of camera the radius R of transparent cone container is 200mm, on imaging plane, accounts for 240 pixels; The cone angle alpha of transparent cone container will be selected according to the real standard measurement range, has higher resolution for little tiltangle; Select or design the cone angle alpha of transparent cone container according to the needs of actual detected precision;

Further again, described microprocessor also comprises: the preparation submodule before the leveling, be used for being provided with in advance the structural parameters of the platform strong point, the strategy of leveling and the pattern of strong point translational speed, and concrete steps are following;

In formula (6) and formula (7), all used the distance R of a certain strong point and right cylinder model center axle _x, X axle and a certain strong point and right cylinder model center axle the angle β of line _XcThe structural parameters of this two group platforms strong point, these two groups of parameters must preset before the platform erection use; In order to be without loss of generality, adopt 6 strong point platforms to explain among the present invention through calculating the method for the structural parameters that obtain two group of 6 strong point;

Step 1) is confirmed the central point of platform: at first will confirm the central point O of platform, the naming method of the agreement strong point here, confirm the center of the central point O point of platform at rectangle plane;

Step 2) names each strong point: arrange 6 strong point A, B, C, D, E, F in a clockwise direction successively;

Step 3) is set up coordinate system: the line that definition O point and A are ordered is an X-direction;

Step 4) is set up the right cylinder model: mainly accomplish two tasks, and the firstth, calculate the length between O point and 6 strong point A, B, C, D, E, the F, distance R with right cylinder model center axle is supported a little _x, width W through rectangular edges and height H and Pythagorean theorem calculate the distance R of each strong point and right cylinder model center axle _x, with the shortest distance R _xRadius R as the right cylinder model;

The secondth, obtain the azimuth information of each strong point; Need to calculate the angle β of X axle and each strong point and right cylinder model center axle line _Xc, β _XcIt is relevant that angle and each supporting point position distribute, also the coordinate system with the coordinate system of omnibearing tilt sensor and platform is relevant simultaneously, in the coordinate system of omnibearing tilt sensor, defined the X axle that Xs representes omnibearing tilt sensor; In the coordinate system of platform, defined the X axle that X representes platform; Therefore as long as two X axis fit like a glove and all calculate slant angle bearing in a clockwise direction; Then the measurement slant angle bearing of platform is just in full accord with the measurement slant angle bearing of omnibearing tilt sensor, has so just set up unified reference system in the sensing detection of platform level with controlling;

Further, the line of ordering with platform center O point and strong point A is an X-direction, calculates the angle β of each strong point and X axle from CW _Xc, the angle β of each strong point and X axle _XcCalculate shown in formula (9),

Conclude the distance R of each strong point and right cylinder model center axle with table 1 _x, X axle and each strong point and right cylinder model center axle the angle β of line _XcThe structural parameters result of calculation of this two group platforms strong point; These structural parameters finally leave in system's basic data storage unit;

β _A1c＝0

β _B1c＝2×tan ^-1(H/W)

β _C1c＝2×tan ^-1(H/W)+tan ^-1(W/H)

β _D1c＝2×tan ^-1(H/W)+2×tan ^-1(W/H) (9)

β _E1c＝4×tan ^-1(H/W)+2×tan ^-1(W/H)

β _F1c＝4×tan ^-1(H/W)+3×tan ^-1(W/H)

The structural parameters of the table 1 platform strong point

Table 1

Step 5) is confirmed the strategy of leveling: the user can select any platform erection strategy in right cylinder " peak " leveling algorithm, right cylinder " minimum point " leveling algorithm, right cylinder " intermediate point " leveling algorithm and " reference point " leveling algorithm through man-machine interface; Wherein if the user has selected " reference point " leveling algorithm; At first require the user to select to aim at 2. aligning back leveling earlier after the 1. first leveling; Default aim at after being chosen as 1. first leveling; Then require the user to import the concrete data of " reference point ", as the control height value z of platform _cAlso require the user to import the leveling accuracy value Pv of platform in addition, as Pv=0.1 °, platform elemental height value z _o, these input results are kept in system's basic data storage unit;

Step 6) is confirmed the pattern of each strong point translational speed: in order to make platform in translation or leveling process, adjust to the horizontal level of setting steadily, apace; Simultaneously necessary each strong point can be evenly stressed; Preset each strong point translational speed pattern, belonged to a kind of sinusoidal curve; Concrete parameter need confirm that the user can import technical parameters such as maximum translational speed through the data that position servo control production firm is provided with the position servo control parameter of the strong point, finally confirms platform maximum capacity leveling speed (d θ/dt) _AbWith The control curve form; For the ease of digital control; Adopt n five equilibrium (n is an even number) that these control curves are carried out discretize; And it is dynamically deposited in the acceleration, deceleration library in system's basic data storage unit with the numerical table form; Wherein the acceleration curve deposit data is in 0～n/2 data cell, and the deceleration curve deposit data is in n/2+1～n data cell; Speed control curve after the big more discretize of the value of n approaches continuous velocity control curve more, and the value of suggestion n and is an even number more than 200 among the present invention.

The leveling of described platform control is used for platform erection and is registered to a certain object height;

The leveling control of platform is the measurement result according to omnibearing tilt sensor, i.e. platform inclination angle θ and measurement slant angle bearing β _cAccording to data of importing in the preparation submodule before the leveling and leveling control strategy; With formula (6) is the position servo control target of each strong point; Be the speed control requirement in the position servo of each strong point with formula (7), with the evenly stressed collaborative leveling task of accomplishing platform fast of each strong point in the leveling process that is implemented in platform, the step of leveling control is following:

Step 1: the platform inclination angle θ and measurement slant angle bearing β that read omnibearing tilt sensor _cIf platform inclination angle θ just gets into step 2 greater than Pv, otherwise continue repeating step 1;

Step 2: the calculating slant angle bearing R that calculates each strong point _x, read the angle β of x axle and each strong point and right cylinder model center axle line in the table 1 _Xc, then according to the measurement slant angle bearing β of omnibearing tilt sensor _c, utilize formula (8) to calculate the calculating slant angle bearing R of each strong point _x,

${\mathrm{\&beta;}}_x=\left\{\begin{array}{c}2\mathrm{\&pi;}+({\mathrm{\&beta;}}_{\mathrm{xc}}-{\mathrm{\&beta;}}_c)\&CenterDot;\&CenterDot;\&CenterDot;\mathrm{if}({\mathrm{\&beta;}}_{\mathrm{xc}}-{\mathrm{\&beta;}}_c)<0\\ {\mathrm{\&beta;}}_{\mathrm{xc}}-{\mathrm{\&beta;}}_c\&CenterDot;\&CenterDot;\&CenterDot;\mathrm{if}0\&le;({\mathrm{\&beta;}}_{\mathrm{xc}}-{\mathrm{\&beta;}}_c)\&le;2\mathrm{\&pi;}\\ 2\mathrm{\&pi;}-({\mathrm{\&beta;}}_{\mathrm{xc}}-{\mathrm{\&beta;}}_c)\&CenterDot;\&CenterDot;\&CenterDot;\mathrm{if}({\mathrm{\&beta;}}_{\mathrm{xc}}-{\mathrm{\&beta;}}_c)>2\mathrm{\&pi;}\end{array}\right.---\left(8\right)$

Step 3: the levelling range of computing platform is than δ, if the user has selected " reference point " leveling algorithm on man-machine interface, compares δ with the levelling range of formula (10) computing platform;

δ＝(z _o-z _c)/R×sinθ ₀ (10)

If the user has selected " peak " leveling scheme, δ=1; If the user has selected " minimum point " leveling scheme, δ=-1; If the user has selected " intermediate point " leveling scheme, δ=0;

Step 4: confirm leveling deviation and leveling speed, at first utilize formula (11) to calculate and be projected in the distance, delta on the Z axle at right cylinder model medium dip platform peak and minimum point,

Δ＝2R×sinθ ₀ (11)

Then, according to the tiltangle of platform needs leveling and the distance (z of translation _c-z _o+ Δ) and be stored in the acceleration, deceleration library in system's basic data storage unit by the platform maximum capacity leveling speed of discretize

The control curve generate working control leveling speed

D θ/dt and aligning speed

Curve is below explained the realization of algorithm with the generation of d θ/dt;

Variable t is from 1～n/2 circulation, reads pairing (the d θ/dt) of variable t _AbIn data (d θ/dt) _Ab(t), use (15) to calculate accumulated value then;

$\mathrm{\&Pi;}=\underset{1}{\overset{t}{\mathrm{\&Sigma;}}}{(\mathrm{d\&theta;}/\mathrm{dt})}_{\mathrm{ab}}\left(t\right)---\left(15\right)$

With t value and (d θ/dt) _Ab(t) value is kept in the dynamic storage cell successively;

Then judge ∏>=θ/2, if satisfy condition, variable t1 is from (n-t)～n circulation, reads pairing (the d θ/dt) of variable t1 _AbIn data (d θ/dt) _Ab(t), variable t value is increased progressively, i.e. t=t+1 is then with t value and (d θ/dt) _Ab(t) value is kept in the dynamic storage cell successively, EOP (end of program);

With variable t2=0, use do ... While statement carries out cycle control, then calculates the value of accumulated value and variable t2 with formula (16);

t2＝t2+1 (16)

$\mathrm{\&Pi;}=\underset{1}{\overset{n/2}{\mathrm{\&Sigma;}}}{(\mathrm{d\&theta;}/\mathrm{dt})}_{\mathrm{ab}}\left(t\right)+\underset{0}{\overset{t2}{\mathrm{\&Sigma;}}}{(\mathrm{d\&theta;}/\mathrm{dt})}_{\mathrm{ab}}(n/2)$

With (t+t2) value and (d θ/dt) _Ab(n/2) value is kept in the dynamic storage cell successively;

Then judge ∏ >=θ/2,, give variable t3, carry out cycle control from 0～t3 with loop statement for t2 value assignment if satisfy condition,

t2＝t2+1 (17)

With (t+t2) value and (d θ/dt) _Ab(n/2) value is kept in the dynamic storage cell successively;

Variable t is from (n+1)/2～n circulation, reads pairing (the d θ/dt) of variable t _AbIn data (d θ/dt) _Ab(t), with (t+t2) value and (d θ/dt) _Ab(n/2) value is kept in the dynamic storage cell successively;

Step 5: calculate the displacement and the translational speed of each strong point, if the user has selected " reference point " leveling algorithm on man-machine interface, and the levelling range of platform adopts formula (12) to calculate the displacement and the translational speed of each strong point than δ＞1 o'clock;

z _x＝R _x×sinθ×[cos(β _x/R)+1]+(z _c-z _o-Δ)

$\frac{{\&PartialD;z}_x}{\&PartialD;t}=R_x\&times;\cos \mathrm{\&theta;}\&times;[\cos \left(\frac{{\mathrm{\&beta;}}_x}{R}\right)+1]\frac{\&PartialD;\mathrm{\&theta;}}{\&PartialD;t}+\frac{\&PartialD;z_c}{\&PartialD;t}---\left(12\right)$

If the user has selected " reference point " leveling algorithm on man-machine interface, and the levelling range of platform adopts formula (13) to calculate the displacement and the translational speed of each strong point than δ＜-1 o'clock;

z _x＝R _x×sinθ×[cos(β _x/R)-1]-(z _c-z _o-Δ) (13)

$\frac{{\&PartialD;z}_x}{\&PartialD;t}=R_x\&times;\cos \mathrm{\&theta;}\&times;[\cos \left(\frac{{\mathrm{\&beta;}}_x}{R}\right)-1]\frac{\&PartialD;\mathrm{\&theta;}}{\&PartialD;t}-\frac{\&PartialD;z_c}{\&PartialD;t}$

If the user at the leveling algorithm of having selected on the man-machine interface except " reference point ", adopts formula (14) to calculate the displacement and the translational speed of each strong point;

z _x＝R _x×sinθ×[cos(β _x/R)+δ (14)。

dz _x/dt＝R _x×cosθ×[cos(β _x/R)+δ]dθ/dt

Described microprocessor also comprises: platform feet position servo control module; The displacement of each strong point that will in described platform feet site error computing module, be calculated through output interface and velocity of displacement etc. convert the control corresponding electric signal to and are input to platform feet position servo control driver element, and platform feet position servo control drive unit drives platform feet position servo control motor unit is accomplished corresponding leveling action; Position servo control adopts dynamo-electric position servo to realize.

Beneficial effect of the present invention mainly shows: (1) resolving power is high, sensing range is wide, has realized omnibearing horizontal detection; (2) adaptation is wide, and measuring accuracy and range ability can customize; (3) (as: high temperature, high humidity, sand and dust, thunder and lightning etc.) can work reliably and with long-term under the influence of abominable external environment condition; (4) detected parameters is many, can measure angle of inclination, pitch angle speed, pitch angle acceleration, well azimuth angle, well azimuth angular velocity, well azimuth angular acceleration simultaneously; (5) low-power consumption type; (6) have remote access capability, realize remote horizontal control easily; (7) error calibrating equipment needed thereby is simple, and on-site proving is easy to operation; (8) man-machine interface is friendly, can video data and detection data be simultaneously displayed on the user interface, makes that control and testing result are more directly perceived, confirm that fault is easier; (9) be equipped with multiple leveling scheme, the user can select to be fit to the leveling control strategy of oneself according to demand; (10) can satisfy simultaneously the control of the platform erection of three strong points, four strong points, six strong points and eight strong points.

Description of drawings

Fig. 1 is the structural drawing based on the platform leveling device of cylindrical model.

Fig. 2 is for detecting the synoptic diagram at angle of inclination when the testee run-off the straight.

Fig. 3 is for detecting the synoptic diagram of slant angle bearing.

Fig. 4 is the transparent cone container synoptic diagram that different cone angles constitute.

Fig. 5 is for calculating the synoptic diagram at pitch angle.

Fig. 6 is the software architecture diagram based on the platform leveling device of cylindrical model.

Fig. 7 confirms synoptic diagram for the initial orientation angle.

Fig. 8 is the relation curve at printing opacity width and pitch angle under 5 ° of coning angle situation.

Fig. 9 is the man-machine user interface based on the platform leveling device of cylindrical model.

Figure 10 is the embedded system formation block diagram based on the platform leveling device of cylindrical model.

Figure 11 is the relation curve at printing opacity width and pitch angle under 5 ° of coning angle situation.

Figure 12 is the relation curve at printing opacity width and pitch angle during little pitch angle under 5 ° of coning angle situation.

Figure 13 is the computation model based on the platform erection method of cylindrical model.

Figure 14 is based on the leveling control curve of the platform erection method of cylindrical model under different angle of inclination situation.

Figure 15 is that 4 strong points are with the computation process explanation of platform erection to the minimum point of cylindrical model.

Figure 16 is that 6 strong points are with the computation process explanation of platform erection to the minimum point of cylindrical model.

Figure 17 is for calculating 6 strong points with the method that need displacement position of platform erection to the cylindrical model minimum point.

Figure 18 is a platform maximum capacity leveling speed

(d θ/dt) _AbThe control curve form.

Figure 19 is the leveling speed

that obtains according to the leveling deviation calculation of platform maximum capacity leveling speed and platform and the control curve form of d θ/dt.

Embodiment

Below in conjunction with accompanying drawing the present invention is further described.

Embodiment 1

With reference to Fig. 1～Figure 18; A kind of platform erection method based on cylindrical model; Comprise omnibearing tilt sensor shell 1, LED lighting source 2, transparent cone container 3, light tight liquid 4, camera 5, embedded system 6, power supply 7 compasses 8, platform 9, platform feet position servo control motor unit 10 and platform feet position servo control driver element 11; Described power supply 7 is given described lighting source 2 and described embedded system 6 power supplies; Described embedded system 6 is given described camera 5 power supplies through USB interface, and described transparent cone container 3 is to be combined into a closed container by two onesize cones with back-to-back mode; Described transparent cone container 3 is being fixed at described omnibearing tilt sensor shell 1 middle part, and described LED lighting source 2 is being fixed on top, and described camera 5 is being fixed in the bottom; Described LED lighting source 2 faces described transparent cone container 3 centers down and sends white light; The induction of the described up transparent cone container of described camera 53 centers sees through the transmitted light behind the transparent cone container 3; Described camera 5 is through USB interface reads image data from described camera 5; Omnibearing tilt sensor is fixed on the described platform 9; Described platform 9 is supported by described platform feet position servo control motor unit 10; The described platform feet position servo control motor unit 10 of described platform feet position servo control driver element 11 controls moves up and down, and described embedded system 6 is sent and moved control signal to described platform feet position servo control driver element 11;

Described light tight liquid 4 is injected in the described transparent cone container 3, and the state of the described light tight liquid in described transparent cone container will determine the horizontal tilt angle and the slant angle bearing of comprehensive horizontal detection; When omnibearing tilt sensor is in horizontality; Described lighting source 2 is owing to receive described light tight liquid 4 interceptions in described transparent cone container 3; Described camera 5 can't receive send from described lighting source and through described transparent cone container 3 transmitted lights, shown in accompanying drawing 1; When omnibearing tilt sensor is in heeling condition; Described light tight liquid 4 takes place to flow in described transparent cone container 3 and keeps horizontality; At this moment described transparent cone container 3 some zone between described lighting source 2 and described camera 5 are in the unshielding state; Shown in accompanying drawing 2, described camera 5 receive send from described lighting source and through described transparent cone container 3 part transmitted lights; Described light tight liquid need be selected the viscosity of light tight liquid according to the detection of dynamic demand, for the situation that has acting force in vertical direction, just needs to adopt the high light tight liquid of viscosity coefficient; Then hope the light tight liquid that adopts viscosity coefficient low for high detection of dynamic horizontality situation; Just wider to light tight liquid selective scope, if can good absorption light, do not have corrosivity, to temperature-insensitive, satisfy the certain viscosity scope liquid can both be as light tight liquid;

Described omnibearing tilt sensor shell is shaped as column type, two planes of column type, and led light source is being fixed in one of them inboard, plane, and compass is being fixed in the outside, plane; On another plane, fixing camera, and direction is all inside; Transparent cone container is being fixed at the middle part of column type; In order to shield the interference of ambient light, the omnibearing tilt sensor shell adopts lighttight material, and the inwall of column type adopts the material of absorptive, to avoid occurring at the column type inwall stray light that refraction was produced of light; The outer wall of column type is marked with the straight line that an axis with column type parallels, with this straight line as azimuthal initial point; Need rotate the omnibearing tilt sensor direction that the finger of compass is northern when using omnibearing tilt sensor overlaps with this straight line;

Described embedded system; Comprise embedded hardware and embedded software; Described embedded software comprises system software and user software, and described user software comprises image acquisition unit, pitch angle and slant angle bearing detecting unit, system data storage unit, the horizontal control module of platform, detects data storage cell and testing result display unit;

Described image acquisition unit is used to read the video data that comes from camera, mainly comprises system initialization module and image read module;

Described system initialization module; Be used for reading some system datas that are stored in described system data storage unit, like the data such as reckoner of the width value δ of resolution, tiltangle and the light transmission part of the cone angle alpha of the radius R of transparent cone container, transparent cone container, initial orientation angle β 0, camera; Confirming of initial orientation angle β 0 is the angle according between the X-direction of straight line on the outer wall of column type and the video image that obtained;

Described image read module is used to read the video data that comes from camera, and it is kept in the dynamic storage cell;

Described pitch angle and slant angle bearing detecting unit; Be used to detect and calculate the tiltangle and the slant angle bearing β of testee, mainly comprise slant angle bearing β detection module, tiltangle detection module and tiltangle and slant angle bearing β rate of change computing module;

Described slant angle bearing β detection module is used to detect the well azimuth of testee; The azimuthal definition of medium dip of the present invention is to begin to represent with the β angle value in a clockwise direction from direct north, and the detection slant angle bearing on the plane of delineation is to begin to represent with β c angle value in a clockwise direction from the X axle, and is as shown in Figure 3; Therefore between slant angle bearing β and detection slant angle bearing β c, exist following relation, shown in (1),

β＝βc+β0 (1)

In the formula: β is a slant angle bearing, and β c is for detecting slant angle bearing, and β 0 is the initial orientation angle;

Initial orientation angle β 0 dispatches from the factory when detecting at omnibearing tilt sensor and confirms according to the angle between the X-direction of straight line on the outer wall of column type and the video image that obtained, and is written in the system data storage unit;

Detect slant angle bearing β c and be and obtains transmitted light geometric configuration partly in the image according to institute and calculate definitely, as shown in Figure 3, the detection slant angle bearing is to begin to represent with β c angle value in a clockwise direction from the X axle; According to physical principle; When the testee run-off the straight; Light tight liquid takes place to flow in transparent cone container and keeps horizontality, constitutes because transparent cone container is a cone by two identical sizes, and the light tight amount of liquid that flows out some cones must equal to flow into the light tight amount of liquid of another cone; And surface level must be through the central point of transparent cone container; As shown in Figure 2, in other words, the light tight amount of liquid surface level under the heeling condition is rotated round the Y axle; Angle from the camera shooting; Light tight liquid when not having the run-off the straight state originally in transparent cone container is shaped as a garden on the plane of delineation; Light tight liquid when the run-off the straight state in transparent cone container is shaped as half garden and half ellipse on the plane of delineation; Long axis of ellipse equals the radius in garden; The pitch angle has functional relation with oval minor axis, and the more for a short time angle of inclination that shows of the minor axis data of the ellipse on the imaging plane is big more, and slant angle bearing then occurs in the direction of ellipse short shaft; At this moment on imaging plane selenodont photosensitive region will appear; Selenodont middle part must appear in the angle position of ellipse short shaft; The computing method of angle position of calculating ellipse short shaft from image are shown in formula (2); Promptly begin to retrieve in a clockwise direction from the X axle, specific algorithm is following:

Step 1: drawing straight line from X-direction is that the center is the retrieval of straight line dextrorotation veer with the center of circle of image; If on X-direction, there is not bright pixel; Be that the center is the retrieval of straight line dextrorotation veer just from the center of circle that the X axle begins with image; Otherwise jumping to step 3, if the pixel of the circular outer ring that the rotation straight line runs into is bright pixel, is β 1 with regard to the angle of confirming as this rotation straight line and X-direction;

Step 2: then use the rotation straight line to continue to be the retrieval of straight line dextrorotation veer with the center of circle of image as the center, if the pixel right and wrong light pixel of the circular outer ring that the rotation straight line runs into, the rotation straight line of previous bright pixel and the angle of X-direction are β 2; Jump to step 5 then,

Step 3: then use the rotation straight line to continue to be the retrieval of straight line dextrorotation veer with the center of circle of image as the center, if the pixel right and wrong light pixel of the circular outer ring that the rotation straight line runs into, the rotation straight line of previous bright pixel and the angle of X-direction are β 2;

Step 4: then use the rotation straight line to continue to be rotated counterclockwise direction retrieval as the center as straight line with the center of circle of image, if the pixel right and wrong light pixel of the circular outer ring that the rotation straight line runs into, the rotation straight line of previous bright pixel and the angle of X-direction are β 1;

Step 5: through the angle beta c of formula (2) calculating ellipse short shaft,

βc＝(β1+β2)/2 (2)

And detection slant angle bearing β c must appear at the positive dirction of ellipse short shaft;

Described tiltangle detection module is used to detect the pitch angle of testee; Like Fig. 2 and shown in Figure 5, tiltangle can calculate through formula (3)

θ＝ctg ^-1[(R/δ-1)×ctg(α)] (3)

In the following formula, R is the radius of transparent cone container, and α is the coning angle of transparent cone container, and δ is the width value at the selenodont middle part of printing opacity, and θ is the pitch angle;

Here; Obtain in the system data of the cone angle alpha of the radius R of transparent cone container and transparent cone container from be stored in the system data storage unit; The width value δ at the selenodont middle part of printing opacity obtains through the analytical algorithm to image, and specific algorithm is following:

According to the angle beta c of the resulting ellipse short shaft of formula (2) and the center of circle of image is that the center is the selenodont that straight line passes through printing opacity, calculates the pixel value of its printing opacity; If the resolution of camera is the radius R of 640 * 480 (pixel), transparent cone container is 20mm; Each pixel is about 0.083mm; If the printing opacity pixel value that calculates is 5 pixels, the width value δ at the selenodont middle part of printing opacity is 0.415mm so;

The radius R of the resolution of tiltangle and transparent cone container is relevant with the cone angle alpha of transparent cone container; Resolution according to the big more tiltangle of radius R of the transparent cone container of formula (2) is high more, and the cone angle alpha of transparent cone container and the resolution of tiltangle have functional relation; In general, the radius R of transparent cone container is to confirm that by the visual range of camera the radius R of transparent in the present invention cone container is 200mm, on imaging plane, accounts for 240 pixels; The cone angle alpha of transparent cone container will be selected according to the real standard measurement range, and Fig. 8 is that the radius R at transparent cone container is that 20mm, cone angle alpha are respectively under 5 ° of situation the width value δ at the selenodont middle part of printing opacity and the curve map of tiltangle; From Fig. 8, can find, under the situation of cone angle alpha=5 °, shown in figure 14; In 0～100 pixel coverage, be linear basically between printing opacity pixel value and the pitch angle, have higher resolution for little tiltangle; If image resolution ratio is 640 * 480 (pixel); Each pixel value can reflect 0.02 ° pitch angle, that is to say, the minimum resolution of system is 0.02 ° under the situation of cone angle alpha=5 °; Shown in figure 15, such design can be satisfied high-precision platform level control requirement;

Described tiltangle and slant angle bearing β rate of change computing module are used to calculate pitch angle speed, pitch angle acceleration, well azimuth angular velocity and well azimuth angular acceleration; The present invention calculates tiltangle and slant angle bearing β and is based upon on the analysis of image and the processing basis, and camera obtains the process that image is a discretize, obtains 25 two field pictures such as per second; And embedded system processing image also needs the regular hour; Comprehensive these factors adopt per second acquisition process 10 two field pictures in the present invention, and therefore two two field pictures are handled and are spaced apart Δ t=1/6 second; Calculate pitch angle speed and well azimuth angular velocity with formula (4)

Δθ(t)＝(θ(t)-θ(t-1))/Δt (4)

Δβ(t)＝(β(t)-β(t-1))/Δt

In the formula, the angle of inclination when θ (t) is the t frame, the angle of inclination when θ (t-1) is the t-1 frame; Well azimuth angle when β (t) is the t frame; Well azimuth angle when β (t-1) is the t-1 frame, the pitch angle speed when Δ θ (t) is the t frame, the well azimuth angular velocity when Δ β (t) is the t frame;

Use formula (5) to calculate pitch angle acceleration and well azimuth angular acceleration as a same reason,

Δ ²θ(t)＝(Δθ(t)-Δθ(t-1))/Δt (5)

Δ ²β(t)＝(Δβ(t)-Δβ(t-1))/Δt

In the formula, the pitch angle speed when Δ θ (t) is the t frame, the pitch angle speed when Δ θ (t-1) is the t-1 frame, the well azimuth angular velocity when Δ β (t) is the t frame, the well azimuth angular velocity when Δ β (t-1) is the t-1 frame, Δ ²Pitch angle acceleration when θ (t) is the t frame, Δ ²Well azimuth angular acceleration when β (t) is the t frame;

For calculating good well azimuth angle β (t), well azimuth angular velocity Δ β (t), well azimuth angular acceleration Δ ²β (t), tilt angle theta (t), pitch angle speed Δ θ (t), pitch angle acceleration Δ ²Data such as θ (t), current system time t and video image are submitted to and are detected data storage cell and preserve, and are processed into display page simultaneously and are sent to the testing result display unit and show; Display page is as shown in Figure 9, and real-time video image is promptly arranged on display page, and the systematic parameter of various detection data and omnibearing tilt sensor is arranged again, so that the user can confirm testing result intuitively;

Further, be kept at the testing result data that detect data storage cell and store, sometimes in order to observe well azimuth angle β (t), well azimuth angular velocity Δ β (t), well azimuth angular acceleration Δ according to time series ²β (t), tilt angle theta (t), pitch angle speed Δ θ (t), pitch angle acceleration Δ ²The change procedure of θ (t), the user can show well azimuth angle β (t), well azimuth angular velocity Δ β (t), well azimuth angular acceleration Δ through the choice menus (demonstration) of (Fig. 9) on the page ²The change curve of β (t) and tilt angle theta (t), pitch angle speed Δ θ (t), pitch angle acceleration Δ ²The change curve of θ (t);

The horizontal control module of described platform is used to control the levelness of platform, mainly comprises platform feet site error computing module and platform feet position servo control module;

Described platform feet site error computing module is used to calculate and will platform aligning and the displacement of adjusting to each strong point of horizontal level state lower platform be comprised preparation submodule and platform erection controlling sub that leveling is preceding; According to different demands, right cylinder " peak " leveling algorithm, right cylinder " minimum point " leveling algorithm, right cylinder " intermediate point " leveling algorithm and " reference point " leveling algorithm have been adopted among the present invention;

Consider that each strong point of platform is not regularly arranged, can be evenly stressed in the platform erection process and accomplish the leveling task rapidly in order to guarantee each strong point according to the platform erection control method; According to the position height behind the platform erection, calculate the distance and position that each strong point need move with formula (6),

$z_x=\left\{\begin{array}{c}{R}_x\&times;\sin \mathrm{\&theta;}\&times;[\cos \left(\frac{{\mathrm{\&beta;}}_x}{R}\right)+1]+(z_c-z_o-\mathrm{\&Delta;})\&CenterDot;\&CenterDot;\&CenterDot;\mathrm{\&delta;}>1\\ R_x\&times;\sin \mathrm{\&theta;}\&times;[\cos \left(\frac{{\mathrm{\&beta;}}_x}{R}\right)+\mathrm{\&delta;}]\&CenterDot;\&CenterDot;\&CenterDot;\left|\mathrm{\&delta;}\right|\&le;1\\ R_x\&times;\sin \mathrm{\&theta;}\&times;[\cos \left(\frac{{\mathrm{\&beta;}}_x}{R}\right)-1]-(z_c-z_o+\mathrm{\&Delta;})\&CenterDot;\&CenterDot;\&CenterDot;\mathrm{\&delta;}<-1\end{array}\right.---\left(6\right)$

δ＝(z _c-z _o)/R×sinθ ₀

Δ＝2R×sinθ ₀

In the formula, z _xRepresent the required mobile vertical range of a certain strong point certain leveling of realization, R _xRepresent the distance of a certain strong point and right cylinder model center axle, θ representes the pitch angle of platform, β _xThe calculating slant angle bearing of representing a certain strong point, it is the angle β of X axle and a certain strong point and right cylinder model center axle line _XcWith measurement slant angle bearing β _cPoor, i.e. β _x=β _Xc-β _c, β _x∈ [0,2 π R] counterclockwise, z _oThe position of intermediate point on the Z axle before the expression platform erection, z _cThe position of intermediate point on the Z axle behind the expression platform erection, R representes the radius of right cylinder model, Δ is illustrated in right cylinder model medium dip platform peak and minimum point is projected in the distance on the Z axle, θ ₀The pitch angle of expression platform before leveling; δ representes the levelling range ratio of platform; | δ |≤1 expression levelling range is in right cylinder model medium dip platform peak and minimum point drop shadow spread; δ＜-1 expression leveling position is higher than the subpoint of peak on the Z axle of right cylinder model medium dip platform, and δ＞1 expression leveling position is lower than the subpoint of minimum point on the Z axle of right cylinder model medium dip platform; The tiltangle of platform and the calculating slant angle bearing β of the strong point in the formula (6) _xInformation be from the testing result of omnibearing tilt sensor, to obtain;

Differentiate can obtain the translational speed of each strong point of platform to formula (6), with formula (7) expression,

$\frac{{\&PartialD;z}_x}{\&PartialD;t}=R_x\&times;\cos \mathrm{\&theta;}\&times;[\cos \left(\frac{{\mathrm{\&beta;}}_x}{R}\right)+1]\frac{\&PartialD;\mathrm{\&theta;}}{\&PartialD;t}+\frac{\&PartialD;z_c}{\&PartialD;t}\&CenterDot;\&CenterDot;\&CenterDot;\mathrm{\&delta;}>1$

$\frac{{\mathrm{dz}}_x}{\mathrm{dt}}=R_x\&times;\cos \mathrm{\&theta;}\&times;[\cos \left(\frac{{\mathrm{\&beta;}}_x}{R}\right)+\mathrm{\&delta;}]\frac{\mathrm{d\&theta;}}{\mathrm{dt}}\&CenterDot;\&CenterDot;\&CenterDot;\left|\mathrm{\&delta;}\right|\&le;1---\left(7\right)$

$\frac{{\&PartialD;z}_x}{\&PartialD;t}=R_x\&times;\cos \mathrm{\&theta;}\&times;[\cos \left(\frac{{\mathrm{\&beta;}}_x}{R}\right)-1]\frac{\&PartialD;\mathrm{\&theta;}}{\&PartialD;t}-\frac{\&PartialD;z_c}{\&PartialD;t}\&CenterDot;\&CenterDot;\&CenterDot;\mathrm{\&delta;}<-1$

Obtain following 3 kinds from formula (6) and formula (7) and aim at the leveling schemes: scheme 1) single leveling scheme; When the position after the leveling between the highs and lows of right cylinder model medium dip platform; Comprise highs and lows; Promptly satisfy | δ | during≤1 condition, can step implementation platform aligning leveling put in place, the leveling speed of each strong point must satisfy R _x* cos θ * [cos (β _x/ R)+and δ] d θ/dt, wherein d θ/dt is a leveling speed, the leveling rate curve is a compliant motion control curve, shown in accompanying drawing 18; When the position after the leveling exceeds peak or the minimum point of right cylinder model medium dip platform; Promptly when δ＞1 or δ＜-1; Aim at leveling and need divide leveling and aim at this two various process completion, implementation can be that aligning also can be to aim at the back leveling earlier after the first leveling; The scheme of scheme 2) aiming at after the first leveling; Specific practice is, at first accomplishes leveling towards the peak or the minimum point direction of right cylinder model medium dip platform, when δ＞1; Peak to right cylinder model medium dip platform carries out leveling, and the leveling speed of each strong point must satisfy

Wherein Be leveling speed, the leveling rate curve is a compliant motion control curve, shown in accompanying drawing 18; When δ＜-1, carry out leveling to the minimum point of right cylinder model medium dip platform, the leveling speed of each strong point must satisfy

Wherein

Be leveling speed, the leveling rate curve is a compliant motion control curve; Then after the leveling release, all strong points are with identical speed

Carry out translation motion, wherein

Be point-to-point speed, the point-to-point speed curve is a compliant motion control curve, moves to the height that sets up to platform plane; Scheme 3) scheme of aligning back leveling earlier, specific practice is that at first all strong points are with identical speed

Carry out translation motion, wherein

Be point-to-point speed, the point-to-point speed curve is a compliant motion control curve, each strong point (z that moves up when δ＞1 _c-z _o-Δ) distance, each strong point moves down (z when δ＜-1 _c-z _o+ Δ) distance; After alignment actions finishes, when δ＜-1, carry out leveling to the peak of sloping platform, the leveling speed of each strong point must satisfy

Wherein

Be leveling speed, the leveling rate curve is a compliant motion control curve; When δ＞1, carry out leveling to the minimum point of sloping platform, the leveling speed of each strong point must satisfy

Wherein

Be leveling speed, the leveling rate curve is a compliant motion control curve, shown in accompanying drawing 18;

Specify the leveling method of platform below:

1) preparation before the leveling

In formula (6) and formula (7), all used the distance R of a certain strong point and right cylinder model center axle _x, X axle and a certain strong point and right cylinder model center axle the angle β of line _XcThe structural parameters of this two group platforms strong point, these two groups of parameters must preset before the platform erection use; In order to be without loss of generality, adopt 6 strong point platforms to explain among the present invention through calculating the method for the structural parameters that obtain two group of 6 strong point;

Step 1) is confirmed the central point of platform: at first will confirm the central point O of platform, the naming method of the agreement strong point here, shown in accompanying drawing 16, confirm the center of the central point O point of platform at rectangle plane;

Step 2) names each strong point: arrange 6 strong point A, B, C, D, E, F in a clockwise direction successively;

Step 3) is set up coordinate system: the line that definition O point and A are ordered is an X-direction;

Step 4) is set up the right cylinder model: mainly accomplish two tasks, and the firstth, calculate the length between O point and 6 strong point A, B, C, D, E, the F, distance R with right cylinder model center axle is supported a little _x, width W through rectangular edges and height H and Pythagorean theorem calculate the distance R of each strong point and right cylinder model center axle _x, in the present invention will the shortest distance R _xRadius R as the right cylinder model;

The secondth, obtain the azimuth information of each strong point; Need to calculate the angle β of X axle and each strong point and right cylinder model center axle line _Xc, β _XcIt is relevant that angle and each supporting point position distribute, also the coordinate system with the coordinate system of omnibearing tilt sensor and platform is relevant simultaneously, shown in accompanying drawing 3, in the coordinate system of omnibearing tilt sensor, defined the X axle that Xs representes omnibearing tilt sensor; In the coordinate system of platform, defined the X axle that X representes platform; Therefore as long as two X axis fit like a glove and all calculate slant angle bearing in a clockwise direction; Then the measurement slant angle bearing of platform is just in full accord with the measurement slant angle bearing of omnibearing tilt sensor, has so just set up unified reference system in the sensing detection of platform level with controlling;

Further, the line of ordering with platform center O point and strong point A in the present invention is an X-direction, calculates the angle β of each strong point and X axle from CW _Xc, shown in accompanying drawing 16, the angle β of each strong point and X axle _XcCalculate shown in formula (9),

Conclude each strong point and the distance R of right cylinder model center axle in the accompanying drawing 16 with table 1 _x, X axle and each strong point and right cylinder model center axle the angle β of line _XcThe structural parameters result of calculation of this two group platforms strong point; These structural parameters finally leave in the system's basic data storage unit shown in the accompanying drawing 6;

β _A1c＝0

β _B1c＝2×tan ^-1(H/W)

β _C1c＝2×tan ^-1(H/W)+tan ^-1(W/H)

β _D1c＝2×tan ^-1(H/W)+2×tan ^-1(W/H) (9)

β _E1c＝4×tan ^-1(H/W)+2×tan ^-1(W/H)

β _F1c＝4×tan ^-1(H/W)+3×tan ^-1(W/H)

The structural parameters of the table 1 platform strong point

Step 5) is confirmed the strategy of leveling: the user can select any platform erection strategy in right cylinder " peak " leveling algorithm, right cylinder " minimum point " leveling algorithm, right cylinder " intermediate point " leveling algorithm and " reference point " leveling algorithm through man-machine interface; Wherein if the user has selected " reference point " leveling algorithm; At first require the user to select to aim at 2. aligning back leveling earlier after the 1. first leveling; Default aim at after being chosen as 1. first leveling; Then require the user to import the concrete data of " reference point ", as the control height value z of platform _cAlso require the user to import the leveling accuracy value Pv of platform in addition, as Pv=0.1 °, platform elemental height value z _o, these input results are kept in the system's basic data storage unit shown in the accompanying drawing 6;

Step 6) is confirmed the pattern of each strong point translational speed: in order to make platform in translation or leveling process, adjust to the horizontal level of setting steadily, apace; Simultaneously necessary each strong point can be evenly stressed; Preset each strong point translational speed pattern in the present invention; Shown in accompanying drawing 18, belong to a kind of sinusoidal curve; Concrete parameter need confirm that the user can import technical parameters such as maximum translational speed through the data that position servo control production firm is provided with the position servo control parameter of the strong point, finally confirms platform maximum capacity leveling speed

(d θ/dt) _AbWith

The control curve form; For the ease of digital control; Adopt n five equilibrium (n is an even number) that these control curves are carried out discretize among the present invention; And it is dynamically deposited in the acceleration, deceleration library in system's basic data storage unit with the numerical table form; Wherein the acceleration curve deposit data is in 0～n/2 data cell, and the deceleration curve deposit data is in n/2+1～n data cell; Speed control curve after the big more discretize of the value of n approaches continuous velocity control curve more, and the value of therefore advising n is more than 200, and is even number.

2) leveling of platform control

The leveling control of platform is measurement result (the platform inclination angle θ and measurement slant angle bearing β according to omnibearing tilt sensor _c); According to data of importing in the preparation before the leveling and leveling control strategy; With formula (6) is the position servo control target of each strong point; Be the speed control requirement in the position servo of each strong point with formula (7), with the evenly stressed collaborative leveling task of accomplishing platform fast of each strong point in the leveling process that is implemented in platform, the step of leveling control is following:

Step 1: the platform inclination angle θ and measurement slant angle bearing β that read omnibearing tilt sensor _cIf platform inclination angle θ just gets into step 2 greater than Pv, otherwise continue repeating step 1;

Step 2: the calculating slant angle bearing R that calculates each strong point _x, read the angle β of x axle and each strong point and right cylinder model center axle line in the table 1 _Xc, then according to the measurement slant angle bearing β of omnibearing tilt sensor _c, utilize formula (8) to calculate the calculating slant angle bearing R of each strong point _x,

${\mathrm{\&beta;}}_x=\left\{\begin{array}{c}2\mathrm{\&pi;}+({\mathrm{\&beta;}}_{\mathrm{xc}}-{\mathrm{\&beta;}}_c)\&CenterDot;\&CenterDot;\&CenterDot;\mathrm{if}({\mathrm{\&beta;}}_{\mathrm{xc}}-{\mathrm{\&beta;}}_c)<0\\ {\mathrm{\&beta;}}_{\mathrm{xc}}-{\mathrm{\&beta;}}_c\&CenterDot;\&CenterDot;\&CenterDot;\mathrm{if}0\&le;({\mathrm{\&beta;}}_{\mathrm{xc}}-{\mathrm{\&beta;}}_c)\&le;2\mathrm{\&pi;}\\ 2\mathrm{\&pi;}-({\mathrm{\&beta;}}_{\mathrm{xc}}-{\mathrm{\&beta;}}_c)\&CenterDot;\&CenterDot;\&CenterDot;\mathrm{if}({\mathrm{\&beta;}}_{\mathrm{xc}}-{\mathrm{\&beta;}}_c)>2\mathrm{\&pi;}\end{array}\right.---\left(8\right)$

Step 3: the levelling range of computing platform is than δ, if the user has selected " reference point " leveling algorithm on man-machine interface, compares δ with the levelling range of formula (10) computing platform;

δ＝(z _o-z _c)R×Sinθ ₀ (10)

If the user has selected " peak " leveling scheme, δ=1; If the user has selected " minimum point " leveling scheme, δ=-1; If the user has selected " intermediate point " leveling scheme, δ=0;

Step 4: confirm leveling deviation and leveling speed, at first utilize formula (11) to calculate and be projected in the distance, delta on the Z axle at right cylinder model medium dip platform peak and minimum point,

Δ＝2R×sinθ ₀ (11)

Then, according to the tiltangle of platform needs leveling and the distance (z of translation _c-z _o+ Δ) and be stored in the acceleration, deceleration library in system's basic data storage unit by the platform maximum capacity leveling speed of discretize

With The control curve generate working control leveling speed

D θ/dt and aligning speed

Curve is below explained the realization of algorithm with the generation of d θ/dt;

Variable t is from 1～n/2 circulation, reads pairing (the d θ/dt) of variable t _AbIn data (d θ/dt) _Ab(t), use (15) to calculate accumulated value then;

$\mathrm{\&Pi;}=\underset{1}{\overset{t}{\mathrm{\&Sigma;}}}{(\mathrm{d\&theta;}/\mathrm{dt})}_{\mathrm{ab}}\left(t\right)---\left(15\right)$

With t value and (d θ/dt) _Ab(t) value is kept in the dynamic storage cell successively;

Then judge ∏>=θ/2, if satisfy condition, variable t1 is from (n-t)～n circulation, reads pairing (the d θ/dt) of variable t1 _AbIn data (d θ/dt) _Ab(t), variable t value is increased progressively, i.e. t=t+1 is then with t value and (d θ/dt) _Ab(t) value is kept in the dynamic storage cell successively, EOP (end of program);

With variable t2=0, use do ... While statement carries out cycle control, then calculates the value of accumulated value and variable t2 with formula (16);

t2＝t2+1 (16)

$\mathrm{\&Pi;}=\underset{1}{\overset{n/2}{\mathrm{\&Sigma;}}}{(\mathrm{D\&theta;}/\mathrm{Dt})}_{\mathrm{Ab}}\left(t\right)+\underset{0}{\overset{t2}{\mathrm{\&Sigma;}}}{(\mathrm{D\&theta;}/\mathrm{Dt})}_{\mathrm{Ab}}(n/2)$ With (t+t2) value and (d θ/dt) _Ab(n/2) value is kept in the dynamic storage cell successively;

Then judge ∏ >=θ/2,, give variable t3, carry out cycle control from 0～t3 with loop statement for t2 value assignment if satisfy condition,

t2＝t2+1 (17)

With (t+t2) value and (d θ/dt) _Ab(n/2) value is kept in the dynamic storage cell successively;

Variable t is from (n+1)/2～n circulation, reads pairing (the d θ/dt) of variable t _AbIn data (d θ/dt) _Ab(t), with (t+t2) value and (d θ/dt) _Ab(n/2) value is kept in the dynamic storage cell successively;

According to different leveling pitch angle and above-mentioned working control leveling speed generating mode; The curve that is generated can be by three kinds of forms shown in the accompanying drawing 19; Accompanying drawing 19 (a) expression working control leveling speed just in time matches with the maximum leveling capability of platform; Can not accomplish the leveling process when accompanying drawing 19 (b) expression working control leveling speed also reaches the maximum leveling speed of platform, accompanying drawing 19 (c) expression working control leveling speed also need keep a period of time could accomplish the leveling process when reaching the maximum leveling speed of platform; The generating algorithm that moves

curve is identical with the generating algorithm of above-mentioned leveling control d θ/dt curve for aiming at;

Step 5: calculate the displacement and the translational speed of each strong point, if the user has selected " reference point " leveling algorithm on man-machine interface, and the levelling range of platform adopts formula (12) to calculate the displacement and the translational speed of each strong point than δ＞1 o'clock;

z _x＝R _x×sinθ×[cos(β _x/R)+1]+(z _c-z _o-Δ)

$\frac{{\&PartialD;z}_x}{\&PartialD;t}=R_x\&times;\cos \mathrm{\&theta;}\&times;[\cos \left(\frac{{\mathrm{\&beta;}}_x}{R}\right)+1]\frac{\&PartialD;\mathrm{\&theta;}}{\&PartialD;t}+\frac{\&PartialD;z_c}{\&PartialD;t}---\left(12\right)$

If the user has selected " reference point " leveling algorithm on man-machine interface, and the levelling range of platform adopts formula (13) to calculate the displacement and the translational speed of each strong point than δ＜-1 o'clock;

z _x＝R _x×sinθ×[cos(β _x/R)-1]-(z _c-z _o-Δ) (13)

$\frac{{\&PartialD;z}_x}{\&PartialD;t}=R_x\&times;\cos \mathrm{\&theta;}\&times;[\cos \left(\frac{{\mathrm{\&beta;}}_x}{R}\right)-1]\frac{\&PartialD;\mathrm{\&theta;}}{\&PartialD;t}-\frac{\&PartialD;z_c}{\&PartialD;t}$

If the user at the leveling algorithm of having selected on the man-machine interface except " reference point ", adopts formula (14) to calculate the displacement and the translational speed of each strong point;

z _x＝R _x×sinθ×[cos(β _x/R)+δ] (14)

dz _x/dt＝R _x×cosθ×[cos(β _x/R)+δ]dθ/dt

Site error control leveling method adopts electromechanical servo control, and this servocontrol has leveling precision height, the fireballing advantage of leveling; In leveling schemes such as peak, minimum point and intermediate point based on cylinder model, to platform different initially pay the condition of being much obliged in advance, platform height overhead all can change; " intermediate point " leveling algorithm is then preferably adopted in leveling control for offshore platform; If require platform height overhead to keep constant, then need set an initial value to each strong point, be normative reference with this initial value, adopt the leveling strategy of " arbitrfary point ";

Further; Send position control signal for each platform feet position servo control driver element and give platform feet position servo control motor unit; Platform feet position servo control driver element is realized closed-loop control as position ring feedback signal and loop feedback signal respectively with actual position signal and actual speed signal that the servomotor signals of rotating transformer converses; And make system quickly and smoothly follow position setting value, the leveling of implementation platform;

Described platform feet position servo control module; The displacement of each strong point that will in described platform feet site error computing module, be calculated through output interface and velocity of displacement etc. convert the control corresponding electric signal to and are input to platform feet position servo control driver element, and platform feet position servo control drive unit drives platform feet position servo control motor unit is accomplished corresponding leveling action; Position servo control adopts dynamo-electric position servo or electro-hydraulic position servo to realize.

Embodiment 2

All the other are identical with embodiment 1, for the platform of no position servo control levelling device, and the adjustment shift value of each strong point of output on man-machine interface, alert is operated the leveling of a Rapid Realization platform of ability according to the content of being pointed out.

Claims (4)

1. platform leveling device based on cylindrical model; It is characterized in that: comprise omnibearing tilt sensor, platform, platform feet position servo control motor unit and platform feet position servo control driver element; Described omnibearing tilt sensor comprises omnibearing tilt sensor shell, LED lighting source, transparent cone container, light tight liquid, camera, microprocessor, power supply and compass; Described power supply is connected with described microprocessor with described LED lighting source; Described microprocessor is connected with described camera, and described transparent cone container is to be combined into a closed container by two onesize cones with back-to-back mode; Described transparent cone container is being fixed at described omnibearing tilt sensor shell middle part, and described LED lighting source is being fixed on top, and described camera is being fixed in the bottom; Described LED lighting source faces described transparent cone container center down and sends white light; Described camera is accepted the transmitted light after described transparent cone container center induction sees through transparent cone container up; Described microprocessor is through USB interface reads image data from described camera; Omnibearing tilt sensor is fixed on the described platform; Described platform is supported by described platform feet position servo control motor unit; Described platform feet position servo control driver element is controlled described platform feet position servo control motor unit and is moved up and down, and described microprocessor sends and moves control signal to described platform feet position servo control driver element;

Described omnibearing tilt sensor shell is column type, two planes of column type, and the LED lighting source is being fixed in one of them inboard, plane, and compass is being fixed in the outside, plane; On another plane, fixing camera, and direction is all inside; Transparent cone container is being fixed at the middle part of column type; The omnibearing tilt sensor shell adopts lighttight material, and the inwall of column type adopts the material of absorptive; The outer wall of column type is marked with the straight line that an axis with column type parallels, with this straight line as azimuthal initial point; Need rotate the omnibearing tilt sensor direction that the finger of compass is northern when using omnibearing tilt sensor overlaps with this straight line;

Described light tight liquid is injected in the described transparent cone container, and the state of the described light tight liquid in described transparent cone container will determine the horizontal tilt angle and the slant angle bearing of comprehensive horizontal detection; When omnibearing tilt sensor is in the surface level state; Described LED lighting source is owing to receive the described light tight liquid interception in described transparent cone container, described camera can't receive send from described LED lighting source and through described transparent cone container transmitted light; When omnibearing tilt sensor is in heeling condition; Described light tight liquid takes place to flow in described transparent cone container and keeps horizontality; At this moment some zone of described transparent cone container between described LED lighting source and described camera is in the unshielding state, described camera receive send from described LED lighting source and through described transparent cone container part transmitted light;

Said microprocessor comprises: the horizontal control module of platform, be used to control the levelness of platform, and mainly comprise platform feet site error computing module and platform feet position servo control module;

Described platform feet site error computing module is used to calculate and will platform aligning and the displacement of adjusting to each strong point of horizontal level state lower platform be comprised preparation submodule and platform erection controlling sub that leveling is preceding; According to different demands, adopt right cylinder " peak " leveling algorithm, right cylinder " minimum point " leveling algorithm, right cylinder " intermediate point " leveling algorithm and " reference point " leveling algorithm;

Consider that each strong point of platform is not regularly arranged, can be evenly stressed in the platform erection process and accomplish the leveling task rapidly in order to guarantee each strong point according to the platform erection control method; According to the position height behind the platform erection, calculate the distance and position that each strong point need move with formula (6),

$z_x=\left\{\begin{array}{c}{R}_x\&times;\sin \mathrm{\&theta;}\&times;[\cos ({\mathrm{\&beta;}}_x/R)+1]+(z_c-z_o-\mathrm{\&Delta;})\&CenterDot;\&CenterDot;\&CenterDot;\mathrm{\&delta;}>1\\ R_x\&times;\sin \mathrm{\&theta;}\&times;[\cos ({\mathrm{\&beta;}}_x/R)+\mathrm{\&delta;}]\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\left|\mathrm{\&delta;}\right|\&le;1\\ R_x\&times;\sin \mathrm{\&theta;}[\cos ({\mathrm{\&beta;}}_x/R)-1]-(z_c-z_o+\mathrm{\&Delta;})\&CenterDot;\&CenterDot;\&CenterDot;\mathrm{\&delta;}<-1\end{array}\right.---\left(6\right)$

δ＝(z _c-z _o)/R×sinθ ₀

Δ＝2R×sinθ ₀

In the formula, z _xRepresent the required mobile vertical range of a certain strong point certain leveling of realization, R _xRepresent the distance of a certain strong point and right cylinder model center axle, θ representes the horizontal tilt angle of platform, β _xThe calculating slant angle bearing of representing a certain strong point, it is the angle β of X axle and a certain strong point and right cylinder model center axle line _XcWith measurement slant angle bearing β _cPoor, i.e. β _x=β _Xc-β _c, β _x∈ [0,2 π R] counterclockwise, z _oThe position of intermediate point on the Z axle before the expression platform erection, z _cThe position of intermediate point on the Z axle behind the expression platform erection, R representes the radius of right cylinder model, Δ is illustrated in right cylinder model medium dip platform peak and minimum point is projected in the distance on the Z axle, θ ₀The pitch angle of expression platform before leveling; δ representes the levelling range ratio of platform; | δ |≤1 expression levelling range is in right cylinder model medium dip platform peak and minimum point drop shadow spread; δ＜-1 expression leveling position is higher than the subpoint of peak on the Z axle of right cylinder model medium dip platform, and δ＞1 expression leveling position is lower than the subpoint of minimum point on the Z axle of right cylinder model medium dip platform; The horizontal tilt angle θ of platform and the calculating slant angle bearing of the strong point in the formula (6)

Information be from the testing result of omnibearing tilt sensor, to obtain;

Differentiate can obtain the translational speed of each strong point of platform to formula (6), with formula (7) expression,

$\&PartialD;z_x/\&PartialD;t=R_x\&times;\cos \mathrm{\&theta;}\&times;[\cos ({\mathrm{\&beta;}}_x/R)+1]\&PartialD;\mathrm{\&theta;}/\&PartialD;t+\&PartialD;z_c/\&PartialD;t\&CenterDot;\&CenterDot;\&CenterDot;\mathrm{\&delta;}>1$

dz _x/dt＝R _x×cosθ×[cos(β _x/R)+δ]dθ/dt……………|δ|≤1 (7)

$\&PartialD;z_x/\&PartialD;t=R_x\&times;\cos \mathrm{\&theta;}\&times;[\cos ({\mathrm{\&beta;}}_x/R)-1]\&PartialD;\mathrm{\&theta;}/\&PartialD;t-\&PartialD;z_c/\&PartialD;t\&CenterDot;\&CenterDot;\&CenterDot;\mathrm{\&delta;}<-1$

Obtain following 3 kinds from formula (6) and formula (7) and aim at the leveling schemes: scheme 1) single leveling scheme; When the position after the leveling between the highs and lows of right cylinder model medium dip platform; Comprise highs and lows; Promptly satisfy | δ | during≤1 condition, can step implementation platform aligning leveling put in place, the leveling speed of each strong point must satisfy R _x* cos θ * [cos (β _x/ R)+and δ] d θ/dt, wherein d θ/dt is a leveling speed, the leveling rate curve is a compliant motion control curve; When the position after the leveling exceeds peak or the minimum point of right cylinder model medium dip platform; Promptly when δ＞1 or δ＜-1; Aim at leveling and need divide leveling and aim at this two various process completion, implementation is to aim at or aim at earlier the back leveling after the first leveling; The scheme of scheme 2) aiming at after the first leveling; Specific practice is, at first accomplishes leveling towards the peak or the minimum point direction of right cylinder model medium dip platform, when δ＞1; Peak to right cylinder model medium dip platform carries out leveling, and the leveling speed of each strong point must satisfy Wherein

Be leveling speed, the leveling rate curve is a compliant motion control curve; When δ＜-1, carry out leveling to the minimum point of right cylinder model medium dip platform, the leveling speed of each strong point must satisfy

Wherein

Be leveling speed, the leveling rate curve is a compliant motion control curve; Then after the leveling release, all strong points are with identical speed

Carry out translation motion, wherein

Be point-to-point speed, the point-to-point speed curve is a compliant motion control curve, moves to the height that sets up to platform plane; Scheme 3) scheme of aligning back leveling earlier, specific practice is that at first all strong points are with identical speed Carry out translation motion, wherein Be point-to-point speed, the point-to-point speed curve is a compliant motion control curve, each strong point (z that moves up when δ＞1 _c-z _o-Δ) distance, each strong point moves down (z when δ＜-1 _c-z _o+ Δ) distance; After alignment actions finishes, when δ＜-1, carry out leveling to the peak of sloping platform, the leveling speed of each strong point must satisfy

Wherein

Be leveling speed, the leveling rate curve is a compliant motion control curve; When δ＞1, carry out leveling to the minimum point of sloping platform, the leveling speed of each strong point must satisfy $R_x\&times;\mathrm{Cos}\mathrm{\&theta;}\&times;[\mathrm{Cos}({\mathrm{\&beta;}}_x/R)-1]\&PartialD;\mathrm{\&theta;}/\&PartialD;t,$ Wherein

Be leveling speed, the leveling rate curve is a compliant motion control curve;

Set up the right cylinder model: the firstth, the length between the central point o point of computing platform and 6 strong point A, B, C, D, E, the F, distance R with right cylinder model center axle is supported a little _x, width W through rectangular edges and height H and Pythagorean theorem calculate the distance R of each strong point and right cylinder model center axle _x, with the shortest distance R _xRadius R as the right cylinder model;

The secondth, obtain the azimuth information of each strong point; Need to calculate the angle β of X axle and each strong point and right cylinder model center axle line _Xc, definition Xs representes the X axle of omnibearing tilt sensor in the coordinate system of omnibearing tilt sensor; Definition X representes the X axle of platform in the coordinate system of platform; Therefore as long as two X axis fit like a glove and all calculate slant angle bearing in a clockwise direction; Then the measurement slant angle bearing of platform is just in full accord with the measurement slant angle bearing of omnibearing tilt sensor, has promptly set up unified reference system in the sensing detection of platform level with controlling.

2. the platform leveling device based on cylindrical model as claimed in claim 1; It is characterized in that: described light tight liquid; Select the viscosity of light tight liquid according to the detection of dynamic demand,, adopt the high light tight liquid of viscosity coefficient for the situation that has acting force in vertical direction; For high detection of dynamic horizontality situation, adopt the low light tight liquid of viscosity coefficient; To light tight liquid, select can good absorption light, do not have corrosivity, to temperature-insensitive, satisfy range of viscosities liquid as light tight liquid.

3. according to claim 1 or claim 2 platform leveling device based on cylindrical model; It is characterized in that: in the said platform feet position servo control module; The displacement and the velocity of displacement of each strong point that will in described platform feet site error computing module, be calculated through output interface convert the control corresponding electric signal to and are input to platform feet position servo control driver element, and platform feet position servo control drive unit drives platform feet position servo control motor unit is accomplished corresponding leveling action; Position servo control adopts dynamo-electric position servo to realize.

4. according to claim 1 or claim 2 platform leveling device based on cylindrical model; It is characterized in that: described platform feet position servo control module; The displacement and the velocity of displacement of each strong point that will in described platform feet site error computing module, be calculated through output interface convert the control corresponding electric signal to and are input to platform feet position servo control driver element, and platform feet position servo control drive unit drives platform feet position servo control motor unit is accomplished corresponding leveling action; Servocontrol adopts electro-hydraulic position servo to realize.

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