Laser positioning control method and system

Abstract

The present invention discloses a laser positioning control method and system, including: controlling at least one laser light to move on a set route according to a set movement direction and movement speed; when the laser light reaches a set position, setting the stop direction and stop speed of the laser light, and fitting a movement overshoot according to the stop speed; calculating and obtaining the target stop position of each laser light according to the real-time position of the laser light that moves on the set route and is farthest in the stop direction, and the movement overshoot; controlling each laser light to stop after moving to the target stop position. The present invention can make the laser light stop after moving to the specified target stop position, thereby realizing precise positioning control.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a laser positioning control method and system. Background Art

[0002] The laser positioning system is a mechanical device that uses laser light to assist in positioning to assist in medical activities. It enables patients to achieve accurate and repeatable positioning in imaging diagnosis and on the treatment bed. During the use of the laser positioning system, the position of the laser light needs to be adjusted so that the laser beam emitted by the laser light can hit the required position.

[0003] In the process of adjusting the position of the laser light, when the laser light is controlled to stop moving, the laser light will move forward a certain distance due to the time difference in receiving the control command and inertia, and the distance of this additional movement is unclear. Therefore, the existing laser positioning control method cannot accurately control the stopping position of the laser light, and the inability to accurately control the stopping position of the laser light will bring additional troubles.

[0004] For example, in some laser positioning systems, two movable laser lights set on two parallel axes are used for cross positioning to improve the accuracy of laser positioning. Such laser positioning systems can be called dual-axis systems. However, in dual-axis systems, when the movement of the laser light is controlled by various control devices such as remote controllers, the data packets containing the control instructions may arrive at different axes at different times. Therefore, due to the order in which the control instructions arrive at different axes, even if the starting positions of the laser lights on the dual axes are the same, the laser lights on the dual axes will eventually stop at different positions because the stop movement instructions are received in a certain order. That is, there is a problem in the dual-axis system that the two axes cannot be accurately controlled to move to the same position. When the dual-axis laser lights stop at different positions, the intersection point of the laser beams emitted by the two laser lights will change, thereby deviating from the original desired positioning position. In the medical process, even a small deviation can lead to huge safety hazards. Therefore, this problem of not being able to accurately control the movement of the laser lights on the two axes to the same position is unacceptable. Summary of the invention

[0005] In order to overcome the problems existing in the related art, the present invention provides a laser positioning control method and system to solve the problem that the laser positioning system in the prior art cannot accurately control the movement stop position of the laser light.

[0006] According to a first aspect of the present invention, a laser positioning control method is provided, the method comprising:

[0007] Controlling at least one laser light to move along a set route according to a set movement direction and movement speed;

[0008] When the laser light reaches the set position, the stopping direction and stopping speed of the laser light are set, and a motion overshoot is fitted according to the stopping speed;

[0009] Calculate and obtain the target stop position of each laser light according to the real-time position of the laser light that moves on the set route and is farthest in the stop direction, and the movement overshoot;

[0010] Each laser light is controlled to move to the target stop position and then stop.

[0011] Preferably, the laser lights at least include laser lights arranged on two set routes parallel to each other.

[0012] Preferably, before controlling the laser lights to move on a set route according to a set moving direction and moving speed, the real-time positions of the laser lights arranged on two set routes parallel to each other are the same.

[0013] Preferably, the motion overshoot is proportional to the stop speed; and fitting a motion overshoot according to the stop speed of the laser light comprises:

[0014] The motion overshoot is fitted according to the following formula:

[0015]

[0016] in, is the motion overshoot, is the stopping speed.

[0017] Preferably, the target stop position of each laser lamp is calculated based on the real-time position of the laser lamp that moves on the set route and is farthest in the stop direction, and the motion overshoot, including:

[0018] If the stopping direction is a positive direction, the target stopping position of each laser light is calculated based on the maximum value of the real-time positions of all the laser lights on the set routes plus the motion overshoot;

[0019] If the stopping direction is a negative direction, the target stopping position of each laser light is calculated by subtracting the motion overshoot amount from the minimum value of the real-time positions of the laser lights on all set routes.

[0020] Preferably, controlling each laser light to move to the target stop position and then stop comprises:

[0021] Controlling each laser light to continue to move in the stopping direction, and acquiring the real-time position of the laser light in real time;

[0022] When the real-time position of the laser light is consistent with the target stop position, the laser light is controlled to stop moving.

[0023] According to a second aspect of the present invention, there is provided a laser positioning control system, the system comprising a controller, a position detection device, a power supply module and at least one motion drive device, the motion drive device comprising a guide rail, a motor and a mechanical adjustment mechanism;

[0024] The active part of the mechanical adjustment mechanism is connected to the output shaft of the motor, and a laser lamp is installed on the mechanical adjustment mechanism; the guide rail is used to limit the movement path of the laser lamp;

[0025] The controller includes an embedded program, and the embedded program is used to implement the laser positioning control method as described in any embodiment of the present invention, so as to control the motor to drive the mechanical adjustment mechanism to move on the guide rail, thereby driving the laser light to move together with the mechanical adjustment mechanism;

[0026] The position detection device is used to obtain the real-time position of the laser light on the guide rail;

[0027] The power supply module is used to supply power to the motor, the mechanical adjustment mechanism, the laser light, the controller and the position detection device.

[0028] Preferably, the position detection device is a grating ruler arranged parallel to the guide rail.

[0029] Preferably, the motion drive device further comprises a driver, and the driver is connected to the controller; the driver is used for driving the mechanical adjustment mechanism to move on the guide rail according to the instruction of the controller.

[0030] Preferably, the driver is mounted at one end of the guide rail.

[0031] Preferably, the system further comprises a control device; the control device is wirelessly connected to each of the controllers; the control device is used to generate and send motion control instructions to each of the controllers, so as to control the controller to control the laser light to move according to the motion control instructions; the motion control instructions include the motion direction and the motion speed.

[0032] Preferably, the control device is further used to generate a motion stop instruction, wherein the motion stop instruction includes the stop direction and the stop speed; the motion stop instruction is used to control the laser light to stop moving when the laser light reaches a set position.

[0033] Preferably, the control device includes at least one control terminal, at least one of the control terminals is a remote control, and the remote control is provided with control buttons corresponding to different directions, and the motion control instruction is triggered by pressing the control button; when the motion control instruction is triggered, the motion direction is determined according to the pressed control button.

[0034] Preferably, a pressure sensor is provided in the control button, and the pressure sensor is used to collect the pressure applied to the control button when it is pressed; when the motion control instruction is triggered, the motion speed is determined according to the pressure collected by the pressure sensor.

[0035] Preferably, determining the movement speed according to the pressure collected by the pressure sensor includes:

[0036] The pressure collected by the pressure sensor is divided into a plurality of pressure intervals, each of which corresponds to a preset movement speed; and the movement speed is determined according to the pressure interval in which the pressure collected by the pressure sensor is located.

[0037] Preferably, the control device includes at least one control terminal, wherein at least one of the control terminals is a computer terminal device, a computer program for controlling the movement of the laser light is running on the computer terminal device, a drag bar component is provided on the graphical interface of the computer program, and the motion control instruction is triggered by dragging the drag bar component; when the motion control instruction is triggered, the motion direction is determined according to the dragging direction of the drag bar component, and the motion speed is determined according to the dragging length of the drag bar component.

[0038] Preferably, the drag length of the drag bar assembly is limited to a number of specified lengths, and each of the specified lengths corresponds to a preset movement speed.

[0039] Preferably, the control device is further used to generate a jog control instruction; the jog control instruction includes a jog direction; the jog control instruction is used to control the laser light to move a minimum distance in the jog direction.

[0040] Preferably, the control device is further used to generate a rotation control instruction; the rotation control instruction includes a rotation axis, a rotation direction and a rotation speed; the rotation control instruction is used to control the laser light to rotate around the rotation axis at the rotation speed and the rotation direction.

[0041] Preferably, the control device is also used to generate a focus control instruction; the focus control instruction includes a focus direction and a focus speed; the focus control instruction is used to control the laser light to adjust its own focal length with the focus direction and the focus speed.

[0042] The laser positioning control method and system disclosed in the present invention controls the laser light on the guide rail to move and stop, and after the laser light reaches the set position and wants to stop moving, the motion overshoot is introduced to describe the distance moved by the laser light from the set position to the laser light stopping movement, and then the real-time position of the laser light on all set routes is judged, the position of the laser light farthest in the original motion trend is selected and the motion overshoot generated by fitting is used to calculate the target stop position of each laser light, and then the laser lights on all set routes are controlled to stop moving after reaching the target stop position, thereby ensuring that the laser lights on all set routes can stop at the same position. It can be seen that the present invention can make the laser light move to the specified target stop position and then stop moving, thereby achieving precise positioning control. In addition, when there is a dual-axis system in the laser positioning system, the present invention can also solve the problem that the laser lights on the two axes cannot be accurately controlled to move to the same position in the dual-axis system.

[0043] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 The figure is a flow chart of a laser positioning control method according to an embodiment of the present invention.

[0045] Figure 2 It is a schematic diagram showing a method of obtaining the real-time positions of laser lights on two guide rails according to an embodiment of the present invention.

[0046] Figure 3 It is a schematic structural diagram of a laser positioning control system according to an embodiment of the present invention.

[0047] Figure 4a It is a schematic diagram of a correspondence table showing pressure collected by a pressure sensor and a motion speed indicating the motion of a laser light in a motion control instruction according to an embodiment of the present invention.

[0048] Figure 4b The present invention is a schematic diagram of a curve showing the relationship between the pressure collected by a pressure sensor and the motion speed of a laser light indicated in a motion control instruction according to an embodiment of the present invention.

[0049] Figure 5a is a schematic diagram of a drag bar component according to an embodiment of the present invention.

[0050] Figure 5b It is a schematic diagram showing a drag bar component being dragged in a positive direction according to an embodiment of the present invention.

[0051] Figure 5c It is a schematic diagram showing a drag bar component being dragged in a negative direction according to an embodiment of the present invention.

[0052] Figure 5d It is a schematic diagram showing a drag bar component with a drag length of a specified length according to an embodiment of the present invention.

[0053] Figure 6 It is a schematic diagram showing a method of controlling the rotation of a laser lamp according to an embodiment of the present invention. DETAILED DESCRIPTION

[0054] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0055] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "the" and "the" used in the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0056] It should be understood that although the terms first, second, third, etc. may be used in the present invention to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0057] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0058] like Figure 1 As shown, Figure 1 FIG. 1 is a flow chart of a laser positioning control method according to an embodiment of the present invention, comprising the following steps:

[0059] Step S101, controlling at least one laser light to move on a set route according to a set movement direction and movement speed;

[0060] Step S102, when the laser light reaches the set position, the stopping direction and stopping speed of the laser light are set, and a motion overshoot is fitted according to the stopping speed;

[0061] Step S103, calculating and obtaining the target stop position of each laser light according to the real-time position of the laser light that moves on the set route and is the farthest in the stop direction, and the motion overshoot;

[0062] Step S104, controlling each laser light to move to the target stop position and then stop.

[0063] Specifically, in step S101, the laser light may be controlled to move according to a set movement direction and movement speed until the laser light moves to a maximum movement position limited by a set route or stops when it reaches a set position.

[0064] Specifically, in some embodiments, the present invention can set the laser light on a guide rail, and define the movement path of the laser light by the guide rail. Specifically, in other embodiments, the movement path of the laser light can also be defined by other devices, and the present invention does not limit this.

[0065] Specifically, in the present invention, when controlling the movement of the laser light on at least one set route, each set route can constitute an axis, and the movement mode of the laser light on the set route is mainly to make a translational movement back and forth along the direction of the set route. Specifically, the set routes where the laser lights controlled by the same motion control instruction are located can have the same maximum motion position, that is, have the same motion limit range, so that the laser lights on each axis can make the same motion action within the same motion limit range, so that the actual motion process of the laser light meets the user's operational expectations.

[0066] Specifically, the laser lights controlled in step S101 at least include laser lights set on two mutually parallel set routes. The two mutually parallel set routes can constitute a dual-axis system. Specifically, when the laser lights controlled in step S101 include laser lights on any multiple mutually parallel set routes, any two of the laser lights on the set routes can constitute a dual-axis system.

[0067] Specifically, before controlling the laser lamp to move on the set route according to the set movement direction and movement speed, the laser lamps set on two set routes parallel to each other can have the same real-time position. That is, the laser lamp on each axis of the dual-axis system should have the same real-time position to ensure that the laser beam emitted by the laser lamp can accurately reach the desired target position.

[0068] Specifically, in step S102, when the laser light moves to a set position, the user can give the laser light a set stop direction and stop speed to control the laser light to stop moving, and fit a motion overshoot according to the stop speed of the laser light. Specifically, the stop speed and stop direction given when controlling the laser light to stop moving can be determined according to the motion speed and motion direction of the last motion performed by the laser light.

[0069] Specifically, when there are laser lights on multiple axes in the laser positioning system, the laser positioning system can use only one signal receiver, such as a Bluetooth adapter, to receive control instructions, and then distribute the received instructions to different axes through the system internal bus, such as the RS485 bus. Since each axis has a different site number, the instructions can be packaged into communication data packets with different site numbers for distribution, and each axis can identify whether it is a message that needs to be processed based on the site number of the communication data packet transmitted in the bus, and then determine whether to control the corresponding laser light to move or stop moving according to the instruction.

[0070] That is, during the data communication process, the laser positioning system distributes data packets with instructions through a single channel, so the order in which the data packets arrive at different axes is different. In the motion control process of the dual-axis system, the movement of the laser lights on each axis is normally controlled by sending two instructions, start movement and stop movement. However, since the order in which the instructions arrive at different axes through a single channel is different, when the starting position of the laser lights on each axis is the same, the order in which the stop movement instructions are received causes the laser lights on each axis to stop at different positions, resulting in positioning errors, which does not meet user needs.

[0071] In this regard, the present invention can introduce motion overshoot to describe the distance moved by the laser lamp in the process from the receipt of the stop motion instruction when reaching the set position to the stopping of the laser lamp. Then, the real-time positions of the laser lamps on all set routes are judged, and the position of the laser lamp farthest in the original motion trend is selected and the motion overshoot generated by fitting is used to calculate the target stop position of each laser lamp. Then, the laser lamps on all set routes are controlled to reach the target stop position and then stop moving, thereby ensuring that the laser lamps on all set routes can stop at the same position.

[0072] In this regard, the present invention introduces the concept of motion overshoot to describe the process of stopping the motion of the laser lamp, so as to realize the motion control logic of the laser lamp in the dual-axis system. Specifically, during the motion process of the laser lamp, due to the delayed reception of the command to stop the motion, the position of the laser lamp when the command to stop the motion is issued and the position where the laser lamp finally stops are inconsistent. For this, the distance between the two positions can be defined as the motion overshoot of the laser lamp. In the entire stopping process, in order to ensure that the position of each laser lamp in the dual-axis system before and after the motion is consistent, it is necessary to ensure that the motion overshoot of each laser lamp in the dual-axis system is consistent. Therefore, when the laser lamp reaches the set position, that is, when it is planned to stop controlling the motion of the laser lamp, a motion overshoot can be fitted according to the set stop speed of the laser lamp, and the current position of the laser lamp on each axis returned in real time can be obtained at the same time to determine the laser lamp with the farthest position in the stop direction, so as to use the real-time position of the laser lamp plus the fitted motion overshoot to calculate a final target stop position, and send it to the dual-axis system, so that the laser lamp on each axis can reach the target stop position.

[0073] Specifically, in step S102, a motion overshoot can be fitted according to the set stop speed to estimate the distance that the laser light will move from the time the laser positioning system reaches the set position and receives the instruction to stop moving to the time the laser light stops moving. Thus, the final stop position of each laser light can be adjusted according to the motion overshoot, so that the final stop position of the laser lights on all axes can remain consistent.

[0074] Specifically, the motion overshoot fitted in step S102 may be proportional to the set stop speed, so that the motion overshoot fitted by the present invention can be more consistent with the motion overshoot that may occur during the actual motion stop process.

[0075] Specifically, the motion overshoot may be fitted by a linear formula. Specifically, the specific process of fitting a motion overshoot according to the stop speed of the laser light in step S102 may include: fitting the motion overshoot according to the following formula:

[0076]

[0077] in, is the motion overshoot, is the stopping speed; among them, the motion overshoot The unit of can be mm, and the unit of stop speed can be mm / s. For example, if the current moving speed of the laser light is 0.4mm / s, that is, the stop speed included in the motion stop instruction is 0.4mm / s, then according to the above formula, the fitted motion overshoot is 0.2mm.

[0078] Specifically, according to actual needs, the motion overshoot may also be fitted by other linear formulas or other methods, and the present invention is not limited to this.

[0079] Specifically, in step S103, the target stop position of each laser light can be calculated based on the real-time position of the laser light that moves on the set route and is farthest in the stop direction, that is, the last movement direction of the laser light, and the motion overshoot, so that the actual motion overshoot of the laser light on each axis can be kept consistent, and the laser light on each axis can stop at the same target stop position.

[0080] Specifically, the specific process of calculating the target stop position of each laser light according to the real-time position of the laser light farthest in the stop direction on all set routes and the motion overshoot in step S103 may include: if the stop direction is a positive direction, the target stop position of each laser light is calculated based on the maximum value of the real-time positions of the laser lights on all set routes, plus the motion overshoot; if the stop direction is a negative direction, the target stop position of each laser light is calculated based on the minimum value of the real-time positions of the laser lights on all set routes, minus the motion overshoot. Specifically, the positive direction is defined as the direction in which the actual position of the laser light on the set route increases, and the negative direction is defined as the direction in which the actual position of the laser light on the set route decreases.

[0081] Specifically, Figure 2 As shown, Figure 2 This is a schematic diagram of obtaining the real-time position of laser lights on two set routes according to an embodiment of the present invention. In this embodiment, it is assumed that all set routes only include route 1 and route 2, and when reaching the set position, the real-time position of laser light 1 on route 1 is x1, and the real-time position of laser light 2 on route 2 is x2, and x1 and x2 satisfy the following relationship:

[0082]

[0083] in, max is the maximum position that the laser lights can move on route 1 and route 2. When the stop direction is the positive direction, the laser light farthest in the stop direction on all routes is laser light 2, and its real-time position is the maximum value of the real-time positions of all two laser lights. At this time, the real-time position x2 of laser light 2 on route 2 should be added with the motion overshoot fitted in step S102. , to obtain the target stop position x_t, the calculation formula is:

[0084]

[0085] When the stop direction is negative, the laser light farthest in the stop direction on all routes is laser light 1, and its real-time position is the minimum of the real-time positions of all two laser lights. At this time, the motion overshoot fitted in step S102 should be subtracted from the real-time position x1 of laser light 1 on route 1. , to obtain the target stop position , and its calculation formula is:

[0086]

[0087] Specifically, in Figure 2 In the embodiment shown, the method of marking the position on the set route can be that the minimum value is 0 and the maximum value is x_max; in other embodiments, the method of marking the position on the set route can also be that the middle of the route is set to 0, and the position in the positive direction is a positive value, the maximum position in the positive direction is +x_max, and the position in the negative direction is a negative value, the maximum position in the negative direction is -x_max. The present invention is not limited to this.

[0088] Specifically, when there is only one laser light to be controlled to move, the laser light that is farthest in the stop direction is the only laser light. In this case, the real-time position of the laser light can be directly obtained and the target stop position of each laser light can be calculated based on the stop direction and the motion overshoot fitted in step S102. Specifically, assuming that the real-time position of the only laser light is x, when the stop direction is the positive direction, the real-time position x of the laser light plus the motion overshoot fitted in step S102 can be calculated. , to obtain the target stop position x_t, the calculation formula is:

[0089]

[0090] When the stop direction is the negative direction, the motion overshoot value fitted in step S102 can be subtracted from the real-time position x of the laser light. , to obtain the target stop position , and its calculation formula is:

[0091]

[0092] Specifically, in step S104, after the final target stop position is calculated, the laser light on each set route can be controlled to move to the target stop position and then stop, so that the laser light on each axis can stop at the same position, thereby solving the problem in the prior art that the two axes cannot be accurately controlled to move to the same position in a dual-axis system, and achieving more precise positioning control.

[0093] Specifically, the specific process of controlling the laser light on each set route to move to the target stop position and then stop in step S104 may include: controlling each laser light to continue moving in the stop direction, while obtaining the real-time position of the laser light in real time; when the real-time position of the laser light is consistent with the target stop position, controlling the laser light to stop moving.

[0094] Specifically, when the user controls the laser light to stop moving, and after calculating the target stop position of each laser light through steps S102 and S103, the laser light can be triggered to move to the target stop position. During the process of the laser light stopping, the movement state of the laser light can be returned. At this time, the real-time position of the laser light can be read again to determine whether the real-time position is consistent with the target stop position. If not, the laser light is allowed to continue moving until it is consistent and then the laser light is controlled to stop moving.

[0095] Specifically, the laser positioning control method proposed in the present invention is not only applicable to laser positioning systems with dual-axis systems, but can also be applied to laser positioning systems with only one axis or including more than two axes, so that no matter how many axes there are, the laser lights on all axes can be moved to the same target stop position, thereby achieving precise positioning control.

[0096] Corresponding to the above-mentioned laser positioning control method embodiment, the present invention also provides a laser positioning control system.

[0097] like Figure 3 As shown, Figure 3 It is a structural schematic diagram of a laser positioning control system shown according to an embodiment of the present invention, the system includes a controller, a position detection device, a power supply module and at least one motion drive device, wherein the motion drive device includes a guide rail, a motor and a mechanical adjustment mechanism; wherein the active part of the mechanical adjustment mechanism is connected to the output shaft of the motor, and a laser lamp is installed on the mechanical adjustment mechanism; the guide rail is used to limit the movement path of the laser lamp; the controller includes an embedded program, which is used to implement the laser positioning control method proposed in any embodiment of the present invention, so as to control the motor to drive the mechanical adjustment mechanism to move on the guide rail, thereby driving the laser lamp to move with the mechanical adjustment mechanism; the position detection device is used to obtain the real-time position of the laser lamp on the guide rail; the power supply module is used to power the motor, the mechanical adjustment mechanism, the laser lamp, the controller and the position detection device.

[0098] Specifically, although Figure 3 In the embodiment shown in the figure, a total of N motion drive devices, which are more than three in number, are included (where N is the actual number of the motion drive devices). In fact, in other embodiments, the system may also include only one or two motion drive devices, and the specific number thereof can be set according to actual needs, and the present invention is not limited to this.

[0099] Specifically, the implementation process of the laser positioning control method implemented by the above embedded program is specifically described in detail in the implementation process of each step in the above method embodiment, which will not be repeated here.

[0100] Specifically, in some embodiments, the position detection device can be a grating ruler arranged in parallel with the guide rail. The grating ruler is also called a grating ruler displacement sensor, which is a measurement feedback device that works based on the optical principle of a grating. Specifically, the grating ruler can be arranged in parallel on each side of the guide rail, and the grating senses the laser light on the guide rail and outputs the real-time position of the laser light.

[0101] Specifically, the grating ruler can also be used as a feedback calibration of the actual motion signal of the laser light to form a closed-loop control. Specifically, when the target position is given, the route is set, and after the driver on the guide rail receives the target position, the laser light can be controlled to move accordingly. At the same time, the driver can also read the digital position information output by the grating ruler in real time, and compare the position information with the target position in real time until the digital position information output by the grating ruler is consistent with the target position, and then stop moving, so that the laser light can stop at the specified target position, and will not exceed or fail to reach the specified target position due to inertia or other reasons.

[0102] Specifically, the grating ruler can also store the read real-time position in the corresponding register, so that the real-time position of the laser light on each guide rail can be obtained by reading the register at a regular time. Specifically, the reading interval for reading the register to obtain the real-time position of the laser light can be set to about 300ms. Specifically, a longer or shorter reading interval can also be set according to actual needs, and the present invention is not limited to this.

[0103] Specifically, in other embodiments, the position detection device may also be other equipment that can be used to obtain the real-time position of the laser light on the guide rail, and the present invention is not limited to this.

[0104] Specifically, the motion drive device may further include a driver, which is connected to the controller; the driver may be used to drive the mechanical adjustment mechanism to move on the guide rail according to the instructions of the controller. That is, the instructions issued by the controller may be first sent to the driver, and then the driver drives the motor to move on the guide rail, thereby driving the mechanical adjustment mechanism and the laser light to move with the motor on the guide rail, rather than using the driving function of the motor itself to drive the mechanical adjustment mechanism to move on the guide rail.

[0105] Specifically, the driver can be installed at one end of the guide rail to facilitate the motor to move on the guide rail. Specifically, the driver can also be installed at other positions that can drive the motor, and the present invention is not limited to this.

[0106] Specifically, the system proposed by the present invention may also include a control device; the control device may be wirelessly connected to each controller; the control device may be used to generate and send motion control instructions to each controller, so as to control the controller to control the laser light to move according to the motion control instructions. The motion control instructions include the direction and speed of movement of the laser light.

[0107] Specifically, the motion control instruction can be triggered by the user operating the corresponding button on the control device, etc., and the present invention does not limit this. The control device can transmit the generated motion control instruction to the laser light by wireless transmission. For example, the control device can send the motion control instruction via Bluetooth, and the laser light can receive the motion control instruction through a Bluetooth adapter. Specifically, in other embodiments, other wireless transmission methods, such as Wi-Fi or infrared, etc., can also be used, and the present invention does not limit this. Specifically, according to the actual application conditions, the instructions of the control device can also be transmitted to the laser light by wired connection, and the present invention does not limit this.

[0108] Specifically, the motion control instruction issued by the control device should include the motion direction and speed of the laser light. By obtaining the motion direction and speed contained in the motion control instruction, the laser light can be controlled to move in the indicated direction and at the indicated speed according to the motion control instruction until the laser light moves to the maximum motion position limited by the guide rail or stops when a motion stop instruction is received.

[0109] Specifically, the control device can also be used to generate a motion stop instruction, which includes a stop direction and a stop speed; the motion stop instruction can be used to control the laser light to stop moving when the laser light reaches a set position.

[0110] Specifically, when the laser light moves to the set position, the user can control the laser light to stop moving by triggering a motion stop instruction. Similar to the motion control instruction, the motion stop instruction can be triggered by the user operating the corresponding button on the control device, or by the user releasing the corresponding button on the control device that triggers the motion control instruction, or by other methods, and the present invention does not limit this. Similarly, the motion stop instruction can be sent to the laser positioning system through any wireless transmission method that is the same as or different from the motion control instruction to control the laser light to stop moving, and the present invention does not limit the sending method of the motion stop instruction.

[0111] Specifically, the motion stop instruction issued by the control device may include a stop direction and a stop speed for instructing the laser light to stop moving, so as to control the laser light to stop according to the stop direction and the stop speed. Specifically, the stop direction and the stop speed included in the motion stop instruction may be determined according to the motion direction and the motion speed of the current motion of the laser light. Specifically, the stop direction and the stop speed included in the motion stop instruction may be determined according to the motion direction and the motion speed included in the most recent motion control instruction issued by the control device, so as to ensure the continuity of the entire process from the motion to the stop of the laser light.

[0112] Specifically, in some embodiments, buttons corresponding to different indication directions and indication speeds can be provided on the control device, and the user can trigger a motion control instruction by pressing or clicking the corresponding button, and the motion direction and motion speed of the motion control instruction are the indication direction and indication speed corresponding to the button; when the user wants to stop the laser light from moving, the user can release the pressure or click of the corresponding button to trigger a motion stop instruction, and the stop direction and stop speed of the motion stop instruction are also the indication direction and indication speed corresponding to the button. Therefore, the user can trigger the corresponding motion control instruction and motion stop instruction through different operating methods of the same button, so that the user can control the movement of the laser light in a convenient and efficient way.

[0113] Specifically, in the present invention, the motion stop instruction issued by the same control device should control the laser lights on the same one or more guide rails as the motion control instruction to stop moving.

[0114] Specifically, in some embodiments, the control device used in the present invention may include at least one control terminal, wherein at least one control terminal is a remote control, and the remote control may be provided with control buttons corresponding to different directions, and the motion control instruction may be triggered by pressing each control button; when the motion control instruction is triggered, the movement direction of the laser light can be determined according to the pressed control button.

[0115] Specifically, the motion stop instruction can also be triggered by releasing the pressed control button, and the stop direction and stop speed included in the motion stop instruction can be determined according to the current motion direction and motion speed of the laser light.

[0116] Specifically, a pressure sensor may be provided in the control button, and the pressure sensor may be used to collect the pressure applied when the control button is pressed; when the motion control instruction is triggered, the motion speed of the laser light may be determined based on the pressure collected by the pressure sensor.

[0117] Specifically, Figure 4a and Figure 4b As shown, Figure 4a and Figure 4bThey are respectively a schematic diagram of a corresponding table and a schematic diagram of a relationship curve of a pressure collected by a pressure sensor according to an embodiment of the present invention and the motion speed of a laser light indicated in a motion control instruction. As the pressure increases, the corresponding motion speed also increases. Therefore, by pressing a button with different pressures, motion control instructions corresponding to different motion speeds can be generated, thereby realizing adaptive stepless speed regulation of the laser light movement, and being able to intelligently and more conveniently, quickly and accurately adjust the laser light to the correct position to achieve precise positioning.

[0118] Specifically, the process of determining the movement speed according to the pressure collected by the pressure sensor may also include: dividing the pressure collected by the pressure sensor into a plurality of pressure intervals, each pressure interval corresponding to a preset movement speed; and determining the movement speed according to the pressure interval in which the pressure collected by the pressure sensor is located. Specifically, in other embodiments, the number of pressure intervals divided by the pressure collected by the pressure sensor and the specific values ​​of the corresponding movement speeds may be set according to actual needs, and the present invention does not limit this.

[0119] Specifically, the pressure sensor embedded in the remote control can be a miniature pressure sensor, which can automatically adjust the movement speed according to the pressure, or slow down by inching. Specifically, a new movement speed can be obtained after each adjustment of the pressure on the control button, thereby generating a new motion control instruction to control the laser light to move at the newly obtained movement speed. Specifically, when the control button is pressed and released, the button can be returned to the normal position, and the movement stop instruction can be triggered at the same time, and the stop direction and stop speed are the same as the movement direction and movement speed of the motion control instruction generated according to the last pressing force.

[0120] Specifically, in the process of controlling the movement of the laser light, a faster movement speed can be used for control when it is far away from the target position, and a slower movement speed can be used for control or inching control when it is almost adjusted to the right position, so that the movement speed of the laser light automatically slows down, thereby achieving fast and accurate intelligent adjustment. Compared with ordinary motion control methods, its operation is more convenient and quicker.

[0121] Specifically, the remote controller may also be provided with a control stick, and the motion control instruction may be triggered by shaking the control stick. Specifically, the motion direction may be determined by operating the swing direction of the control stick. Specifically, the motion speed may be determined by operating the swing degree of the control stick. Specifically, the motion stop instruction may be triggered by releasing the control of the control stick and returning the control stick to the normal position.

[0122] Specifically, other control devices may be provided on the remote controller to control the movement and stop of the laser light, and the present invention does not limit this.

[0123] Specifically, in some embodiments, the control device may further include at least one control terminal, wherein at least one control terminal is a computer terminal device, on which a computer program for controlling the movement of the laser light may be run, a drag bar component may be provided on the graphical interface of the computer program, and a motion control instruction may be triggered by dragging the drag bar component; when the motion control instruction is triggered, the movement direction of the laser light may be determined according to the drag direction of the drag bar component, and the movement speed of the laser light may be determined according to the drag length of the drag bar component. Specifically, a faster movement speed may be generated when the drag length of the drag bar component is longer, and a slower movement speed may be generated when the drag length of the drag bar component is shorter. Specifically, after each change in the drag length of the drag bar component, a new movement speed may be obtained, thereby generating a new motion control instruction to control the laser light to move at the newly obtained movement speed.

[0124] Specifically, Figure 5a As shown, Figure 5a : is a schematic diagram of a drag bar component according to an embodiment of the present invention. The base point of the drag bar component is located at the center, and its corresponding speed is 0; the left and right sides of the base point correspond to the negative direction and the positive direction of the guide rail, respectively, for indicating different movement directions; the leftmost end and the rightmost end of the drag bar component correspond to the maximum movement speed of the movement control in the two movement directions, respectively; specifically, in the illustrated embodiment, the maximum movement speed is 5 mm / s; in other embodiments, the maximum movement speed can also be set to other speeds, and the present invention does not limit this.

[0125] Specifically, in other embodiments, the drag bar component may also be presented in other forms, which is not limited in the present invention.

[0126] Specifically, Figure 5b As shown, Figure 5b The present invention is a schematic diagram of dragging a drag bar component in a positive direction according to an embodiment of the present invention. When a base point in the drag bar component is dragged in the positive direction, a motion control instruction corresponding to the positive direction can be triggered, wherein the motion speed contained in the motion control instruction can be obtained according to the drag length.

[0127] Specifically, Figure 5c As shown, Figure 5c is a schematic diagram of dragging a drag bar component in a negative direction according to an embodiment of the present invention. When a base point in the drag bar component is dragged in the negative direction, a motion control instruction corresponding to the negative direction can be triggered, wherein the motion speed contained in the motion control instruction can also be obtained according to the drag length. Specifically, relative to Figure 5b The drag length in Figure 5c The drag length in is longer, so Figure 5c The motion speed contained in the corresponding motion control instruction should be faster than Figure 5b The movement speed contained in the corresponding generated motion control instructions is faster.

[0128] Specifically, the movement speed corresponding to the dragging length of the drag bar component can be average, that is, the movement speed obtained according to the dragging length can be obtained according to the ratio of the dragging length to the length of one side of the drag bar component; specifically, the movement speed corresponding to the dragging length can also be uneven, for example, it can be set that the increase in movement speed corresponding to the increased dragging length closer to the base point is relatively small, while the increase in movement speed corresponding to the increased dragging length farther from the base point and closer to the end of the component is relatively large. It can be specifically set according to actual needs, as long as it follows the rule that the longer the length, the faster the speed, and the present invention is not limited to this.

[0129] Specifically, the drag length of the drag bar component may be limited to a number of specified lengths, and each specified length may correspond to a preset movement speed. Figure 5d As shown, Figure 5d This is a schematic diagram of a drag bar component with a specified drag length according to an embodiment of the present invention. Among them, two specified lengths, half the length and the full length, are set in each direction of the drag bar, which correspond to two specified movement speeds of 1mm / s and 5mm / s respectively; when the drag length is half the length or less, its drag point can be automatically positioned at the position where the half length is located, and a motion control instruction with a movement speed of 1mm / s in the corresponding movement direction is generated; and when the drag length is more than half the length, its drag point can be automatically positioned at the position where the full length is located, and a motion control instruction with a movement speed of 5mm / s in the corresponding movement direction is generated. Specifically, in other embodiments, more specified lengths can be divided on the drag bar component, and corresponding movement speeds can be set, which can be set according to actual needs, and the present invention does not limit this.

[0130] Specifically, when the drag bar component is released, the drag point of the drag bar component can automatically return to the base point, triggering a motion stop instruction at the same time, and a stop direction and a stop speed that are the same as the motion direction and speed of the motion control instruction generated according to the last drag length.

[0131] Specifically, other control components, such as virtual buttons, may also be used on the graphical interface of the computer terminal device to trigger the motion control instruction and the motion stop instruction, and the present invention does not limit this.

[0132] Specifically, the computer terminal device used in the present invention can be any one of computer terminal devices such as a tablet computer, a smart phone, a personal computer, etc., and the present invention is not limited to this.

[0133] Specifically, in other embodiments, the present invention may also use other types of control devices to achieve control of the movement of the laser light, which may be specifically configured according to actual needs, and the present invention is not limited to this.

[0134] Specifically, the present invention can realize the control of the movement of the laser light through one or more different control devices, which can be specifically configured according to actual needs, and the present invention is not limited to this.

[0135] Specifically, the control device can also be used to generate a jog control instruction; the jog control instruction may include a jog direction; the jog control instruction can be used to control the laser light to move a minimum distance in the jog direction. Specifically, the minimum distance of movement of the laser light can be 0.1mm, so each time the jog control instruction is triggered, the laser light is only controlled to move 0.1mm in the jog direction, and the operation is more precise, convenient and quick. Specifically, when the control device is a remote control, the jog control instruction can be triggered by operating the corresponding physical button; and when the control device is a computer terminal device, the jog control instruction can be triggered by operating the corresponding virtual button; specifically, the control device can also trigger the corresponding jog control instruction in other ways, which can be set according to actual needs, and the present invention is not limited to this.

[0136] Specifically, the control device can also be used to generate a rotation control instruction; the rotation control instruction may include a rotation axis, a rotation direction and a rotation speed; the rotation control instruction can be used to control the laser light to rotate around the rotation axis at a rotation speed and rotation direction.

[0137] Specifically, Figure 6 As shown, Figure 6 The figure is a schematic diagram of controlling the rotation of a laser lamp according to an embodiment of the present invention. In the plane where the guide axis is located, with the laser lamp as the origin O, two horizontal and vertical rotation axes X and Y can be derived, and the laser lamp can be controlled to rotate clockwise or counterclockwise around the X axis or Y axis according to the rotation control instruction issued by the control device, so as to adjust the angle of the laser beam emitted by the laser lamp, so that the laser positioning position can hit the target position more accurately.

[0138] Specifically, similar to the motion control of the laser light, corresponding stepless adjustment and inching adjustment schemes can also be set for the rotation speed in the rotation control instruction. The specific implementation methods of the stepless adjustment and inching adjustment corresponding to the motion control of the laser light mentioned above can be referred to, and the present invention does not limit this.

[0139] Specifically, when the control device is a remote control, the rotation control instruction can be triggered by operating the corresponding physical button; and when the control device is a computer terminal device, the rotation control instruction can be triggered by operating the corresponding virtual button; specifically, the control device can also trigger the corresponding rotation control instruction in other ways, which can be set according to actual needs, and the present invention is not limited to this.

[0140] Specifically, the control device can also be used to generate a focus control instruction; the focus control instruction can include a focus direction and a focus speed; the focus control instruction can be used to control the laser light to adjust its own focal length according to the focus direction and the focus speed.

[0141] Specifically, similar to the motion control of the laser light, corresponding stepless adjustment and inching adjustment schemes can also be set for the focusing speed in the focusing control instruction. The specific implementation methods of the stepless adjustment and inching adjustment corresponding to the motion control of the laser light mentioned above can be referred to, and the present invention does not limit this.

[0142] Specifically, when the control device is a remote control, the focus control instruction can be triggered by operating the corresponding physical button; and when the control device is a computer terminal device, the focus control instruction can be triggered by operating the corresponding virtual button; specifically, the control device can also trigger the corresponding focus control instruction in other ways, which can be set according to actual needs, and the present invention is not limited to this.

[0143] Specifically, the control device may also be used to generate other control instructions, which is not limited in the present invention.

[0144] During the installation and maintenance of the laser lamp, if the laser light line of the equipment is offset or there is a problem with the focal length, it will affect the normal use of the equipment. Through the above means, the present invention can control the movement of multiple laser lamps simultaneously by controlling the equipment wirelessly and remotely, and simultaneously realize four-dimensional adjustment including translation on the guide rail, rotation in two directions and focal length, and can realize adaptive stepless speed regulation, as well as inching control speed change. The present invention can manually adjust the position and focal length of the laser lamp without removing the outer shell, and can intelligently and quickly adjust the position and focal length of the laser lamp, avoiding the normal use process of the equipment caused by laser lamp problems, and conveniently, quickly and accurately adjust the laser lamp into place to achieve precise positioning.

[0145] The various embodiments of the present invention are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0146] Obviously, the above embodiments of the present invention are only examples for clearly explaining the present invention, and are not intended to limit the implementation methods of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A laser positioning control method, characterized in that: The method comprises: Controlling at least one laser light to move along a set route according to a set movement direction and movement speed; When the laser light reaches the set position, the stopping direction and stopping speed of the laser light are set, and a motion overshoot is fitted according to the stopping speed; According to the real-time position of the laser light that moves on the set route and is farthest in the stop direction, and the motion overshoot, the target stop position of each laser light is calculated, including: If the stopping direction is a positive direction, the target stopping position of each laser light is calculated based on the maximum value of the real-time positions of all the laser lights on the set routes plus the motion overshoot; If the stopping direction is a negative direction, the target stopping position of each laser light is calculated based on the minimum value of the real-time positions of all the laser lights on the set routes minus the motion overshoot; Each laser light is controlled to move to the target stop position and then stop.

2. The method according to claim 1, characterized in that The laser lights at least include laser lights arranged on two set routes parallel to each other.

3. The method according to claim 2, characterized in that Before controlling the laser lights to move on a set route according to a set moving direction and moving speed, the real-time positions of the laser lights on two set routes parallel to each other are the same.

4. The method according to claim 1, characterized in that: The motion overshoot is proportional to the stop speed; fitting a motion overshoot according to the stop speed includes: The motion overshoot is fitted according to the following formula: Δs=v / 2 Wherein, Δs is the motion overshoot, and v is the stopping speed.

5. The method according to claim 1, characterized in that The controlling each laser light to move to the target stop position and then stop includes: Controlling each laser light to continue to move in the stopping direction, and acquiring the real-time position of the laser light in real time; When the real-time position of the laser light is consistent with the target stop position, the laser light is controlled to stop moving.

6. A laser positioning control system, characterized in that: The system includes a controller, a position detection device, a power supply module and at least one motion drive device, and the motion drive device includes a guide rail, a motor and a mechanical adjustment mechanism; The active part of the mechanical adjustment mechanism is connected to the output shaft of the motor, and a laser lamp is installed on the mechanical adjustment mechanism; the guide rail is used to limit the movement path of the laser lamp; The controller includes an embedded program, and the embedded program is used to implement the laser positioning control method according to any one of claims 1 to 5, so as to control the motor to drive the mechanical adjustment mechanism to move on the guide rail, thereby driving the laser light to move along with the mechanical adjustment mechanism; The position detection device is used to obtain the real-time position of the laser light on the guide rail; The power supply module is used to supply power to the motor, the mechanical adjustment mechanism, the laser light, the controller and the position detection device.

7. The system according to claim 6, characterized in that The position detection device is a grating ruler arranged parallel to the guide rail.

8. The system according to claim 6, characterized in that The motion drive device also includes a driver, which is connected to the controller; the driver is used to drive the mechanical adjustment mechanism to move on the guide rail according to the instructions of the controller.

9. The system according to claim 8, characterized in that The driver is mounted at one end of the guide rail.

10. The system according to claim 6, characterized in that The system also includes a control device; the control device is wirelessly connected to each of the controllers; the control device is used to generate and send motion control instructions to each of the controllers to control the controller to control the laser light to move according to the motion control instructions; the motion control instructions include the motion direction and the motion speed.

11. The system according to claim 10, characterized in that The control device is further used to generate a motion stop instruction, which includes the stop direction and the stop speed; the motion stop instruction is used to control the laser light to stop moving when the laser light reaches a set position.

12. The system according to claim 10, characterized in that The control device includes at least one control terminal, at least one of which is a remote controller, and the remote controller is provided with control buttons corresponding to different directions, and the motion control instruction is triggered by pressing the control button; when the motion control instruction is triggered, the motion direction is determined according to the pressed control button.

13. The system according to claim 12, characterized in that A pressure sensor is arranged inside the control button, and the pressure sensor is used to collect the pressure applied to the control button when it is pressed; when the motion control instruction is triggered, the motion speed is determined according to the pressure collected by the pressure sensor.

14. The system according to claim 13, characterized in that The step of determining the movement speed according to the pressure collected by the pressure sensor comprises: The pressure collected by the pressure sensor is divided into a plurality of pressure intervals, each of which corresponds to a preset movement speed; and the movement speed is determined according to the pressure interval in which the pressure collected by the pressure sensor is located.

15. The system according to claim 10, characterized in that The control device includes at least one control terminal, wherein at least one of the control terminals is a computer terminal device, a computer program for controlling the movement of the laser light is running on the computer terminal device, a drag bar component is provided on the graphical interface of the computer program, and the motion control instruction is triggered by dragging the drag bar component; when the motion control instruction is triggered, the motion direction is determined according to the dragging direction of the drag bar component, and the motion speed is determined according to the dragging length of the drag bar component.

16. The system according to claim 15, characterized in that The drag length of the drag bar component is limited to a number of specified lengths, each of which corresponds to a preset movement speed.

17. The system according to claim 10, characterized in that The control device is also used to generate a jog control instruction; the jog control instruction includes a jog direction; the jog control instruction is used to control the laser light to move a minimum distance in the jog direction.

18. The system according to claim 10, characterized in that The control device is also used to generate a rotation control instruction; the rotation control instruction includes a rotation axis, a rotation direction and a rotation speed; the rotation control instruction is used to control the laser light to rotate around the rotation axis at the rotation speed and the rotation direction.

19. The system according to claim 10, characterized in that The control device is also used to generate a focus control instruction; the focus control instruction includes a focus direction and a focus speed; the focus control instruction is used to control the laser light to adjust its own focal length in the focus direction and the focus speed.

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