Method, system and equipment for controlling sector scanning function of laser swinger

Abstract

The invention discloses a method, a system and equipment for controlling the sector-scanning function of a laser swinger, and belongs to the technical field of laser swingers, the method for controlling the sector-scanning function of the laser swinger comprises the following steps: (1) setting initial parameters of sector-scanning, and starting sector-scanning; (2) monitoring a laser sector scanning angle in real time, and judging whether compensation is performed or not; monitoring a laser fan-scan angle in real time, judging whether a fan-scan angle error is within an allowable error range or not, and entering a compensation mode when the fan-scan angle error exceeds the allowable error range; (3) judging a control method, and controlling a sector scanning angle error; judging a control method according to the initial parameters and the actual sector-scanning angle error; and (4) continuously monitoring the sector scanning state of the laser swinger, and judging whether sector scanning is stopped or not. According to the method for controlling the sector-scanning function of the laser swinger, in the rotating sector-scanning process of the laser swinger, the rotating angle is monitored in real time, the control method is judged and the control parameters are adjusted according to comparison between the real-time sector-scanning angle and the set sector-scanning angle, so that the error of the sector-scanning angle is ensured to be within the error range; and the accuracy and the stability of the laser swivel sector scanning angle are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of laser level instruments, and particularly to a method, system and device for controlling the fan scanning function of a laser level instrument. Background Art

[0002] A laser level instrument is a laser scanning instrument developed on the basis of a traditional optical scanner. Driven by a fast rotating shaft, it performs fan scanning to sweep out light rays at the same height by visible laser points, so as to facilitate engineers to locate the height. It has high leveling accuracy and a long working distance, and is convenient and flexible to use. Therefore, it is widely used in geodetic surveying, engineering surveying, and large-scale installation and excavation projects, etc.

[0003] The existing laser level instruments generally adopt an open-loop control method during the fan scanning process. According to the preset angle range and speed, a control signal is generated to make the motor drive the laser emitting component to perform fan scanning at a certain speed and angle. However, there are many problems with similar open-loop control methods. On the one hand, due to the differences in parts and installations, the fan scanning angle error of the laser rotator of different machines is large. On the other hand, after the laser level instrument is used for a long time, the parts of the internal transmission system age, the error will increase, and even stop fan scanning during the fan scanning process. Moreover, the change of the operating environment is also likely to cause the instability of the fan scanning angle of the laser rotator. Summary of the Invention

[0004] The present invention aims to solve the problems of large error and instability in the control method of the rotator fan scanning of the existing laser level instrument, and provides a method, system and device for controlling the fan scanning function of a laser level instrument.

[0005] To achieve the above object, the technical solution of the present invention is as follows:

[0006] First of all, the present invention provides a method for controlling the fan scanning function of a laser level instrument, including the steps of:

[0007] (1) Set the initial parameters of fan scanning and start fan scanning;

[0008] After controlling the laser level instrument to enter the fan scanning mode, set the initial parameters, and the rotator of the laser level instrument starts fan scanning;

[0009] (2) Monitor the laser fan scanning angle in real time and determine whether to compensate;

[0010] Monitor the laser fan scanning angle in real time, judge whether the fan scanning angle error is within the allowable error range, and enter the compensation mode when it exceeds the allowable error range;

[0011] (3) Determine the control method and control the fan scanning angle error;

[0012] After entering the compensation mode, a control method is determined based on the initial parameters and the actual fan scan angle error;

[0013] In one embodiment, it further includes the step of: (4) continuously monitoring the fan scan state of the laser level and determining whether to stop the fan scan.

[0014] In one embodiment, setting the initial parameters includes: setting the initial value of the fan scan angle as A 0 , setting the left and right threshold values of the initial fan scan angle as A L and A R , setting the initial supply voltage as V 0 and the allowable error of the fan scan angle as E 0 .

[0015] In one embodiment, the method for determining whether to perform compensation in step (2) is:

[0016] Real-time monitor the laser fan scan angle, denoted as A, and calculate the fan scan angle error as E:

[0017] E = |A - A 0 | Equation (1);

[0018] When E < E 0 , continue the fan scan according to the set value;

[0019] When E ≥ E 0 , enter the compensation mode.

[0020] In one embodiment, the control method in step 3 includes:

[0021] When A 0 ≤ 15°, adopt the fine-tuning control method;

[0022] When A 0 > 15°, and E < 1.5E 0 , adopt the fine-tuning control method;

[0023] When A 0 > 15°, and E ≥ 1.5E 0 , first adopt the coarse-tuning control method and then the fine-tuning control method.

[0024] In one embodiment, the fine-tuning control method is: adjust the supply voltage of the motor, and the adjustment amplitude each time is ±3% - ±10%V 0 , until E < E 0 and then continue the rotary fan scan.

[0025] In one embodiment, the coarse-tuning control method is: adjust the left threshold value or the right threshold value of the initial fan scan angle, and the adjustment amplitude each time is ±3%, until E < 1.5E 0 .

[0026] In one embodiment, the method for determining whether to stop sector scanning in step (4) includes setting an initial sector scanning period as T 0 , within a certain time T, when the sector scanning angle does not change, it is determined that the laser level stops sector scanning, where T ≥ 2T 0 .

[0027] Secondly, the present invention also provides a laser leveling system applicable to the sector scanning function control method of the laser level described in any one of the above, including a power supply module, a control module, a laser rotating module, and a motor module. The power supply module supplies power to the system. The control module controls the laser rotating module to perform sector scanning according to preset parameters. At the same time, the laser rotating module feeds back the sector scanning angle signal to the control module, and the control module adjusts the sector scanning angle of the laser rotating module by controlling the voltage of the motor module.

[0028] Finally, the present invention also provides a laser leveling device that performs laser sector scanning leveling by using the sector scanning function control method of the laser level described in any one of the above.

[0029] Beneficial effects: Through the sector scanning function control method of the laser level, during the rotation and sector scanning process of the laser level, the rotation angle is monitored in real time. By comparing the real-time sector scanning angle with the set sector scanning angle, the control method is determined and the control parameters are adjusted to ensure that the error of the sector scanning angle is within the error range, and to ensure the accuracy and stability of the sector scanning angle of the laser rotating body.

[0030] To make the above features and advantages of the invention more obvious and understandable, specific embodiments are hereinafter given and described in detail in conjunction with the accompanying drawings as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a control flow chart of a sector scanning function control method of a laser level in the present invention.

[0032] Figure 2 It is a module schematic diagram of a laser leveling system in the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] To make the objectives and technical solutions of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0034] The present invention first provides a method for controlling the sector scanning function of a laser level. During the rotation and sector scanning of the laser level, the rotation and sector scanning angle is monitored in real time. By comparing the real-time sector scanning angle with the set sector scanning angle, the control parameters are adjusted to ensure that the error of the sector scanning angle is within the error range. As Figure 1 shown, the method includes the following contents:

[0035] (1) Set the initial parameters of sector scanning and start sector scanning;

[0036] After controlling the laser level to enter the sector scanning mode, according to the actual application scenario, set the initial value of the sector scanning angle to A 0 , set the left and right threshold values of the initial sector scanning angle to A L and A R respectively, set the initial supply voltage to V 0 , the sector scanning period to T 0 and the allowable error of the sector scanning angle to E 0 . After setting, the laser level starts to rotate and sector scan.

[0037] (2) Monitor the laser sector scanning angle in real time and determine whether to compensate;

[0038] Monitor the laser sector scanning angle in real time, denoted as A, and calculate the sector scanning angle error as E:

[0039] E = |A - A 0 | Equation (1);

[0040] When E < E 0 , continue sector scanning according to the set value;

[0041] When E ≥ E 0 , enter the compensation mode.

[0042] (3) Determine the control method and control the sector scanning angle error;

[0043] After entering the compensation mode, determine the control method according to the set value and the actual sector scanning angle error, including:

[0044] When the set sector scanning angle A 0 ≤ 15°, adopt the fine-tuning control method. Specifically, gradually adjust the supply voltage of the motor, and the adjustment amplitude each time is ±3% - ±10%V 0 , gradually reduce the sector scanning angle error until E < E 0 and then continue to rotate and sector scan.

[0045] When the set sector scanning angle A 0 > 15°, and E < 1.5E 0 , adopt the fine-tuning control method. Similarly, gradually adjust the supply voltage of the motor, and the adjustment amplitude each time is ±3% - ±10%V0 Gradually reduce the fan scan angle error until E < E 0 Then continue to rotate the body for fan scan.

[0046] When the set fan scan angle A 0 > 15°, and E ≥ 1.5E 0 Adopt a control method of first rough adjustment and then fine adjustment. First is the rough adjustment control method. Specifically, adjust the left threshold value or the right threshold value of the initial fan scan angle, and the adjustment amplitude each time is ±3%. That is, adjust the left and right threshold values to (1 ± 3%)A L and A R , or adjust to A L and (1 ± 3%)A R until E < 1.5E 0 After that, adopt the fine adjustment control method. Similarly, gradually adjust the supply voltage of the motor, and the adjustment amplitude each time is ±3% - ±10%V 0 Gradually reduce the fan scan angle error until E < E 0 Then continue to rotate the body for fan scan.

[0047] (4) Continuously monitor the fan scan state of the laser level, and judge whether to stop the fan scan;

[0048] During the process of the laser level rotating the body for fan scan, continuously monitor its fan scan angle. Within a certain time T, when the fan scan angle does not change, judge that the laser level stops the fan scan. According to the current fan scan parameters, the laser rotation position and the fan scan direction, increase the supply voltage of the motor, and the motor runs in the current fan scan direction again to ensure stable fan scan during the rotation of the laser level. Among them, T ≥ 2T 0 .

[0049] Through the above fan scan function control method of the present invention, during the process of the laser level rotating the body for fan scan, the rotation fan scan angle is monitored in real time. According to the comparison between the real-time fan scan angle and the set fan scan angle, the control method is determined, and the control parameters are adjusted to ensure that the error of the fan scan angle is within the error range, and to ensure the accuracy and stability of the laser rotation fan scan angle.

[0050] In addition, the present invention also provides a laser level system, as Figure 2 shown, including a power supply module 10, a control module 20, a laser rotation module 30, and a motor module 40. The power supply module 10 supplies power to the system. The control module 20 controls the laser rotation module 30 to perform fan scan according to preset parameters. At the same time, the laser rotation module 30 feeds back the fan scan angle signal to the control module 20, and the control module 20 adjusts the fan scan angle of the laser rotation module 30 by controlling the voltage of the motor module 40.

[0051] The present invention also provides a laser level device, which includes the above-mentioned laser level system and performs fan scanning leveling by using the above-mentioned laser level fan scanning function control method.

[0052] It should be noted that in this text, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including the said element.

[0053] It should also be noted that the term "module" and the like used in this application are intended to represent related entities, which can be hardware, software, a combination of hardware and software, or software in execution. The above are only the preferred embodiments of this application and are not used to limit this application. For those skilled in the art, this application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

1. A method for controlling the fan-sweeping function of a laser leveling instrument, characterized in that: Includes steps: (1) Set the initial parameters of the fan scan and start the fan scan; After controlling the laser leveler to enter the fan scanning mode, set the initial parameters, and the laser leveler rotates to start fan scanning; (2) Real-time monitoring of the laser rotation fan scanning angle to determine whether compensation is required; Monitor the laser swivel sector scanning angle in real time to determine whether the sector scanning angle error is within the allowable error range. If it exceeds the allowable error range, enter the compensation mode. (3) Determine the control method and control the fan scanning angle error; After entering the compensation mode, the control method is determined based on the initial parameters and the actual sector scanning angle error.

2. A method for controlling the fan-sweeping function of a laser leveling instrument according to claim 1, characterized in that: The method also includes the following steps: (4) continuously monitoring the fan scanning state of the laser leveler to determine whether to stop the fan scanning.

3. The method for controlling the fan-sweeping function of a laser leveling instrument according to claim 1, characterized in that: Setting the initial parameters includes: setting the initial value of the fan scanning angle to A0, setting the left and right threshold values ​​of the initial fan scanning angle to A L and A R , set the initial supply voltage to V0 and the allowable error of the fan scanning angle to E0.

4. A method for controlling the fan-sweeping function of a laser leveling instrument according to claim 3, characterized in that: The method for determining whether to perform compensation in step (2) is: Monitor the laser fan scanning angle in real time, record it as A, and calculate the fan scanning angle error as E: E=|A―A0| Formula (1); When E<E0, the fan scan continues according to the set value; When E≥E0, it enters the compensation mode.

5. The method for controlling the fan-sweeping function of a laser leveling instrument according to claim 4, characterized in that: The control method in step 3 includes: When A0≤15°, the fine adjustment control method is adopted; When A0>15°, and E<1.5E0, the fine adjustment control method is adopted; When A0>15° and E≥1.5E0, the coarse control method is used first and then the fine control method.

6. A method for controlling the fan-sweeping function of a laser leveling instrument according to claim 5, characterized in that: The fine-tuning control method is: adjusting the power supply voltage of the motor, with the amplitude of each adjustment being ±3% to ±10% V0, until E<E0 and then continuing the rotation and fanning.

7. A method for controlling the fan-sweeping function of a laser leveling instrument according to claim 6, characterized in that: The coarse adjustment control method is: adjusting the left threshold value or the right threshold value of the initial sector scanning angle, with each adjustment amplitude being ±3% until E<1.5E0.

8. The method for controlling the fan-sweeping function of a laser leveling instrument according to claim 2, characterized in that: The method for determining whether to stop the fan scanning in step (4) includes setting the initial fan scanning period to T0, and determining that the laser leveling instrument stops the fan scanning when the fan scanning angle does not change within a certain time T, wherein T≥2T0.

9. A laser leveling system, characterized in that: The method for controlling the fan scanning function of a laser leveler as described in any one of claims 1 to 8 comprises a power module, a control module, a laser rotation module and a motor module, wherein the power module provides power to the system, the control module controls the laser rotation module to perform fan scanning according to preset parameters, and the laser rotation module feeds back a fan scanning angle signal to the control module, and the control module adjusts the fan scanning angle of the laser rotation module by controlling the voltage of the motor module.

10. A laser leveling device, characterized in that: Laser fan sweeping and leveling is performed using the laser sweeping function control method of the laser leveling instrument as described in any one of claims 1 to 8.

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