Target positioning method and device, laser tracker, storage medium and product

Abstract

The invention discloses a target positioning method and device, a laser tracker, a storage medium and a product. The method is applied to a laser tracker, and comprises the following steps that: in response to triggering of a target tracking event, the laser tracker obtains a target position area of a tracked target through a wireless communication base station array; wherein the relative positions of the laser tracker and the wireless communication base station array remain unchanged, and the wireless communication base station array comprises at least three wireless communication base stations and corresponding antenna arrays; and controlling a local coarse positioning device in the laser tracker to position the tracked target according to the target position area. According to the scheme, light tracking and positioning of the tracked target by the laser tracker can be realized through the wireless communication base station array, so that the problem of low tracking and positioning efficiency of the target caused by the fact that the target needs to be subjected to light path tracking by returning to the initial position again after shielding and light interruption in the process of tracking the target point is solved, and the tracking and positioning efficiency of the target is improved. And the target positioning efficiency and precision can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of target tracking technology, and in particular to a target positioning method, device, laser tracker, storage medium and product. Background Art

[0002] An optical tracking device uses dual cameras to accurately track and locate in three dimensions the laser scanner probe or other feature markers within a space that need to be tracked in real time. It can be used with a scanner or contact measurement probe and is primarily used for large-scale three-dimensional scanning in industries such as aerospace, automotive, shipbuilding, and energy. Limited by their principle, optical tracking devices have a fixed field of view (generally less than 90 degrees). Limited by their field of view (FOV), optical tracking devices (such as visual trackers and laser trackers) can only observe target points within their field of view and cannot locate and track target points outside the optical field of view. Furthermore, during the target point tracking process, if the light path is obstructed, the target search function cannot be continued. After the light is blocked, the target needs to be tracked again by returning to the initial position, resulting in low target tracking efficiency. Summary of the Invention

[0003] The present invention provides a target positioning method, device, laser tracker, storage medium and product, which can realize rapid tracking and positioning of the tracked target by the laser tracker through a wireless communication base station array.

[0004] According to one aspect of the present invention, a target positioning method is provided, which is applied to a laser tracker. The method comprises:

[0005] In response to a target tracking event being triggered, the laser tracker acquires a target location area of ​​the tracked target through a wireless communication base station array; wherein the relative position of the laser tracker and the wireless communication base station array remains unchanged, and the wireless communication base station array includes at least three wireless communication base stations and corresponding antenna arrays;

[0006] The local coarse positioning device in the laser tracker is controlled according to the target position area to position the tracked target.

[0007] According to another aspect of the present invention, a target positioning device is provided, which is applied to a laser tracker. The device comprises:

[0008] a target location area acquisition module, configured to, in response to a target tracking event being triggered, cause the laser tracker to acquire the target location area of ​​the tracked target via a wireless communication base station array; wherein the relative position of the laser tracker and the wireless communication base station array remains unchanged, and the wireless communication base station array includes at least three wireless communication base stations and corresponding antenna arrays;

[0009] The target positioning module is used to control the local coarse positioning device in the laser tracker to position the tracked target according to the target position area.

[0010] According to another aspect of the present invention, a laser tracker is provided, comprising:

[0011] at least one processor; and

[0012] a memory communicatively connected to the at least one processor; wherein,

[0013] The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor so that the at least one processor can perform the target positioning method described in any embodiment of the present invention.

[0014] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the target positioning method according to any embodiment of the present invention when executed.

[0015] According to another aspect of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, the target positioning method according to any embodiment of the present invention is implemented.

[0016] The target positioning solution of the embodiment of the present invention is that in response to a target tracking event being triggered, the laser tracker obtains the target position area of ​​the tracked target through the wireless communication base station array; wherein the relative position of the laser tracker and the wireless communication base station array remains unchanged, and the wireless communication base station array includes at least three wireless communication base stations and corresponding antenna arrays; the local coarse positioning device in the laser tracker is controlled according to the target position area to locate the tracked target. The technical solution provided by the embodiment of the present invention can realize the laser tracker's light tracking positioning of the tracked target through the wireless communication base station array, which not only solves the problem of low target tracking and positioning efficiency caused by the need to return to the initial position to track the target light path after the light is blocked during the tracking of the target point, but also effectively improves the target positioning efficiency and accuracy.

[0017] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A flowchart of a target positioning method provided by an embodiment of the present invention;

[0020] Figure 2 A schematic structural diagram of a target positioning device provided by an embodiment of the present invention;

[0021] Figure 3 A schematic structural diagram of a laser tracker for implementing the target positioning method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] Figure 1 A flow chart of a target positioning method is provided for an embodiment of the present invention. This embodiment is applicable to the situation of positioning a tracked target. The method can be executed by a target positioning device, which can be implemented in the form of hardware and / or software. The target positioning device can be configured in a laser tracker. Figure 1 As shown, the method includes:

[0025] S110. In response to a target tracking event being triggered, the laser tracker obtains a target position area of ​​the tracked target through a wireless communication base station array; wherein the relative position of the laser tracker and the wireless communication base station array remains unchanged, and the wireless communication base station array includes at least three wireless communication base stations and corresponding antenna arrays.

[0026] In an embodiment of the present invention, upon receiving a target tracking instruction input by a user, a target tracking event may be determined to be triggered. In response to the target event being triggered, the laser tracker acquires the target location area of ​​the tracked target in real time or at a preset frequency via a wireless communication base station array. The wireless communication base station array includes at least three wireless communication base stations and corresponding antenna arrays. The relative position of the laser tracker and the wireless communication base station array remains unchanged. During the process of the laser tracker acquiring the target location area of ​​the tracked target via the wireless communication base station array, the position of the laser tracker remains unchanged. The tracked target may be a tracking target point or other tracked object. A wireless communication positioning tag is integrated within the tracked target. The wireless communication positioning tag can interact with each wireless communication base station and corresponding antenna array in the wireless communication base station array in an active or passive manner. It is understood that when the laser tracker acquires the target location area of ​​the tracked target via the wireless communication base station array, the relative position of each wireless communication base station in the wireless communication base station array and the laser tracker remains unchanged, and the relative position of the wireless communication positioning tag and the tracked target remains unchanged. Therefore, before the laser tracker acquires the target location area of ​​the tracked object through the wireless communication base station array, the relative positions of the wireless communication base station and the laser tracker, as well as the relative positions of the wireless communication positioning tag and the tracked object, can be calibrated. Optionally, the wireless communication base station array can be a UWB base station array, which includes at least three UWB base stations and corresponding antenna arrays.

[0027] In an embodiment of the present invention, in response to a target tracking event being triggered, when the laser tracker is in a powered-on state and begins to locate the tracked target, the wireless communication positioning tag provided on the tracked target can actively provide the laser tracker with a preliminary position of the tracked target relative to the laser tracker via the wireless communication base station array, so that the laser tracker can locate the tracked target based on the preliminary position via the wireless communication base station array.

[0028] Optionally, the laser tracker obtains the target position area of ​​the tracked target through the wireless communication base station array, including: obtaining a first relative position relationship between the laser tracker and the wireless communication base station array and a second relative position relationship between at least three wireless communication base stations in the wireless communication base station array; obtaining position information obtained when each wireless communication base station in the wireless communication base station array and the corresponding antenna array perform synchronous detection on the tracked target; determining the initial position area of ​​the tracked target relative to the wireless communication base station array based on the second relative position relationship and the position information corresponding to each wireless communication base station in the wireless communication base station array; and determining the target position area of ​​the tracked target relative to the laser tracker based on the first relative position relationship and the initial position area.

[0029] In an embodiment of the present invention, during the process of positioning a tracked target by a laser tracker using a wireless communication base station array, the relative positions of the laser tracker and the wireless communication base station array remain unchanged. Therefore, the relative positional relationship between the laser tracker and the wireless communication base station array can be pre-calibrated, and the pre-calibrated relative position between the laser tracker and the wireless communication base station array can be stored in a storage device (e.g., a USB flash drive). For ease of description, the relative positional relationship between the laser tracker and the wireless communication base station array is referred to as a first relative positional relationship. The first relative positional relationship can be calibrated using an external target sphere assembly (e.g., a target sphere assembly disposed on the ground). Because the positions and relative positional relationship of at least three wireless communication base stations and their corresponding antenna arrays remain unchanged during the process of positioning a tracked target by the laser tracker using the wireless communication base station array, the relative positional relationship between the at least three wireless communication base stations in the wireless communication base station array can also be pre-calibrated, and the pre-calibrated relative positional relationship between the at least three wireless communication base stations can be stored in a storage device (e.g., a USB flash drive). For ease of description, the relative positional relationship between the at least three wireless communication base stations is referred to as a second relative positional relationship.

[0030] Optionally, the second relative position relationship between the at least three wireless communication base stations in the wireless communication base station array includes: obtaining target sphere group position information obtained by measuring an external target sphere group by each wireless communication base station in the wireless communication base station array and its corresponding antenna array; and determining the second relative position relationship between the at least three wireless communication base stations in the wireless communication base station array based on the target sphere group position information corresponding to each wireless communication base station in the wireless communication base station array. The external target sphere group is a target sphere group that remains in a fixed position during the positioning of the tracked target. For example, the external target sphere group may be mounted on a wall or other device that remains fixed in position, and the external target sphere group includes at least three target spheres. Optionally, the external target sphere group is mounted on the ground. Specifically, the external target sphere group may be fixed to the ground via a target mount, thereby reducing the difficulty of setting up the external target sphere group. Exemplarily, each wireless communication base station in the wireless communication base station array and its corresponding antenna array are controlled to measure the external target sphere group to obtain the corresponding target sphere group position information. It will be appreciated that each wireless communication base station and its corresponding antenna array can measure or detect the external target sphere group to obtain corresponding target sphere group position information, i.e., target sphere group position information in the corresponding coordinate system of each wireless communication base station. Coordinate transformation is then performed on the at least three target sphere group position information to unify them into the same coordinate system, thereby determining the relative positional relationship (i.e., the second relative positional relationship) between the at least three wireless communication base stations in the wireless communication base station array.

[0031] In an embodiment of the present invention, position information obtained by synchronously detecting a tracked target from each wireless communication base station in a wireless communication base station array and its corresponding antenna array is obtained. Specifically, the wireless communication base station measures the distance between the wireless communication base station and the tracked target using time-domain methods such as TDOA (time difference of arrival) and TOF (time of flight), while the antenna array provides directional information using AOA (angle of arrival). The combination of these two methods can determine the position information of the tracked target. Based on the second relative positional relationship between at least three wireless communication base stations in the wireless communication base station array and the position information corresponding to each wireless communication base station in the wireless communication base station array, an initial position area of ​​the tracked target relative to the wireless communication base station array is determined. It is understood that the initial position area is the position area of ​​the tracked target in the coordinate system of the wireless communication base station array. Then, based on the first relative positional relationship between the laser tracker and the wireless communication base station array, the initial position area in the coordinate system of the wireless communication base station array is converted to the coordinate system of the laser tracker. The position area of ​​the tracked target in the coordinate system of the laser tracker is referred to as the target position area.

[0032] Optionally, the wireless communication base station array is mounted on the laser tracker, or the wireless communication base station array is mounted on the ground. In embodiments of the present invention, the wireless communication base station array can be mounted on the laser tracker. This arrangement facilitates maintaining the relative position of the laser tracker and the wireless communication base station array while the laser tracker locates the tracked target. Optionally, due to the limited space available in the laser tracker, when the wireless communication base station array is mounted on the laser tracker, the spacing between each wireless communication base station and its corresponding antenna array in the array is small, which can affect the positioning accuracy of the tracked target. Therefore, the wireless communication base station array (at least three wireless communication base stations and their corresponding antenna arrays) can be mounted externally as a separate component from the laser tracker. For example, if the wireless communication base station array is mounted on the ground, the relative spacing between each wireless communication base station and its corresponding antenna array in the array can be increased, thereby improving the positioning accuracy of the tracked target by the laser tracker using the wireless communication base station array. It should be noted that when the wireless communication base station array is mounted on the ground, each wireless communication base station in the array can be initially positioned using the laser tracker's target sphere to establish a reference system. Time module synchronization between different wireless communication base stations can be achieved via wired or wireless means.

[0033] S120: Control a local coarse positioning device in the laser tracker to position the tracked target according to the target position area.

[0034] In this embodiment of the present invention, the target location area of ​​the tracked target acquired by the laser tracker via the wireless communication base station array can be understood as the coarse positioning of the tracked target. The laser tracker then controls the local coarse positioning device within the laser tracker based on the target location area to find the precise position of the tracked target and quickly guide the interference light to form an optical path on the tracked target, thereby completing the tracking operation of the tracked target. The local coarse positioning device includes a local FOV positioning device and a local radar positioning device. That is, the local coarse positioning device can be either a local FOV positioning device or a local radar positioning device. This embodiment of the present invention does not limit the type of local coarse positioning device.

[0035] The target positioning method of an embodiment of the present invention is that in response to a target tracking event being triggered, a laser tracker obtains a target position area of ​​a tracked target through a wireless communication base station array; wherein the relative position of the laser tracker and the wireless communication base station array remains unchanged, and the wireless communication base station array includes at least three wireless communication base stations and corresponding antenna arrays; and the local coarse positioning device in the laser tracker is controlled according to the target position area to position the tracked target. The technical solution provided by the embodiment of the present invention can realize the light tracking positioning of the tracked target by the laser tracker through the wireless communication base station array, which not only solves the problem of low tracking and positioning efficiency of the target due to the need to return to the initial position to track the target light path after the light is blocked during tracking of the target point, but also effectively improves the efficiency and accuracy of target positioning.

[0036] Figure 2 This is a schematic diagram of the structure of a target positioning device provided by an embodiment of the present invention. Figure 2 As shown, the device includes:

[0037] a target location region acquisition module 210 configured to, in response to a target tracking event being triggered, cause the laser tracker to acquire the target location region of the tracked target via a wireless communication base station array; wherein the relative position of the laser tracker and the wireless communication base station array remains unchanged, and the wireless communication base station array includes at least three wireless communication base stations and corresponding antenna arrays;

[0038] The target positioning module 220 is configured to control a local coarse positioning device in the laser tracker to position the tracked target according to the target position area.

[0039] Optionally, the target location area acquisition module includes:

[0040] a relative position relationship acquisition unit, configured to acquire a first relative position relationship between the laser tracker and the wireless communication base station array and a second relative position relationship between at least three wireless communication base stations in the wireless communication base station array;

[0041] a position information acquisition unit, configured to acquire position information obtained when each of the wireless communication base stations and the corresponding antenna array in the wireless communication base station array synchronously detects the tracked target;

[0042] an initial position area determining unit, configured to determine an initial position area of ​​the tracked target relative to the wireless communication base station array based on the second relative position relationship and the position information corresponding to each of the wireless communication base stations in the wireless communication base station array;

[0043] The target position area determining unit is configured to determine the target position area of ​​the tracked target relative to the laser tracker according to the first relative position relationship and the initial position area.

[0044] Optionally, the relative position relationship acquiring unit is configured to:

[0045] Acquire target sphere group position information obtained by measuring the external target sphere group by each wireless communication base station in the wireless communication base station array and the corresponding antenna array;

[0046] A second relative position relationship between at least three wireless communication base stations in the wireless communication base station array is determined based on the target ball group position information corresponding to each wireless communication base station in the wireless communication base station array.

[0047] Optionally, the external target ball group is set on the ground.

[0048] Optionally, the wireless communication base station array is set on the laser tracker, or the wireless communication base station array is set on the ground.

[0049] Optionally, the local coarse positioning device includes a local FOV positioning device and a local radar positioning device.

[0050] The target positioning device provided by the embodiment of the present invention can execute the target positioning method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0051] Figure 3 A schematic diagram of a laser tracker 10 that can be used to implement embodiments of the present invention is shown. Laser trackers are intended to represent various forms of digital computers, such as laptops, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Laser trackers can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are provided for example purposes only and are not intended to limit the implementation of the inventions described and / or claimed herein.

[0052] like Figure 3As shown, laser tracker 10 includes at least one processor 11 and memory, such as read-only memory (ROM) 12 and random access memory (RAM) 13, communicatively connected to at least one processor 11. The memory stores computer programs executable by the at least one processor. Processor 11 can perform various appropriate actions and processes based on the computer programs stored in ROM 12 or loaded from storage unit 18 into RAM 13. RAM 13 can also store various programs and data required for the operation of laser tracker 10. Processor 11, ROM 12, and RAM 13 are interconnected via bus 14. An input / output (I / O) interface 15 is also connected to bus 14.

[0053] Several components in laser tracker 10 are connected to I / O interface 15, including an input unit 16, such as a keyboard and mouse; an output unit 17, such as various types of displays and speakers; a storage unit 18, such as a magnetic disk and optical disk; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. Communication unit 19 allows laser tracker 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0054] Processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. Processor 11 executes the various methods and processes described above, such as the target localization method.

[0055] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product that includes a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication unit 19, or installed from the storage unit 18, or installed from the ROM 12. When the computer program is executed by the processor 11, the above-mentioned functions defined in the method of the embodiment of the present invention are performed.

[0056] In some embodiments, the target positioning method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on laser tracker 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the target positioning method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the target positioning method in any other suitable manner (e.g., via firmware).

[0057] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0058] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0059] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or apparatus. A computer-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0060] To provide interaction with a user, the systems and techniques described herein can be implemented on a laser tracker having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the laser tracker. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic input, voice input, or tactile input.

[0061] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0062] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0063] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0064] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A target positioning method, characterized in that: Applied to a laser tracker, the method comprises: In response to a target tracking event being triggered, the laser tracker acquires a target location area of ​​the tracked target through a wireless communication base station array; wherein the relative position of the laser tracker and the wireless communication base station array remains unchanged, and the wireless communication base station array includes at least three wireless communication base stations and corresponding antenna arrays; The local coarse positioning device in the laser tracker is controlled according to the target position area to position the tracked target.

2. The method according to claim 1, characterized in that The laser tracker acquires a target location area of ​​a tracked target through a wireless communication base station array, including: Acquire a first relative position relationship between the laser tracker and the wireless communication base station array and a second relative position relationship between at least three wireless communication base stations in the wireless communication base station array; Acquire location information obtained when each of the wireless communication base stations and the corresponding antenna array in the wireless communication base station array synchronously detects the tracked target; determining an initial position area of ​​the tracked target relative to the wireless communication base station array based on the second relative position relationship and the position information corresponding to each of the wireless communication base stations in the wireless communication base station array; The target position area of ​​the tracked target relative to the laser tracker is determined according to the first relative position relationship and the initial position area.

3. The method according to claim 2, characterized in that The second relative position relationship between the at least three wireless communication base stations in the wireless communication base station array includes: Acquire target sphere group position information obtained by measuring the external target sphere group by each wireless communication base station in the wireless communication base station array and the corresponding antenna array; A second relative position relationship between at least three wireless communication base stations in the wireless communication base station array is determined based on the target ball group position information corresponding to each wireless communication base station in the wireless communication base station array.

4. The method according to claim 3, characterized in that The external target ball group is arranged on the ground.

5. The method according to claim 1, wherein The wireless communication base station array is arranged on the laser tracker, or the wireless communication base station array is arranged on the ground.

6. The method according to claim 1, characterized in that The local coarse positioning device includes a local FOV positioning device or a local radar positioning device.

7. A target positioning device, characterized in that: Applied to a laser tracker, the device comprises: a target location area acquisition module, configured to, in response to a target tracking event being triggered, cause the laser tracker to acquire the target location area of ​​the tracked target via a wireless communication base station array; wherein the relative position of the laser tracker and the wireless communication base station array remains unchanged, and the wireless communication base station array includes at least three wireless communication base stations and corresponding antenna arrays; The target positioning module is used to control the local coarse positioning device in the laser tracker to position the tracked target according to the target position area.

8. A laser tracker, characterized in that: The laser tracker comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the target positioning method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the target positioning method according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the target positioning method according to any one of claims 1 to 6.

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