A target positioning method and device, a laser tracker, a storage medium and a product

Abstract

The application discloses a target positioning method and device, a laser tracker, a storage medium and a product. The method is applied to the laser tracker and comprises the following steps: in response to a target tracking event being triggered, the laser tracker acquires 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 comprises at least three wireless communication base stations and corresponding antenna arrays; and a local coarse positioning device in the laser tracker is controlled to position the tracked target according to the target position area. According to the scheme, the light tracking positioning of the laser tracker on the tracked target can be realized through the wireless communication base station array, not only the problem that in the process of tracking the target point, the target needs to be tracked again after the light is blocked, so that the initial position is returned, and the light path tracking is performed, thereby the tracking positioning efficiency of the target is low, but also the target positioning efficiency and precision can be effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of target tracking, and in particular to a target positioning method and device, a laser tracker, a storage medium and a product. BACKGROUND

[0002] The optical tracking device is a double-camera real-time accurate tracking three-dimensional positioning device for a laser scanner probe or other feature markers in a space that needs to be tracked. The optical tracking device can be used with a scanner or a contact measurement probe and is mainly used in large-scene three-dimensional scanning in industries such as aerospace, automobiles, shipbuilding and energy. The optical tracking device is limited by the principle and has a fixed field of view (generally less than 90 degrees). The optical tracking device (such as a visual tracker or a laser tracker) can only observe target points in the field of view due to the limitation of the field of view (FOV), and cannot realize the positioning and tracking of target points outside the optical field of view. In addition, in the process of tracking the target points, if there is an occlusion of the light path, the function of continuing to search for the target cannot be realized. After the occlusion of the light path, the target needs to be tracked again from the initial position, which results in low efficiency of tracking and positioning of the target. SUMMARY

[0003] The present application provides a target positioning method and device, a laser tracker, a storage medium and a product. The laser tracker can quickly track and position a tracked target through a wireless communication base station array.

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

[0005] In response to a target tracking event being triggered, the laser tracker acquires a target position area of a tracked target through a wireless communication base station array. The relative position between the laser tracker and the wireless communication base station array remains unchanged, and the wireless communication base station array comprises 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 application, a target positioning device is provided, which is applied to a laser tracker. The device comprises the following modules:

[0008] A target position area acquisition module is configured to, in response to a target tracking event being triggered, acquire a target position area of a tracked target through a wireless communication base station array. The relative position between the laser tracker and the wireless communication base station array remains unchanged, and the wireless communication base station array comprises at least three wireless communication base stations and corresponding antenna arrays.

[0009] a target positioning module configured to control a local coarse positioning device in the laser tracker to position the tracked target according to the target location area.

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

[0011] at least one processor; and

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

[0013] the memory stores a computer program executable by the at least one processor, and 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 the embodiments of the present application.

[0014] According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for enabling a processor to perform the target positioning method according to any one of the embodiments of the present application when the computer instructions are executed by the processor.

[0015] According to another aspect of the present application, there is provided a computer program product comprising a computer program, the computer program, when executed by a processor, implements the target positioning method according to any one of the embodiments of the present application.

[0016] The target positioning scheme of the embodiments of the present application, in response to a target tracking event being triggered, a laser tracker acquires a target location area of a tracked target through a wireless communication base station array; wherein the relative position between the laser tracker and the wireless communication base station array remains unchanged, and the wireless communication base station array comprises at least three wireless communication base stations and corresponding antenna arrays; a local coarse positioning device in the laser tracker is controlled to position the tracked target according to the target location area. The technical scheme provided by the embodiments of the present application can realize light tracking positioning of a tracked target by a laser tracker through a wireless communication base station array, not only solving the problem that in the process of tracking a target point, after the light is blocked, the target needs to be returned to the initial position for light tracking, resulting in low efficiency of tracking and positioning of the target, but also effectively improving the target positioning efficiency and accuracy.

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

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments description. Obviously, the drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative effort based on these drawings.

[0019] Figure 1 A flow chart of a target positioning method provided by the embodiment of the present application;

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

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

[0022] In order to make the person skilled in the art better understand the present application, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort should be within the scope of the present application.

[0023] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to include those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0024] Figure 1 A flow chart of a target positioning method provided by the embodiment of the present application, the embodiment can be applicable to the case of positioning a tracked target, the method can be executed by a target positioning device, the target positioning device can be realized in the form of hardware and / or software, and the target positioning device can be configured in a laser tracker. As shown in the figure, the method comprises: Figure 1

[0025] ​S110, in response to the target tracking event being triggered, the laser tracker acquires a target position area of the tracked target through the wireless communication base station array; wherein the relative position between 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 the embodiment of the present application, when the target tracking instruction input by the user is received, it can be determined that the target tracking event is triggered. In response to the target event being triggered, the laser tracker acquires the target position area of the tracked target in real time or at a preset frequency through the 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 between the laser tracker and the wireless communication base station array remains unchanged, and the position of the laser tracker remains unchanged during the process of acquiring the target position area of the tracked target through the wireless communication base station array. The tracked target can be a tracking target or other tracked object, and a wireless communication positioning tag is integrated inside the tracked target. The wireless communication positioning tag can interact with each wireless communication base station and the corresponding antenna array in the wireless communication base station array in an active or passive manner. It can be understood that when the laser tracker acquires the target position area of the tracked target through the wireless communication base station array, the relative position between each wireless communication base station in the wireless communication base station array and the laser tracker remains unchanged, and the relative position between the wireless communication positioning tag and the tracked target remains unchanged. Therefore, before the laser tracker acquires the target position area of the tracked target through the wireless communication base station array, the relative position between the relative position between the relative position between the wireless communication base station and the laser tracker and the relative position between the wireless communication positioning tag and the tracked target can be calibrated. Optionally, the wireless communication base station array can be a UWB base station array, and the UWB base station array includes at least three UWB base stations and corresponding antenna arrays.

[0027] In the embodiment of the present application, in response to the target tracking event being triggered, the laser tracker is in the powered-on state and starts to locate the tracked target. The wireless communication positioning tag arranged on the tracked target can actively provide the laser tracker with the preliminary position of the tracked target relative to the laser tracker through the wireless communication base station array, so that the laser tracker locates the tracked target based on the preliminary position through the wireless communication base station array.

[0028] Optionally, the laser tracker acquires the target position area of the tracked target through the wireless communication base station array, comprising: acquiring 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; acquiring position information obtained when each wireless communication base station in the wireless communication base station array and the corresponding antenna array synchronously detect the tracked target; determining an initial position area of the tracked target relative to the wireless communication base station array according to 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 according to the first relative position relationship and the initial position area.

[0029] In the embodiment of the present application, during the process that the laser tracker locates the tracked target through the wireless communication base station array, the relative position between the laser tracker and the wireless communication base station array remains unchanged, thus, the relative position 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 is stored in a storage device (such as a U disk). For the convenience of description, the relative position relationship between the laser tracker and the wireless communication base station array is referred to as the first relative position relationship. The first relative position relationship can be calibrated through an external target ball group (such as a target ball group arranged on the ground). Since the positions and relative position relationships of at least three wireless communication base stations and the corresponding antenna arrays in the wireless communication base station array remain unchanged during the process that the laser tracker locates the tracked target through the wireless communication base station array, the relative position relationship between the at least three wireless communication base stations can also be pre-calibrated, and the pre-calibrated relative position relationship between the at least three wireless communication base stations is stored in a storage device (such as a U disk). For the convenience of description, the relative position relationship between the at least three wireless communication base stations is referred to as the second relative position relationship.

[0030] Optionally, the second relative position relationship between the at least three wireless communication base stations in the array of wireless communication base stations comprises: obtaining target ball group position information obtained by each wireless communication base station in the array of wireless communication base stations and the corresponding antenna array measuring an external target ball group; and determining the second relative position relationship between the at least three wireless communication base stations in the array of wireless communication base stations according to the corresponding target ball group position information of each wireless communication base station in the array of wireless communication base stations. The external target ball group is a target ball group whose position remains unchanged in the process of positioning the tracked target. For example, the external target ball group can be arranged on a wall or other equipment whose position remains unchanged. The external target ball group comprises at least three target balls. Optionally, the external target ball group is arranged on the ground. Specifically, the external target ball group can be fixed on the ground by a target seat, so as to reduce the difficulty of arranging the external target ball group. For example, each wireless communication base station in the array of wireless communication base stations and the corresponding antenna array measures the external target ball group to obtain the corresponding target ball group position information. It can be understood that each wireless communication base station and the corresponding antenna array measure or detect the external target ball group to obtain the corresponding target ball group position information, i.e. the target ball group position information in the coordinate system corresponding to each wireless communication base station. Then, the at least three target ball group position information is converted in coordinates to be unified in the same coordinate system, so as to determine the relative position relationship (i.e. the second relative position relationship) between the at least three wireless communication base stations in the array of wireless communication base stations.

[0031] In the embodiment of the application, the position information obtained by each wireless communication base station in the array of wireless communication base stations and the corresponding antenna array detecting the tracked target synchronously is obtained respectively. Specifically, the wireless communication base station measures the distance between the wireless communication base station and the tracked target by using a time domain method such as TDOA (Time Difference of Arrival) or TOF (Time of Flight), and the antenna array provides direction information by using AOA (Angle of Arrival). The position information of the tracked target can be determined by combining the distance information and the direction information. According to the second relative position relationship between the at least three wireless communication base stations in the array of wireless communication base stations and the position information corresponding to each wireless communication base station in the array of wireless communication base stations, the initial position region of the tracked target relative to the array of wireless communication base stations is determined. It can be understood that the initial position region is the position region of the tracked target in the coordinate system of the array of wireless communication base stations. Then, the initial position region in the coordinate system of the array of wireless communication base stations is converted to the coordinate system of the laser tracker according to the first relative position relationship between the laser tracker and the array of wireless communication base stations. The position region of the tracked target in the coordinate system of the laser tracker is referred to as the target position region.

[0032] Optionally, the wireless communication base station array is arranged on the laser tracker, or the wireless communication base station array is arranged on the ground. In the embodiment of the present application, the wireless communication base station array can be arranged on the laser tracker, and the advantage of such arrangement is that the relative position between the laser tracker and the wireless communication base station array can be easily ensured to remain unchanged during the process of the laser tracker positioning the tracked target. Optionally, due to the limited space of the laser tracker, when the wireless communication base station array is arranged on the laser tracker, the interval distance between each wireless communication base station and the corresponding antenna array in the wireless communication base station array is small, which will affect the positioning accuracy of the tracked target, therefore, the wireless communication base station array (at least three wireless communication base stations and the corresponding antenna arrays) can be arranged externally as an independent component from the laser tracker, for example, the wireless communication base station array is arranged on the ground, so that the relative distance between each wireless communication base station and the corresponding antenna array in the wireless communication base station array can be increased, and the positioning accuracy of the tracked target by the laser tracker through the wireless communication base station array can be improved. It should be noted that when the wireless communication base station array is arranged on the ground, each wireless communication base station in the wireless communication base station array can use the target ball of the laser tracker to perform initial positioning to construct a reference system, and the wireless communication base stations can be synchronized by using a wired or wireless way.

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

[0034] In the embodiment of the present application, the target position area of the tracked target obtained by the laser tracker through the wireless communication base station array can be understood as the coarse positioning of the tracked target, then the laser tracker controls the local coarse positioning device in the laser tracker to find the accurate position of the tracked target according to the target position area, and guides the interference light to quickly point to the tracked target to form an optical path, so as to complete the light following action 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 a local FOV positioning device or a local radar positioning device, and the type of the local coarse positioning device is not limited in the embodiment of the present application.

[0035] The target positioning method of the embodiment of the present application, in response to a target tracking event being triggered, a laser tracker acquires 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 a local coarse positioning device in the laser tracker is controlled according to the target position area to position the tracked target. The technical scheme provided by the embodiment of the present application can realize light tracking positioning of the tracked target by the laser tracker through the wireless communication base station array, not only solving the problem that in the process of tracking a target point, after the light is blocked, the target needs to be returned to the initial position for light path tracking, resulting in low efficiency of tracking and positioning of the target, but also effectively improving the efficiency and accuracy of target positioning.

[0036] Figure 2 A structural schematic diagram of a target positioning device provided by the embodiment of the present application is shown in FIG. 1. As shown in the figure, the device includes: Figure 2

[0037] A target position area acquisition module 210 is configured to, in response to a target tracking event being triggered, acquire 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.

[0038] A 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 position area acquisition module includes:

[0040] A relative position relationship acquisition unit is 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 is configured to acquire position information obtained by each wireless communication base station in the wireless communication base station array and the corresponding antenna array when synchronously detecting the tracked target.

[0042] An initial position area determination unit is configured to determine an initial position area of the tracked target relative to the wireless communication base station array according to the second relative position relationship and the position information corresponding to each wireless communication base station in the wireless communication base station array.

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

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

[0045] Obtain target ball group position information obtained by each wireless communication base station in the wireless communication base station array and a corresponding antenna array performing measurement on the external target ball group.

[0046] According to the target ball group position information corresponding to each wireless communication base station in the wireless communication base station array, a second relative position relationship between at least three wireless communication base stations in the wireless communication base station array.

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

[0048] Optionally, the wireless communication base station array is arranged on the laser tracker, or the wireless communication base station array is arranged 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 embodiments of the present application can execute the target positioning method provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0051] Figure 3 A structural schematic diagram of a laser tracker 10 that can be used to implement embodiments of the present application is shown. The laser tracker is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The laser tracker can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections, and their functions, as well as the software implemented by the laser tracker, are meant only to be examples and are not intended to limit the present application as described and / or claimed herein.

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

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

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

[0055] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to embodiments of the present application. For example, embodiments of the present application include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods illustrated by the flowcharts. In such embodiments, 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-described functions defined in the methods of embodiments of the present application 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, e.g., storage unit 18. In some embodiments, portions or all of the computer program can be loaded and / or installed onto laser tracker 10 via ROM 12 and / or communication unit 19. When the computer program is loaded onto 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 by other any suitable means, e.g., by way of firmware.

[0057] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0058] Computer programs used to implement the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as part of a standalone software package, or entirely on a remote machine or server.

[0059] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0060] To provide for interaction with a user, the systems and techniques described here 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 a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the laser tracker. Other kinds of devices can be used to provide for interaction with a user as well; 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, speech, or tactile input.

[0061] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, 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] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0063] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in the present application can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, and this is not limited herein.

[0064] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A target positioning method characterized by, Applied to a laser tracker, the method comprises: In response to a target tracking event being triggered, the laser tracker acquires a target position area of a tracked target through a wireless communication base station array; wherein the relative position between the laser tracker and the wireless communication base station array remains unchanged, and the wireless communication base station array comprises at least three wireless communication base stations and corresponding antenna arrays; wherein the position of the laser tracker remains unchanged during the process of the laser tracker acquiring the target position area of the tracked target through the wireless communication base station array; the tracked target is internally integrated with a wireless communication positioning tag, which interacts with each wireless communication base station and corresponding antenna array in the wireless communication base station array in an active or passive form; The local coarse positioning device in the laser tracker is controlled according to the target position area to position the tracked target; Wherein the laser tracker acquires the target position area of the tracked target through the wireless communication base station array, comprising: Acquiring the first relative position relationship between the laser tracker and the wireless communication base station array and the second relative position relationship between the at least three wireless communication base stations in the wireless communication base station array; Acquiring the position information obtained by each wireless communication base station and corresponding antenna array in the wireless communication base station array when synchronously detecting the tracked target; According to the second relative position relationship and the position information corresponding to each wireless communication base station in the wireless communication base station array, determining the initial position area of the tracked target relative to the wireless communication base station array; According to the first relative position relationship and the initial position area, determining the target position area of the tracked target relative to the laser tracker.

2. The method of claim 1, wherein, The second relative position relationship between the at least three wireless communication base stations in the wireless communication base station array comprises: Acquiring the target ball group position information obtained by each wireless communication base station and corresponding antenna array in the wireless communication base station array when measuring the external target ball group; According to the target ball group position information corresponding to each wireless communication base station in the wireless communication base station array, the second relative position relationship between the at least three wireless communication base stations in the wireless communication base station array.

3. The method of claim 2, wherein, The external target ball group is arranged on the ground.

4. The method of 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.

5. The method of claim 1, wherein, The local coarse positioning device comprises a local FOV positioning device or a local radar positioning device.

6. A target positioning device, characterized by Applied to a laser tracker, the device comprises: The target position area acquisition module is configured to, in response to a target tracking event being triggered, acquire, by the laser tracker, a target position area of a tracked target through a wireless communication base station array; wherein a relative position between the laser tracker and the wireless communication base station array remains unchanged, the wireless communication base station array includes at least three wireless communication base stations and corresponding antenna arrays; wherein, in the process of acquiring, by the laser tracker, the target position area of the tracked target through the wireless communication base station array, the position of the laser tracker remains unchanged; the tracked target is internally integrated with a wireless communication positioning tag, and the wireless communication positioning tag interacts with each wireless communication base station and corresponding antenna array in the wireless communication base station array in an active or passive form; The target positioning module is configured to control a local coarse positioning device in the laser tracker to position the tracked target according to the target position area. The target position area acquisition module includes: A relative position relationship acquisition unit is 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; A position information acquisition unit is configured to acquire position information obtained by each wireless communication base station and corresponding antenna array in the wireless communication base station array when performing synchronous detection on the tracked target; An initial position area determination unit is configured to determine an initial position area of the tracked target relative to the wireless communication base station array according to the second relative position relationship and the position information corresponding to each wireless communication base station in the wireless communication base station array; A target position area determination unit is configured to determine a target position area of the tracked target relative to the laser tracker according to the first relative position relationship and the initial position area.

7. A laser tracker, characterised in that, The laser tracker includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the target positioning method in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the target positioning method in any one of claims 1-5 when executed by the processor.

9. A computer program product, characterised in that, The computer program product includes a computer program that, when executed by the processor, implements the target positioning method according to any one of claims 1-5. The computer program product includes a computer program that, when executed by the processor, implements the target positioning method according to any one of claims 1-5.

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