Laser tracking method and laser positioning device

Abstract

The invention provides a laser tracking method, which comprises the following steps that: a laser emitting device emits a laser ray to the direction of a receiver, a first distance d1 from a first receiving point of the laser ray on a receiving window of the receiver to the center of the receiver is read, and the length of the receiving window towards the direction of the receiver is d; a driving device drives the laser emitting device to move by a first moving angle delta alpha'in the direction of the center of the receiver, and a second distance d2 between a second receiving point, on the receiving window, of the laser ray and the center of the receiver is read; the distance L between the laser emitting device and the center of the receiver is obtained according to a formula (1), and L / d is larger than 100 and is equal to (d1-d2) / tan (delta alpha '); obtaining a to-be-moved second movement angle delta alpha of the laser emitting device according to a formula (2): delta alpha = tan-1 (d2 / L); the number m of pulses to be moved of the driving device is determined according to the formula (3), wherein m = delta alpha / delta theta, and delta theta is the unit movement angle of the laser emitting device corresponding to each movement pulse of the driving device; the driving device moves for m pulses, the laser emitting device emits laser rays after moving for a second moving angle, and the laser rays are aligned with the center of the receiver. After the technical scheme is adopted, the time for the laser rays to move to the center of the receiver can be shortened, and the working efficiency of a user is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of laser emitting device, in particular to a laser tracking method and a laser positioning device. BACKGROUND

[0002] Laser tool and laser receiver can be used for automatic tracking and positioning, which is a common positioning tool in the field. When the laser line is outside the receiving window of the laser receiver, the position data feedback by the receiver is out of the receiving range; when the laser line is within the receiving window range, the receiver feedbacks the distance difference from the receiving center, and when the laser line is at the receiving center, the distance data feedback by the receiver is 0.

[0003] In the prior art, in order to quickly and accurately position to the center point, when the initial position of the laser line is within the receiving range or moves from outside the receiving window range to within the receiving range, because the distance L between the laser emitting tool and the receiver is uncertain, the following control logic is usually used: within the receiving range -> read position information -> medium speed rotation of the motor -> stop the motor -> read position information -> slow rotation of the motor…, and the closer to the center point, the slower the motor rotates, so as to prevent the motor from overshooting due to inertia and thus needing to reverse again to find the center point of the position. This scheme needs to control the motor to slow down multiple times, so that the motor takes a long time to find the center point of the position, and the control time increases with the increase of the length L. SUMMARY

[0004] In order to overcome the above technical defects, the purpose of the present application is to provide a laser tracking method capable of reducing control time and accurately finding the positioning position.

[0005] Specifically, the present application discloses a laser tracking method, comprising:

[0006] The laser emitting device emits a laser line towards the receiver, reads a first distance d1 of a first receiving point of the laser line on a receiving window of the receiver from the center of the receiver, and the length of the receiving window towards the receiver direction is d;

[0007] The driving device drives the laser emitting device to move a first moving angle Δα' towards the center of the receiver, reads a second distance d2 of a second receiving point of the laser line on the receiving window from the center of the receiver;

[0008] According to formula (1), the distance L between the laser emitting device and the center of the receiver is obtained, wherein L / d>100:

[0009] L=(d1-d2)÷tan(Δα') formula (1);

[0010] The second moving angle Δa of the laser emitting device is obtained according to formula (2):

[0011] Δα=tan -1 (d2÷L) formula (2);

[0012] The number m of pulses of the driving device to be moved is determined according to formula (3):

[0013] m=Δα÷Δθ formula (3),

[0014] The Δθ is the unit moving angle of the laser emitting device corresponding to one pulse of the driving device;

[0015] The driving device moves m pulses, and the laser emitting device emits a laser line after moving the second moving angle, and the laser line is aligned with the center of the receiver.

[0016] Preferably, the first moving angle Δα′=n×Δθ, wherein n is the number of pulses of the driving device to be moved.

[0017] Preferably, the laser emitting device and the receiver are connected through infrared signals, Bluetooth signals or WIFI signals.

[0018] Another aspect of the present application provides a laser positioning device, characterized in that the laser tracking method as described above is applied.

[0019] Preferably, the laser positioning device comprises: a laser emitting device for emitting a laser line;

[0020] a receiver connected with the laser emitting device through infrared signals, Bluetooth signals or WIFI signals, the receiver comprising a receiving window for receiving the laser line and reading the receiving point of the laser line on the receiving window, the length of the receiving window in the direction of the receiver being d, and the distance between the center of the receiver and the laser emitting device being L;

[0021] a driving device for driving the laser emitting device to move, the unit moving angle of the laser emitting device corresponding to one pulse of the driving device being Δθ.

[0022] Compared with the prior art, the technical scheme has the following beneficial effects: in the technical scheme, once the laser line is located in the receiving range of the receiving device, the number of step angles required to move to the center point can be calculated by the known position value by controlling the motor to move several minimum step angles, and then the motor is controlled to quickly move to the center point of the receiver. The center point of the receiving device does not need to be found by controlling the motor speed multiple times. The time for the laser line to move to the center of the receiver is reduced, and the working efficiency of the user is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 A flow chart of a laser tracking method according to an embodiment of the present application;

[0024] Figure 2 A schematic diagram of a laser positioning device according to an embodiment of the present application;

[0025] Figure 3 A schematic diagram of a driving device control timing of a laser positioning device according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] The advantages of the present application will be further illustrated in conjunction with the specific embodiments and the accompanying drawings.

[0027] The exemplary embodiments will be described in detail herein below with reference to the drawings. In the following description, the same drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure. Instead, they only describe example devices and methods consistent with some aspects of the present disclosure, as detailed in the appended claims.

[0028] The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. As used in the present disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0029] It will be understood that, although the terms first, second, third, etc. can be used herein to describe various information, these terms are not intended to denote a temporal or chronological order. Rather, these terms are used only as a shorthand notation to distinguish one piece of information from another. For example, a first piece of information can be termed a second piece of information, and similarly, a second piece of information can be termed a first piece of information without departing from the scope of the present disclosure. Depending on the context, the word "if' as used herein can be interpreted to mean "when" or "in response to determining."

[0030] In the description of the present application, it is to be understood by those skilled in the art that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0031] In the description of the present application, unless otherwise specified and limited, it is to be noted that the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be mechanical connection or electrical connection, it can be the communication inside two elements, it can be direct connection or indirect connection through intermediate medium, and the specific meaning of the above terms can be understood by those skilled in the art according to the specific circumstances.

[0032] In the subsequent description, the suffix such as "module", "component" or "unit" used to represent elements is only for the convenience of the description of the present application, and has no specific meaning by itself. Therefore, "module" and "component" can be used interchangeably.

[0033] Figure 1 A flowchart of a laser tracking method in an embodiment of the present application, Figure 2 A schematic diagram of a laser positioning device applying the laser tracking method in the embodiment. The laser tracking method in the embodiment includes the following steps:

[0034] The laser emitting device emits a laser line towards the receiver, reads a first distance d1 of a first receiving point of the laser line on a receiving window of the receiver from the center of the receiver, and the length of the receiving window towards the receiver direction is d;

[0035] The driving device drives the laser emitting device to move a first moving angle Δα' towards the center of the receiver, reads a second distance d2 of a second receiving point of the laser line on the receiving window from the center of the receiver;

[0036] According to formula (1), the distance L between the laser emitting device and the center of the receiver is obtained, wherein L / d>100:

[0037] L=(d1-d2)÷tan(Δα') formula (1);

[0038] According to formula (2), the second moving angle Δα of the laser emitting device to be moved is obtained:

[0039] Δα=tan-1 (d2 ÷ L) Formula (2);

[0040] The number of pulses m to be moved by the driving device is determined according to Formula (3):

[0041] m = Δα ÷ Δθ Formula (3),

[0042] The Δθ is the unit moving angle of the laser emitting device corresponding to each pulse of the driving device;

[0043] The driving device moves m pulses, and the laser emitting device emits a laser line after moving a second moving angle, and the laser line is aligned with the center of the receiver.

[0044] In the embodiment, when the receiver receives the laser line, the laser emitting device is first driven to move a plurality of pulses, and the corresponding moving distance of the laser line on the receiver after moving is recorded, so that the straight-line distance L between the laser emitting device and the center of the receiver can be calculated. At this time, the path of the laser line, d2 and L form a right triangle, and thus the angle corresponding to d2 can be calculated according to the trigonometric function, that is, the second moving angle Δα of the laser emitting device to be moved. Finally, since the unit moving angle of the laser emitting device corresponding to each pulse of the driving device is fixed, the number of pulses required to be moved by the driving device can be obtained according to the second moving angle Δα. The laser emitting device and the receiver in the embodiment can be connected through infrared signals, Bluetooth signals or WIFI signals.

[0045] In another embodiment of the present application, a laser positioning device is provided, characterized in that the laser tracking method is applied, and specifically comprising:

[0046] A laser emitting device for emitting a laser line;

[0047] A receiver connected to the laser emitting device through infrared signals, Bluetooth signals or WIFI signals, the receiver comprising a receiving window for receiving the laser line and reading the receiving point of the laser line on the receiving window, the length of the receiving window in the direction of the receiver being d, and the distance between the center of the receiver and the laser emitting device being L;

[0048] The driving device is used to drive the laser emitting device to move, and the unit moving angle of the laser emitting device corresponding to one pulse of the driving device is Δθ. The driving device can be a device that can be driven by a motor commonly used in the art, and the laser emitting device can be a device that emits laser commonly used in the art. The receiver includes a receiving window and can be a device that can receive a laser line and read its position information. The present application does not make specific limitations here, and can realize the above functions. Moreover, the receiver and the laser emitting device communicate through wireless signals commonly used in the art, including but not limited to several connection methods listed in the present embodiment. The present application does not make limitations here.

[0049] As Figure 3 shown, it is the control timing of the motor of the driving device in the tracking method in the prior art and the present embodiment. It can be observed intuitively that in the prior art, in order to quickly and accurately position to the center point of the position, when the initial position of the laser line is in the receiving range or moves from outside the receiving window to the receiving range, due to the uncertainty of the distance L, the control logic is usually as follows: in the receiving range -> read position information -> medium-speed rotation of the motor -> stop the motor -> read position information -> slow rotation of the motor…, and the closer to the center point of the position, the slower the motor speed, so as to prevent the motor from overshooting due to inertia and thus needing to reverse again to find the center point of the position. That is, in the prior art, multiple steps need to be adjusted to align the laser emitting device to the center of the receiver. In the technical solution in the present embodiment, the motor only needs to be adjusted once, and one timing can directly adjust to the center of the receiver, effectively shortening the entire adjustment cycle time.

[0050] Through the above method, after the first movement, the laser moving device can be directly adjusted so that the laser line emitted thereby is aligned with the center of the laser receiving device, thereby saving the adjustment process of multiple movements in the prior art, saving operation time and improving work efficiency.

[0051] It should be noted that the embodiments of the present application have better implementation, and do not limit the present application in any form. Any skilled person in the art can change or modify the above disclosed technical content into equivalent effective embodiments, as long as it does not deviate from the technical solution of the present application. Any modification or equivalent change and modification of the above embodiments according to the technical essence of the present application are still within the scope of the technical solution of the present application.

Claims

1. A laser tracking method, characterized by, The laser emitting device emits a laser line towards a receiver, reads a first distance d1 of a first receiving point of the laser line on a receiving window of the receiver from a center of the receiver, a length of the receiving window towards a direction of the receiver is d; The driving device drives the laser emitting device to move a first moving angle Δα' towards the center of the receiver, reads a second distance d2 of a second receiving point of the laser line on the receiving window from the center of the receiver; According to formula (1), a distance L of the laser emitting device from the center of the receiver is obtained, wherein L / d>100: L=(d1-d2)÷tan(Δα') formula (1); According to formula (2), a second moving angle Δα of the laser emitting device to be moved is obtained: According to formula (3), a pulse number m of the driving device to be moved is determined: Δα = tan -1 (d2 ÷ L) Equation (2); m=Δα÷Δθ formula (3), The Δθ is a unit moving angle of the laser emitting device corresponding to each pulse of the driving device; The driving device moves m pulses, and the laser emitting device emits a laser line after moving the second moving angle, and the laser line is aligned with the center of the receiver.

2. The laser tracking method of claim 1, wherein The first moving angle Δα' = n×Δθ, wherein n is the pulse number of the driving device.

3. The laser tracking method of any one of claims 1-2, wherein The laser emitting device and the receiver are connected through infrared signals, Bluetooth signals or WIFI signals. The laser tracking method of any one of claims 1-3 is applied.

4. A laser positioning device, characterized by The laser emitting device is used to emit a laser line; 5. The laser positioning device of claim 4, wherein, The receiver is connected with the laser emitting device through infrared signals, Bluetooth signals or WIFI signals, and includes a receiving window used to receive the laser line and read a receiving point of the laser line on the receiving window, a length of the receiving window towards a direction of the receiver is d, and a distance of a center of the receiver from the laser emitting device is L; The driving device is used to drive the laser emitting device to move, and a unit moving angle of the laser emitting device corresponding to each pulse of the driving device is Δθ. ​ ​

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