Laser positioning control method and system

Abstract

Disclosed in the present invention are a laser positioning control method and system. The method comprises: controlling at least one laser lamp to move on a set route on the basis of a set movement direction and a set movement speed; setting a stop direction and a stop speed of the laser lamp when the laser lamp reaches a set position, and fitting a movement overshoot on the basis of the stop speed; on the basis of the real-time position of a laser lamp which moves on the set route and is farthest in the stop direction, and the movement overshoot, calculating a target stop position of each laser lamp; and controlling each laser lamp to move to the target stop position and then stop. The present invention can enable a laser lamp to move to a specified target stop position and then stop moving, achieving precise positioning control.

Description

Laser positioning control method and system Technical Field

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

[0002] A laser positioning system is a mechanical device that uses laser light to assist with positioning in medical procedures. It enables precise and repeatable positioning of patients during diagnostic imaging and on treatment beds. During use, the laser light's position must be adjusted so that the laser beam is precisely positioned.

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

[0004] For example, some laser positioning systems utilize two movable laser beams positioned on parallel axes for cross-positioning, thereby improving laser positioning accuracy. These systems are referred to as dual-axis systems. However, in dual-axis systems, when controlling the laser beams via various control devices, such as remote controls, the data packets containing control instructions may arrive at different axes at different times. Consequently, due to the order in which the control instructions arrive at different axes, even if the laser beams on both axes start at the same position, they may end up at different positions due to the order in which they receive the stop instructions. This means that dual-axis systems cannot accurately control the movement of both axes to the same position. When the dual-axis laser beams stop at different positions, the intersection point of the laser beams from the two laser beams changes, deviating from the intended positioning. In medical procedures, even slight deviations can pose significant safety risks. Therefore, the inability to accurately control the movement of both axes to the same position is unacceptable. Summary of the Invention

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

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

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

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

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

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

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

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

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

[0014] The motion overshoot is fitted according to the following formula: Δs=v / 2

[0015] Wherein, Δs is the motion overshoot, and v is the stopping speed.

[0016] Preferably, the step of calculating the target stopping position of each laser light according to the real-time position of the laser light that moves on the set route and is located farthest in the stopping direction and the motion overshoot comprises:

[0017] If the stopping direction is a positive direction, the target stopping position of each laser light is calculated based on the maximum value of the real-time positions of all laser lights on the set route plus the motion overshoot;

[0018] If the stopping direction is a negative direction, the target stopping position of each laser light is calculated based on the minimum value of the real-time positions of all the laser lights on the set routes minus the motion overshoot.

[0019] Preferably, controlling each laser light to move to the target stop position and then stop comprises:

[0020] Controlling each laser light to continue moving in the stopping direction, and simultaneously obtaining the real-time position of the laser light in real time;

[0021] When the real-time position of the laser light is consistent with the target stop position, the laser light is controlled to stop moving.

[0022] According to a second aspect of the present invention, there is provided a laser positioning control system, the system comprising a controller, a position detection device, a power supply module and at least one motion drive device, the motion drive device comprising a guide rail, a motor and a mechanical adjustment mechanism;

[0023] The active part of the mechanical adjustment mechanism is connected to the output shaft of the motor, and a laser lamp is installed on the mechanical adjustment mechanism; the guide rail is used to define the movement path of the laser lamp;

[0024] The controller includes an embedded program, and the embedded program is used to implement the laser positioning control method according to any embodiment of the present invention, so as to control the motor to drive the mechanical adjustment mechanism to move on the guide rail, thereby driving the laser light to move along with the mechanical adjustment mechanism;

[0025] The position detection device is used to obtain the real-time position of the laser light on the guide rail;

[0026] The power supply module is used to supply power to the motor, mechanical adjustment mechanism, laser light, controller and position detection device.

[0027] Preferably, the position detection device is a grating ruler arranged parallel to the guide rail.

[0028] Preferably, the motion drive device further includes a driver connected to the controller; the driver is used to drive the mechanical adjustment mechanism to move on the guide rail according to instructions from the controller.

[0029] Preferably, the driver is mounted on one end of the guide rail.

[0030] Preferably, the system further includes a control device; the control device is wirelessly connected to each of the controllers; the control device is used to generate and send motion control instructions to each of the controllers to control the controller to control the laser light to move according to the motion control instructions; the motion control instructions include the motion direction and the motion speed.

[0031] Preferably, the control device is further used to generate a motion stop instruction, wherein the motion stop instruction includes the stop direction and the stop speed; the motion stop instruction is used to control the laser light to stop moving when the laser light reaches a set position.

[0032] Preferably, the control device includes at least one control terminal, wherein at least one of the control terminals is a remote control, and the remote control is provided with control buttons corresponding to different directions, and the motion control instruction is triggered by pressing the control button; when the motion control instruction is triggered, the motion direction is determined according to the pressed control button.

[0033] Preferably, a pressure sensor is provided in the control button, and the pressure sensor is used to collect the pressure applied to the control button when it is pressed; when the motion control instruction is triggered, the motion speed is determined based on the pressure collected by the pressure sensor.

[0034] Preferably, determining the movement speed according to the pressure collected by the pressure sensor includes:

[0035] The pressure collected by the pressure sensor is divided into a plurality of pressure intervals, each of the pressure intervals corresponds to a preset movement speed; and the movement speed is determined according to the pressure interval in which the pressure collected by the pressure sensor is located.

[0036] Preferably, the control device includes at least one control terminal, wherein at least one of the control terminals is a computer terminal device, a computer program for controlling the movement of the laser light is running on the computer terminal device, a drag bar component is provided on the graphical interface of the computer program, and the motion control instruction is triggered by dragging the drag bar component; when the motion control instruction is triggered, the motion direction is determined according to the dragging direction of the drag bar component, and the motion speed is determined according to the dragging length of the drag bar component.

[0037] Preferably, the drag length of the drag bar assembly is limited to several specified lengths, and each of the specified lengths corresponds to a preset movement speed.

[0038] Preferably, the control device is further used to generate a jog control instruction; the jog control instruction includes a jog direction; the jog control instruction is used to control the laser light to move a minimum distance in the jog direction.

[0039] Preferably, the control device is further used to generate a rotation control instruction; the rotation control instruction includes a rotation axis, a rotation direction and a rotation speed; the rotation control instruction is used to control the laser light to rotate around the rotation axis at the rotation speed and the rotation direction.

[0040] Preferably, the control device is further used to generate a focus control instruction; the focus control instruction includes a focus direction and a focus speed; the focus control instruction is used to control the laser light to adjust its own focal length in the focus direction and the focus speed.

[0041] The present invention discloses a laser positioning control method and system. This method controls the movement and stopping of a laser light on a guide rail. When the laser light reaches a set position and stops, it introduces a motion overshoot to describe the distance the laser light moves from the set position to the point where it stops. The method then determines the real-time positions of the laser lights on all set routes, selects the position of the laser light farthest from the original motion trend, and uses the motion overshoot generated by the fitting to calculate the target stop position for each laser light. The method then controls the laser lights on all set routes to reach the target stop position before stopping, thereby ensuring that all laser lights on the set routes stop at the same position. This shows that the present invention can enable the laser light to move to a specified target stop position before stopping, achieving precise positioning control. Furthermore, when a dual-axis system exists in the laser positioning system, the present invention can also solve the problem of the inability to accurately control the movement of laser lights on both axes to the same position in the dual-axis system.

[0042] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] FIG1 is a flow chart of a laser positioning control method according to an embodiment of the present invention.

[0044] FIG2 is a schematic diagram illustrating a method for obtaining the real-time positions of laser lamps on two guide rails according to an embodiment of the present invention.

[0045] FIG3 is a schematic structural diagram of a laser positioning control system according to an embodiment of the present invention.

[0046] FIG4 a is a schematic diagram of a table showing correspondence between pressure collected by a pressure sensor and the motion speed of a laser light indicated in a motion control instruction according to an embodiment of the present invention.

[0047] FIG4 b is a diagram showing a relationship curve between pressure collected by a pressure sensor and the motion speed of a laser light indicated by a motion control instruction according to an embodiment of the present invention.

[0048] FIG5 a is a schematic diagram of a drag bar assembly according to an embodiment of the present invention.

[0049] FIG5 b is a schematic diagram showing a method of dragging a drag bar component in a positive direction according to an embodiment of the present invention.

[0050] FIG5 c is a schematic diagram showing a method of dragging a drag bar component in a negative direction according to an embodiment of the present invention.

[0051] FIG5 d is a schematic diagram showing a drag bar component with a specified drag length according to an embodiment of the present invention.

[0052] FIG6 is a schematic diagram showing a method of controlling the rotation of a laser lamp according to an embodiment of the present invention. DETAILED DESCRIPTION

[0053] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent like or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0054] The terms used in this invention are for the purpose of describing specific embodiments only and are not intended to limit the invention. The singular forms "a," "the," and "the" used in this invention and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0055] It should be understood that although the terms "first," "second," "third," etc. may be used in the present invention to describe various information, such information should not be limited to these terms. These terms are merely used to distinguish information of the same type from one another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. Depending on the context, the term "if" as used herein may be interpreted as "when," "when," or "in response to determining."

[0056] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0057] As shown in FIG1 , FIG1 is a flowchart of a laser positioning control method according to an embodiment of the present invention, comprising the following steps:

[0058] Step S101, controlling at least one laser light to move along a set route according to a set movement direction and movement speed;

[0059] Step S102, when the laser light reaches the set position, the stopping direction and stopping speed of the laser light are set, and a motion overshoot is fitted according to the stopping speed;

[0060] Step S103, calculating the target stopping position of each laser light according to the real-time position of the laser light that is moving along the set route and is located farthest in the stopping direction, and the amount of motion overshoot;

[0061] Step S104: Control each laser light to move to the target stop position and then stop.

[0062] Specifically, in step S101 , the laser light may be controlled to move according to a set movement direction and movement speed until the laser light moves to a maximum movement position limited by a set route or stops when it reaches a set position.

[0063] Specifically, in some embodiments, the present invention can place the laser light on a guide rail, and use the guide rail to define the movement path of the laser light. Specifically, in other embodiments, the movement path of the laser light can also be defined by other devices, and the present invention does not limit this.

[0064] Specifically, in the present invention, when controlling the movement of a laser light along at least one set route, each set route can constitute an axis, and the movement of the laser light along the set route is primarily a back-and-forth translational motion along the set route. Specifically, the set routes of the laser lights controlled by the same motion control instruction can have the same maximum motion position, that is, the same motion limit range. This allows the laser lights on each axis to perform the same motion within the same motion limit range, ensuring that the actual motion process of the laser light meets the user's operational expectations.

[0065] Specifically, the laser lights controlled in step S101 include at least two laser lights arranged on mutually parallel set routes. The two mutually parallel set routes may constitute a dual-axis system. Specifically, when the laser lights controlled in step S101 include laser lights on any number of mutually parallel set routes, any two of the laser lights on the set routes may constitute a dual-axis system.

[0066] Specifically, before controlling the laser projector to move along a set path according to a set direction and speed, the laser projectors on two parallel paths should have the same real-time position. In other words, the laser projectors on each axis of a dual-axis system should have the same real-time position to ensure that the laser beam emitted by the laser projector accurately reaches the desired target location.

[0067] Specifically, in step S102, when the laser light reaches a set position, the user can set a stopping direction and stopping speed for the laser light to stop, and then fit a motion overshoot value based on the stopping speed of the laser light. Specifically, the stopping speed and stopping direction set when controlling the laser light to stop can be determined based on the speed and direction of the laser light's last movement.

[0068] Specifically, when a laser positioning system has laser lights on multiple axes, the system can use only one signal receiver, such as a Bluetooth adapter, to receive control commands. This command is then distributed to each axis via an internal system bus, such as an RS485 bus. Since each axis has a different station number, commands can be packaged into communication packets with different station numbers and sent down. Each axis can then identify whether the message requires processing based on the station number of the communication packet transmitted within the bus, and then determine whether to control the corresponding laser light to move or stop according to the command.

[0069] Specifically, during data communication, the laser positioning system distributes data packets containing instructions via a single channel, resulting in different orders for the data packets arriving at different axes. In a dual-axis system, motion control normally controls the movement of the laser projector on each axis by sending two commands: start and stop. However, because the commands arrive in different orders over a single channel, even if the starting position of each axis is the same, the stop commands received in different orders cause the laser projector on each axis to stop at different positions, resulting in positioning errors and failing to meet user requirements.

[0070] To this end, the present invention can introduce motion overshoot to describe the distance moved by the laser lamp from the time the stop motion instruction is received when the laser lamp reaches the set position to the time the laser lamp stops moving. Then, by judging the real-time positions of the laser lamps on all set routes, the position of the laser lamp farthest in the original motion trend is selected and the motion overshoot generated by fitting is used to calculate the target stop position of each laser lamp. Then, the laser lamps on all set routes are controlled to reach the target stop position before stopping, thereby ensuring that the laser lamps on all set routes can stop at the same position.

[0071] To address this issue, the present invention introduces the concept of motion overshoot to describe the laser projector's stopping process, thereby implementing the motion control logic for the laser projector in a dual-axis system. Specifically, during motion, the laser projector's position at the time the stop command is issued and its final stopping position may differ due to a delay in receiving the stop command. The distance between these two positions can be defined as the laser projector's motion overshoot. To ensure consistency in the positions of each laser projector before and after its movement throughout the stopping process, the motion overshoot of each laser projector in the dual-axis system must be consistent. Therefore, when a laser projector reaches a set stopping position, i.e., when it is planned to stop, a motion overshoot is fitted based on the set stopping speed. Simultaneously, the current position of each laser projector on each axis is obtained in real time to determine the laser projector farthest in the stopping direction. This real-time position of the laser projector and the fitted motion overshoot are then used to calculate a final target stopping position, which is then transmitted to the dual-axis system, ensuring that each laser projector on each axis reaches the target stopping position.

[0072] Specifically, in step S102, a motion overshoot can be fitted according to the set stopping speed to estimate the distance that the laser lamp will move from the time the laser positioning system reaches the set position and receives the instruction to stop moving to the time the laser lamp stops moving. Therefore, the final stopping position of each laser lamp can be adjusted according to the motion overshoot, so that the final stopping position of the laser lamps on all axes can remain consistent.

[0073] Specifically, the motion overshoot fitted in step S102 may be proportional to the set stopping speed, so that the motion overshoot fitted by the present invention can be more consistent with the motion overshoot that may occur during the actual motion stopping process.

[0074] Specifically, the motion overshoot can be fitted by a linear formula. Specifically, the specific process of fitting a motion overshoot according to the stopping speed of the laser light in step S102 may include: fitting the motion overshoot according to the following formula: Δs=v / 2

[0075] Where Δs is the motion overshoot, and v is the stopping speed. The unit of motion overshoot Δs can be mm, while the unit of stopping speed can be mm / s. For example, if the current motion speed of the laser light is 0.4 mm / s, that is, the stopping speed included in the motion stop command is 0.4 mm / s, then according to the above formula, the fitted motion overshoot is 0.2 mm.

[0076] Specifically, according to actual needs, the motion overshoot may be fitted by other linear formulas or other methods, and the present invention does not limit this.

[0077] Specifically, in step S103, the target stop position of each laser light can be calculated based on the real-time position of the laser light that moves on the set route and is farthest in the stop direction, that is, the last movement direction of the laser light, and the motion overshoot, so that the actual motion overshoot of the laser light on each axis can be kept consistent, and the laser light on each axis can stop at the same target stop position.

[0078] Specifically, the specific process of calculating the target stopping position of each laser light in step S103 based on the real-time position of the laser light farthest in the stopping direction on all set routes and the motion overshoot may include: if the stopping direction is a positive direction, the target stopping position of each laser light is calculated by adding the motion overshoot to the maximum value of the real-time positions of all laser lights on the set routes; if the stopping direction is a negative direction, the target stopping position of each laser light is calculated by subtracting the motion overshoot from the minimum value of the real-time positions of all laser lights on the set routes. Specifically, the positive direction is defined as the direction in which the actual position of the laser light on the set route increases, and the negative direction is defined as the direction in which the actual position of the laser light on the set route decreases.

[0079] Specifically, as shown in FIG2 , FIG2 is a schematic diagram illustrating a method for obtaining the real-time positions of laser lights on two set routes according to an embodiment of the present invention. In this embodiment, it is assumed that all set routes only include two routes, Route 1 and Route 2, and when arriving at the set position, the real-time position of the laser light 1 on Route 1 is obtained as x1, and the real-time position of the laser light 2 on Route 2 is obtained as x2, and x1 and x2 satisfy the following relationship: 0<x1<x2<x_max

[0080] Where x_max is the maximum position that the laser lights on Route 1 and Route 2 can move to. When the stopping direction is positive, the laser light on all routes that is farthest in the stopping direction is Laser Light 2, and its real-time position is the maximum of the real-time positions of all two laser lights. The target stopping position x_t should be obtained by adding the motion overshoot Δs fitted in step S102 to the real-time position x2 of Laser Light 2 on Route 2. The calculation formula is: x_t = x2 + Δs

[0081] When the stopping direction is negative, the laser light on all routes that is farthest in the stopping direction is laser light 1, and its real-time position is the minimum of the real-time positions of all two laser lights. At this time, the target stopping position x_t should be obtained by subtracting the motion overshoot Δs fitted in step S102 from the real-time position x1 of laser light 1 on route 1. The calculation formula is: x_t = x1 - Δs

[0082] Specifically, in the embodiment shown in Figure 2, the method of marking the position on the set route can be that the minimum value is 0 and the maximum value is x_max; in other embodiments, the method of marking the position on the set route can also be to set the middle of the route to 0, and the position in the positive direction is a positive value, the maximum position in the positive direction is +x_max, and the position in the negative direction is a negative value, the maximum position in the negative direction is -x_max. The present invention does not impose any restrictions on this.

[0083] Specifically, when there is only one laser light being controlled to move, the laser light that is farthest in the stopping direction is the only laser light. In this case, the real-time position of the laser light can be directly obtained and the target stopping position of each laser light can be calculated based on the stopping direction and the motion overshoot fitted in step S102. Specifically, assuming that the real-time position of the only laser light is x, when the stopping direction is the positive direction, the target stopping position of each laser light can be calculated based on the real-time position x of the laser light plus the motion overshoot fitted in step S102.

[0084] Δs, to obtain the target stop position x_t, the calculation formula is: x_t=x+Δs

[0085] When the stopping direction is the negative direction, the target stopping position x_t can be obtained by subtracting the motion overshoot Δs fitted in step S102 from the real-time position x of the laser light. The calculation formula is: x_t = x-Δs

[0086] Specifically, in step S104, after the final target stop position is calculated, the laser light on each set route can be controlled to move to the target stop position and then stop, so that the laser light on each axis can stop at the same position, thereby solving the problem in the prior art that the two axes cannot be accurately controlled to move to the same position in the dual-axis system, and achieving more precise positioning control.

[0087] Specifically, the specific process of controlling the laser light on each set route to move to the target stop position and stop in step S104 may include: controlling each laser light to continue moving in the stop direction, while obtaining the real-time position of the laser light in real time; when the real-time position of the laser light is consistent with the target stop position, controlling the laser light to stop moving.

[0088] Specifically, when the user stops the laser light and calculates the target stop position for each laser light through steps S102 and S103, the laser light can be triggered to move to the target stop position. During the laser light's stop, the laser light's motion state can be returned. At this point, the laser light's real-time position can be read again to determine whether it matches the target stop position. If not, the laser light continues to move until it matches, and then the laser light is controlled to stop.

[0089] Specifically, the laser positioning control method proposed in the present invention is not only applicable to laser positioning systems with dual-axis systems, but can also be applied to laser positioning systems with only one axis or more than two axes, so that no matter how many axes there are, the laser lights on all axes can be moved to the same target stop position, thereby achieving precise positioning control.

[0090] Corresponding to the above-mentioned laser positioning control method embodiment, the present invention also provides a laser positioning control system.

[0091] As shown in Figure 3, Figure 3 is a structural schematic diagram of a laser positioning control system according to an embodiment of the present invention, wherein the system includes a controller, a position detection device, a power supply module and at least one motion drive device, wherein the motion drive device includes a guide rail, a motor and a mechanical adjustment mechanism; wherein the active part of the mechanical adjustment mechanism is connected to the output shaft of the motor, and a laser lamp is installed on the mechanical adjustment mechanism; the guide rail is used to limit the movement path of the laser lamp; the controller includes an embedded program, which is used to implement the laser positioning control method proposed in any embodiment of the present invention, so as to control the motor to drive the mechanical adjustment mechanism to move on the guide rail, thereby driving the laser lamp to move with the mechanical adjustment mechanism; the position detection device is used to obtain the real-time position of the laser lamp on the guide rail; the power supply module is used to power the motor, the mechanical adjustment mechanism, the laser lamp, the controller and the position detection device.

[0092] Specifically, although the embodiment shown in Figure 3 includes a total of N motion drive devices with a number of more than three (where N is the actual number of motion drive devices), in fact, in other embodiments, the system may also include only one or two motion drive devices, and the specific number can be set according to actual needs, and the present invention does not limit this.

[0093] Specifically, the implementation process of the laser positioning control method implemented by the above embedded program is detailed in the implementation process of each step in the above method embodiment, and will not be repeated here.

[0094] Specifically, in some embodiments, the position detection device may be a grating ruler positioned parallel to the guide rail. A grating ruler, also known as a grating ruler displacement sensor, is a measurement feedback device that utilizes the optical principle of a grating. Specifically, the grating ruler can be positioned parallel to each guide rail, sensing the laser light on the rail through the grating and outputting the real-time position of the laser light.

[0095] Specifically, the grating ruler can also be used as feedback calibration for the actual motion signal of the laser light to form a closed-loop control. Specifically, when the target position is given, the driver on the set route, such as the guide rail, receives the target position and can control the laser light to move accordingly. At the same time, the driver can also read the digital position information output by the grating ruler in real time and compare this position information with the target position in real time. The driver stops the movement when the digital position information output by the grating ruler matches the target position. This allows the laser light to stop at the specified target position without exceeding or failing to reach the specified target position due to inertia or other reasons.

[0096] Specifically, the grating ruler can also store the read real-time position in a corresponding register, so that the real-time position of the laser light on each guide rail can be obtained by periodically reading the register. Specifically, the reading interval for reading the register to obtain the real-time position of the laser light can be set to approximately 300ms. Specifically, a longer or shorter reading interval can be set according to actual needs, and the present invention is not limited to this.

[0097] Specifically, in other embodiments, the position detection device may also be other equipment that can be used to obtain the real-time position of the laser light on the guide rail, and the present invention is not limited to this.

[0098] Specifically, the motion drive device may further include a driver connected to the controller; the driver may be configured to drive the mechanical adjustment mechanism to move on the guide rail according to instructions from the controller. In other words, instructions from the controller may first be transmitted to the driver, which then drives the motor to move on the guide rail, thereby driving the mechanical adjustment mechanism and the laser light to move along with the motor on the guide rail, rather than relying on the motor's inherent drive function to drive the mechanical adjustment mechanism on the guide rail.

[0099] Specifically, the driver can be installed at one end of the guide rail to facilitate the movement of the drive motor on the guide rail. Specifically, the driver can also be installed at other positions capable of driving the motor, and the present invention is not limited to this.

[0100] Specifically, the system proposed in the present invention may further include a control device; the control device may be wirelessly connected to each controller; the control device may be configured to generate and send motion control instructions to each controller, thereby instructing the controller to control the movement of the laser light according to the motion control instructions. The motion control instructions may include the direction and speed of movement of the laser light.

[0101] Specifically, the motion control instructions can be triggered by a user operating a corresponding button on the control device, etc., which is not limited by the present invention. The control device can transmit the generated motion control instructions to the laser light via wireless transmission. For example, the control device can send the motion control instructions via Bluetooth, and the laser light can receive the motion control instructions via a Bluetooth adapter. Specifically, in other embodiments, other wireless transmission methods such as Wi-Fi or infrared can also be used, which is not limited by the present invention. Specifically, depending on the actual application conditions, a wired connection can also be used to transmit the instructions of the control device to the laser light, which is not limited by the present invention.

[0102] Specifically, the motion control instruction issued by the control device should include the motion direction and speed of the laser light. By obtaining the motion direction and speed contained in the motion control instruction, the laser light can be controlled to move in the indicated direction and at the indicated speed according to the motion control instruction until the laser light moves to the maximum motion position limited by the guide rail or stops when a motion stop instruction is received.

[0103] Specifically, the control device can also be used to generate a motion stop instruction, which includes a stop direction and a stop speed; the motion stop instruction can be used to control the laser light to stop moving when the laser light reaches a set position.

[0104] Specifically, when the laser light reaches a set position, the user can control the laser light to stop moving by triggering a stop motion command. Similar to the motion control command, the stop motion command can be triggered by the user operating a corresponding button on the control device, by releasing the corresponding button on the control device that triggers the motion control command, or by other means, and the present invention does not limit this. Similarly, the stop motion command can be sent to the laser positioning system via any wireless transmission method, the same as or different from the motion control command, to control the laser light to stop moving. The present invention does not limit the transmission method of the stop motion command.

[0105] Specifically, the motion stop instruction issued by the control device may include a stop direction and a stop speed for instructing the laser light to stop, so that the laser light is controlled to stop according to the stop direction and the stop speed. Specifically, the stop direction and the stop speed included in the motion stop instruction may be determined based on the current motion direction and the speed of the laser light. Specifically, the stop direction and the stop speed included in the motion stop instruction may be determined based on the motion direction and the speed included in the most recent motion control instruction issued by the control device, to ensure the continuity of the entire process from the movement of the laser light to the stopping.

[0106] Specifically, in some embodiments, buttons corresponding to different indication directions and indication speeds can be provided on the control device, and the user can trigger a motion control instruction by pressing or clicking the corresponding button. The motion direction and motion speed of the motion control instruction are the indication direction and indication speed corresponding to the button; and when the user wants to stop the laser light from moving, the user can release the pressure or click of the corresponding button to trigger a motion stop instruction. The stop direction and stop speed of the motion stop instruction are also the indication direction and indication speed corresponding to the button. Therefore, the user can trigger the corresponding motion control instruction and motion stop instruction through different operation methods of the same button, making the process of the user controlling the movement of the laser light convenient and efficient.

[0107] Specifically, in the present invention, the motion stop instruction issued by the same control device should control the laser lights on the same one or more guide rails to stop moving as the motion control instruction.

[0108] Specifically, in some embodiments, the control device used in the present invention may include at least one control terminal, wherein at least one control terminal is a remote control, and the remote control may be provided with control buttons corresponding to different directions, and the motion control instruction may be triggered by pressing each control button; when the motion control instruction is triggered, the movement direction of the laser light can be determined according to the pressed control button.

[0109] Specifically, the motion stop instruction can be triggered by releasing the pressed control button, and the stop direction and stop speed included in the motion stop instruction can be determined according to the current motion direction and motion speed of the laser light.

[0110] Specifically, a pressure sensor may be provided in the control button, and the pressure sensor may be used to collect the pressure applied when the control button is pressed; when the motion control instruction is triggered, the motion speed of the laser light may be determined based on the pressure collected by the pressure sensor.

[0111] Specifically, as shown in Figures 4a and 4b, Figures 4a and 4b are respectively a table diagram and a relationship curve diagram of the pressure collected by a pressure sensor and the motion speed of the laser light indicated in the motion control instruction according to an embodiment of the present invention. As the pressure increases, the corresponding motion speed also increases. Therefore, by pressing the button with different pressures, motion control instructions corresponding to different motion speeds can be generated, thereby realizing adaptive stepless speed regulation of the laser light movement, and being able to intelligently and more conveniently, quickly and accurately adjust the laser light to its position to achieve precise positioning.

[0112] Specifically, the process of determining the movement speed based on the pressure collected by the pressure sensor may further include: dividing the pressure collected by the pressure sensor into a plurality of pressure intervals, each pressure interval corresponding to a preset movement speed; and determining the movement speed based on the pressure interval in which the pressure collected by the pressure sensor falls. Specifically, in other embodiments, the number of pressure intervals into which the pressure collected by the pressure sensor is divided and the specific values ​​of the corresponding movement speeds may be set based on actual needs, and the present invention is not limited thereto.

[0113] Specifically, the pressure sensor embedded in the remote control can be a miniature pressure sensor that can automatically adjust the movement speed based on the amount of pressure, and can also be slowed down by inching. Specifically, each time the pressure on the control button is adjusted, a new movement speed is obtained, thereby generating a new motion control instruction to control the laser light to move at the newly obtained movement speed. Specifically, when the control button is pressed and released, the button is returned to its original position, and a motion stop instruction is triggered, and the stop direction and speed are the same as the movement direction and speed of the motion control instruction generated by the last press force.

[0114] Specifically, in the process of controlling the movement of the laser light, a faster movement speed can be used for control when it is far away from the target position, and a slower movement speed or inching control can be used when it is almost adjusted to the target position, so that the movement speed of the laser light automatically slows down, thereby achieving fast and precise intelligent adjustment. Compared with ordinary motion control methods, its operation is more convenient and quicker.

[0115] Specifically, the remote control may also be provided with a joystick, and the motion control command may be triggered by shaking the joystick. Specifically, the direction of motion may be determined by the direction of the joystick's swing. Specifically, the speed of motion may be determined by the degree of swinging the joystick. Specifically, the motion stop command may be triggered by releasing the joystick's control and returning it to its normal position.

[0116] Specifically, other control devices may be provided on the remote controller to control the movement and stopping of the laser light, and the present invention does not limit this.

[0117] Specifically, in some embodiments, the control device may further include at least one control terminal, wherein at least one control terminal is a computer terminal device. A computer program for controlling the movement of the laser light may be running on the computer terminal device. The graphical interface of the computer program may be provided with a drag bar component, and a motion control instruction may be triggered by dragging the drag bar component. When the motion control instruction is triggered, the movement direction of the laser light may be determined based on the drag direction of the drag bar component, and the movement speed of the laser light may be determined based on the drag length of the drag bar component. Specifically, a faster movement speed may be generated when the drag length of the drag bar component is longer, while a slower movement speed may be generated when the drag length of the drag bar component is shorter. Specifically, each time the drag length of the drag bar component is changed, a new movement speed may be obtained, thereby generating a new motion control instruction to control the laser light to move at the newly obtained movement speed.

[0118] Specifically, as shown in Figure 5a, Figure 5a is a schematic diagram of a drag bar assembly according to one embodiment of the present invention. The base point of the drag bar assembly is located at the center, corresponding to a speed of 0; the left and right sides of the base point correspond to the negative and positive directions of the guide rail, respectively, indicating different motion directions; the leftmost and rightmost ends of the drag bar assembly correspond to the maximum motion speeds for the two motion directions, respectively; specifically, in the illustrated embodiment, this maximum motion speed is 5 mm / s; in other embodiments, this maximum motion speed may also be set to other speeds, which is not limited by the present invention.

[0119] Specifically, in other embodiments, the drag bar component may also be presented in other forms, which is not limited in the present invention.

[0120] Specifically, as shown in Figure 5b, which is a schematic diagram illustrating dragging a drag bar component in a positive direction according to one embodiment of the present invention, dragging a base point in the drag bar component in the positive direction can trigger the generation of a motion control instruction corresponding to the positive direction, wherein the motion speed contained in the motion control instruction can be obtained based on the drag length.

[0121] Specifically, as shown in Figure 5c, Figure 5c is a schematic diagram illustrating a method of dragging a drag bar component in a negative direction according to one embodiment of the present invention. When a base point in the drag bar component is dragged in the negative direction, a motion control instruction corresponding to the negative direction can be generated, wherein the motion speed contained in the motion control instruction can also be obtained based on the drag length. Specifically, the drag length in Figure 5c is longer than that in Figure 5b, and therefore, the motion speed contained in the motion control instruction generated in accordance with Figure 5c should be faster than the motion speed contained in the motion control instruction generated in accordance with Figure 5b.

[0122] Specifically, the movement speed corresponding to the drag length of the drag bar component can be average, that is, the movement speed obtained according to the drag length can be obtained according to the ratio of the drag length to the length of one side of the drag bar component; specifically, the movement speed corresponding to the drag length can also be uneven, for example, it can be set so that the increase in movement speed corresponding to the increased drag length closer to the base point is relatively small, while the increase in movement speed corresponding to the increased drag length farther from the base point and closer to the end of the component is relatively large. It can be set specifically according to actual needs, as long as it follows the rule that the longer the length, the faster the speed, and the present invention is not limited to this.

[0123] Specifically, the drag length of the drag bar component can also be limited to several specified lengths, and each specified length can correspond to a preset motion speed. As shown in Figure 5d, Figure 5d is a schematic diagram of a drag bar component with a specified drag length according to one embodiment of the present invention. In each direction of the drag bar, two specified lengths, one-half and one full length, are set, corresponding to two specified motion speeds of 1mm / s and 5mm / s, respectively. When the drag length is at or below one-half, the drag point can be automatically positioned at the position of the one-half length, and a motion control instruction with a motion speed of 1mm / s in the corresponding motion direction is generated. When the drag length is greater than one-half, the drag point can be automatically positioned at the position of the full length, and a motion control instruction with a motion speed of 5mm / s in the corresponding motion direction is generated. Specifically, in other embodiments, more specified lengths can be divided on the drag bar component and corresponding motion speeds can be set. The specific settings can be based on actual needs and are not limited by the present invention.

[0124] Specifically, when the drag bar component is dragged and released, the drag point of the drag bar component can automatically return to the base point, and the motion stop instruction is triggered at the same time, and the stop direction and stop speed are the same as the motion direction and speed of the motion control instruction generated according to the last drag length.

[0125] Specifically, other control components, such as virtual buttons, may also be used on the graphical interface of the computer terminal device to trigger the motion control instruction and the motion stop instruction, and the present invention does not limit this.

[0126] Specifically, the computer terminal device used in the present invention can be any one of computer terminal devices such as a tablet computer, a smart phone, a personal computer, etc., and the present invention is not limited to this.

[0127] Specifically, in other embodiments, the present invention may also use other types of control devices to achieve control of the movement of the laser light, which may be specifically configured according to actual needs, and the present invention does not limit this.

[0128] Specifically, the present invention can realize the control of the movement of the laser light through one or more different control devices, which can be specifically configured according to actual needs, and the present invention does not limit this.

[0129] Specifically, the control device can also be used to generate a jog control instruction; the jog control instruction can include a jog direction; the jog control instruction can be used to control the laser light to move a minimum distance in the jog direction. Specifically, the minimum distance the laser light moves can be 0.1mm. Each time the jog control instruction is triggered, the laser light is only controlled to move 0.1mm in the jog direction, and its operation is more precise, convenient and fast. Specifically, when the control device is a remote control, the jog control instruction can be triggered by operating the corresponding physical button; and when the control device is a computer terminal device, the jog control instruction can be triggered by operating the corresponding virtual button; specifically, the control device can also trigger the corresponding jog control instruction in other ways, which can be set according to actual needs and are not limited by the present invention.

[0130] Specifically, the control device can also be used to generate a rotation control instruction; the rotation control instruction can include a rotation axis, a rotation direction and a rotation speed; the rotation control instruction can be used to control the laser light to rotate around the rotation axis at a rotation speed and rotation direction.

[0131] Specifically, as shown in Figure 6, which is a schematic diagram illustrating a method for controlling the rotation of a laser light according to an embodiment of the present invention, two horizontal and vertical rotation axes, X and Y, can be derived from the plane of the guide rail axis, with the laser light as the origin O. The laser light can then be controlled to rotate clockwise or counterclockwise around the X-axis or Y-axis based on rotation control instructions issued by the control device, thereby adjusting the angle of the laser beam emitted by the laser light, allowing the laser positioning position to more accurately hit the target location.

[0132] Specifically, similar to the motion control of the laser lamp, corresponding stepless adjustment and inching adjustment schemes can also be set for the rotation speed in the rotation control instruction. The specific implementation methods of the stepless adjustment and inching adjustment corresponding to the aforementioned motion control of the laser lamp can be referred to. The present invention does not limit this.

[0133] Specifically, when the control device is a remote control, the rotation control instruction can be triggered by operating the corresponding physical button; when the control device is a computer terminal device, the rotation control instruction can be triggered by operating the corresponding virtual button; specifically, the control device can also trigger the corresponding rotation control instruction in other ways, which can be set according to actual needs, and the present invention does not limit this.

[0134] Specifically, the control device can also be used to generate a focus control instruction; the focus control instruction can include a focus direction and a focus speed; the focus control instruction can be used to control the laser light to adjust its own focal length according to the focus direction and focus speed.

[0135] Specifically, similar to the motion control of the laser lamp, corresponding stepless adjustment and inching adjustment schemes can also be set for the focusing speed in the focusing control instruction. The specific implementation methods of the stepless adjustment and inching adjustment corresponding to the aforementioned motion control of the laser lamp can be referred to. The present invention does not limit this.

[0136] Specifically, when the control device is a remote control, the focus control instruction can be triggered by operating the corresponding physical button; when the control device is a computer terminal device, the focus control instruction can be triggered by operating the corresponding virtual button; specifically, the control device can also trigger the corresponding focus control instruction in other ways, which can be set according to actual needs, and the present invention does not limit this.

[0137] Specifically, the control device may also be used to generate other control instructions, which is not limited in the present invention.

[0138] During the installation and maintenance of the laser lamp, if the laser light line of the equipment is offset or there is a problem with the focal length, it will affect the normal use of the equipment. Through the above means, the present invention can control the simultaneous movement of multiple laser lamps by wirelessly and remotely controlling the equipment, and simultaneously realize four-dimensional adjustment including translation on the guide rail, rotation in two directions and focal length, and can realize adaptive stepless speed regulation, as well as inching control speed change. The present invention can manually adjust the position and focal length of the laser lamp without removing the outer shell, and can intelligently and quickly adjust the position and focal length of the laser lamp, avoiding the normal use process of the equipment caused by laser lamp problems, and conveniently, quickly and accurately adjusting the laser lamp into place to achieve precise positioning.

[0139] The various embodiments of the present invention are described in a progressive manner. Similar portions between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are described briefly because they are generally similar to the method embodiments. For relevant portions, refer to the description of the method embodiments.

[0140] Obviously, the above embodiments of the present invention are merely examples for the purpose of illustrating the present invention, and are not intended to limit the embodiments of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A laser positioning control method, characterized in that, The method includes: Controlling at least one laser lamp to move on a set route according to a set movement direction and movement speed; When the laser lamp reaches a set position, setting the stop direction and stop speed of the laser lamp, and fitting a movement overshoot according to the stop speed; Calculating the target stop position of each laser lamp based on the real-time position of the laser lamp that moves on the set route and is farthest in the stop direction, and the movement overshoot; Controlling each laser lamp to stop after moving to the target stop position.

2. The method according to claim 1, characterized in that The laser lamp at least includes laser lamps arranged on two set routes that are parallel to each other.

3. The method according to claim 2, wherein Before controlling the laser lamp to move on the set route according to the set movement direction and movement speed, the real-time positions of the laser lamps arranged on the two set routes that are parallel to each other are the same.

4. The method according to claim 1, wherein The movement overshoot is proportional to the stop speed; the fitting of a movement overshoot according to the stop speed of the laser lamp includes: Fitting the movement overshoot according to the following formula: Δs = v / 2 Where Δs is the movement overshoot and v is the stop speed.

5. The method according to claim 1, characterized in that, The calculating the target stop position of each laser lamp based on the real-time position of the laser lamp that moves on the set route and is farthest in the stop direction, and the movement overshoot includes: If the stop direction is the positive direction, calculating the target stop position of each laser lamp by adding the movement overshoot to the maximum value among the real-time positions of the laser lamps on all set routes; If the stop direction is the negative direction, calculating the target stop position of each laser lamp by subtracting the movement overshoot from the minimum value among the real-time positions of the laser lamps on all set routes.

6. The method according to claim 1, characterized in that The controlling each laser lamp to stop after moving to the target stop position includes: Controlling each laser lamp to continue moving in the stop direction while real-time acquiring the real-time position of the laser lamp; When the real-time position of the laser lamp is consistent with the target stop position, controlling the laser lamp to stop moving.

7. A laser positioning control system, characterized in that, The system includes a controller, a position detection device, a power supply module and at least one movement driving device, and the movement driving device includes a guide rail, a motor and a mechanical adjustment mechanism; Wherein, the driving part of the mechanical adjustment mechanism is connected to the output shaft of the motor, and a laser lamp is installed on the mechanical adjustment mechanism; the guide rail is used to define the movement route of the laser lamp; The controller contains an embedded program, and the embedded program is used to implement the laser positioning control method according to any one of claims 1-6 to control the motor to drive the mechanical adjustment mechanism to move on the guide rail, so as to drive the laser lamp to move together with the mechanical adjustment mechanism; The position detection device is used to acquire the real-time position of the laser lamp on the guide rail; The power supply module is used to supply power to the motor, the mechanical adjustment mechanism, the laser lamp, the controller and the position detection device.

8. The system according to claim 7, wherein, The position detection device is a grating scale arranged parallel to the guide rail.

9. The system according to claim 7, characterized in that, The motion driving device further includes a driver, and the driver is connected to the controller; the driver is configured to drive the mechanical adjustment mechanism to move on the guide rail according to the instruction of the controller.

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

11. The system according to claim 7, wherein The system further includes a control device; the control device is wirelessly connected to each of the controllers; the control device is configured to generate and send a motion control instruction to each of the controllers to control the controller to control the movement of the laser lamp according to the motion control instruction; the motion control instruction includes the motion direction and the motion speed.

12. The system according to claim 11, wherein The control device is further configured to generate a motion stop instruction, and the motion stop instruction includes the stop direction and the stop speed; the motion stop instruction is used to control the laser lamp to stop moving when the laser lamp reaches a set position.

13. The system according to claim 11, wherein, The control device includes at least one control terminal, and at least one of the control terminals is a remote control. Control buttons corresponding to different directions are arranged on the remote control, and the motion control instruction is triggered by pressing the control buttons; when the motion control instruction is triggered, the motion direction is determined according to the pressed control button.

14. The system according to claim 13, characterized in that, A pressure sensor is arranged in the control button, and the pressure sensor is configured to collect the pressure received when the control button is pressed; when the motion control instruction is triggered, the motion speed is determined according to the pressure collected by the pressure sensor.

15. The system according to claim 14, wherein Determining the motion speed according to the pressure collected by the pressure sensor includes: Dividing the pressure collected by the pressure sensor into a plurality of pressure intervals, and each pressure interval corresponds to a preset motion speed; determining the motion speed according to the pressure interval where the pressure collected by the pressure sensor is located.

16. The system according to claim 11, wherein, The control device includes at least one control terminal, and at least one of the control terminals is a computer terminal device. A computer program for controlling the movement of the laser lamp runs on the computer terminal device. A drag bar component is arranged on the graphical interface of the computer program, and the motion control instruction is triggered by dragging the drag bar component; when the motion control instruction is triggered, the motion direction is determined according to the dragging direction of the drag bar component, and the motion speed is determined according to the dragging length of the drag bar component.

17. The system according to claim 16, wherein The dragging length of the drag bar component is limited to a plurality of specified lengths, and each specified length corresponds to a preset motion speed.

18. The system according to claim 11, wherein The control device is further configured to generate a jog control instruction; the jog control instruction includes a jog direction; the jog control instruction is used to control the laser lamp to move a minimum distance in the jog direction.

19. The system according to claim 11, characterized in that, The control device is further configured to generate a rotation control instruction; the rotation control instruction includes a rotation axis, a rotation direction and a rotation speed; the rotation control instruction is used to control the laser lamp to rotate around the rotation axis at the rotation speed and in the rotation direction.

20. The system according to claim 11, wherein The control device is further configured to generate a focusing control instruction; the focusing control instruction includes a focusing direction and a focusing speed; the focusing control instruction is used to control the laser lamp to adjust its own focal length in the focusing direction and at the focusing speed.

Images