Laser tracking method and laser positioning device

Abstract

A laser tracking method, capable of reducing the time for a laser line to move to the center of a receiver, thus effectively improving the working efficiency of users. The method comprises: a laser emitting device emits a laser line towards a receiver, and a first distance d1 from a first receiving point for the laser line on a receiving window of the receiver to the center of the receiver is read, the length of the receiving window in the direction of the receiver being d; a driving device drives the laser emitting device to move towards the center of the receiver by a first movement angle Δα', and a second distance d2 from a second receiving point for the laser line on the receiving window to the center of the receiver is read; according to formula (1), acquiring a distance L between the laser emitting device and the center of the receiver, where L / d>100: L=(d1-d2)÷tan(Δα') (formula (1)); according to formula (2), acquiring a second movement angle Δα by which the laser emitting device is to move: Δα=tan-1(d2÷L) (formula (2)); and, according to formula (3), determining the number m of pulses for the driving device to move: m=Δα÷Δθ (formula (3)), wherein Δθ is a unit movement angle of the laser emitting device corresponding to each pulse of movement of the driving device; and the driving device moves by m pulses, and, after moving by the second movement angle, the laser emitting device emits a laser line, the laser line being aligned with the center of the receiver.

Description

A laser tracking method and a laser positioning device TECHNICAL FIELD

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

[0002] Laser tools can be used for automatic tracking and positioning in cooperation with laser receivers, which are commonly used positioning tools in the field. When the laser line is outside the receiving window of the laser receiver, the position data fed back by the receiver is out of the receiving range; when the laser line is within the receiving window range, the receiver feeds back the distance difference from the receiving center, and when the laser line is at the receiving center, the distance data fed back by the receiver is 0.

[0003] 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 within the receiving range or moves from outside the receiving window range to within the receiving range, since 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-speed rotation of the motor..., and the closer to the center point of the position, 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 reduce speed 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 a 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 Δα of the laser emitting device to be moved 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 any one of the above is applied.

[0019] Preferably, it 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 comprises 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 towards the direction of the receiver is d, and the distance between the center of the receiver and the laser emitting device is L;

[0021] A driving device for driving 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.

[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] Fig. 1 is a flow chart of a laser tracking method according to an embodiment of the present application;

[0024] Fig. 2 is a schematic diagram of a laser positioning device according to an embodiment of the present application;

[0025] Fig. 3 is 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 elements or similar elements. The embodiments described in the exemplary embodiments below do not represent all the embodiments consistent with the present disclosure. Rather, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0028] The terms used in the present disclosure are merely for the purpose of describing particular embodiments and are not intended to limit 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 be further understood that the terms "and / or," as used herein, refer to and encompass any or all possible combinations of one or more of the associated listed items.

[0029] It should be understood that, although the terms first, second, third, etc. can be employed in this disclosure to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one piece of information from another piece of information. For example, a first information can also be referred to as a second information, and similarly, a second information can also be referred to as a first information, without departing from the scope of the present disclosure. Depending on the context, the word "if" as used herein can be interpreted as "when" or "in response to determining" as used herein.

[0030] In the description of the present application, it needs to be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements 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 needs to be explained that the terms "mounting", "connecting", "connecting" should be understood in a broad sense, for example, it can be mechanical connection or electrical connection, it can be the communication between the 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 the person 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 the element is only for the convenience of the description of the present application, and has no specific meaning itself. Therefore, "module" and "component" can be used mixedly.

[0033] Fig. 1 is a flow chart of a laser tracking method in an embodiment of the present application, and Fig. 2 is 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 to 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 a 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 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 shown in FIG. 3, it is the control timing of the motor of the driving device in the tracking method of the prior art and the present embodiment. It can be intuitively observed 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 following control logic is usually used: 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 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. That is, in the prior art, multiple steps need to be adjusted to align the laser emitting device with the center of the receiver. In the technical solution of 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 in that, include: The laser emitting device emits a laser line towards the receiver, and reads the first distance d1 from the first receiving point of the laser line on the receiving window of the receiver to the center of the receiver, where the length of the receiving window towards the receiver is d; The driving device drives the laser emitting device to move a first moving angle Δα′ toward the center of the receiver, and reads the second distance d2 between the second receiving point of the laser line on the receiving window and the center of the receiver. The distance L between the center of the laser emitting device and the center of the receiver is obtained according to formula (1), where L / d>100: L=(d1-d2)÷tan(Δα′) Formula (1); The second moving angle Δα of the laser emitting device to be moved is obtained according to formula (2): Δα=tan -1 (d2÷L) formula (2); The number of pulses m to be moved by the driving device is determined according to formula (3): m=Δα÷Δθ Formula (3), The Δθ is the unit movement angle of the laser emitting device corresponding to each pulse of movement of the driving device. The driving device moves by m pulses, and the laser emitting device moves by a second moving angle and emits a laser line, which is aligned with the center of the receiver.

2. The laser tracking method as described in claim 1, characterized in that, The first moving angle Δα′=n×Δθ, where n is the number of pulses that the driving device moves.

3. The laser tracking method as described in any one of claims 1-2, characterized in that, The laser emitting device and the receiver are connected via infrared signal, Bluetooth signal or WIFI signal.

4. A laser positioning device, characterized in that, The laser tracking method described in any one of claims 1-3 is applied.

5. The laser positioning device as described in claim 4, characterized in that, include: A laser emitting device used to emit laser beams; The receiver is connected to the laser emitting device via infrared signal, Bluetooth signal or WIFI signal. The receiver includes 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 facing the receiver is d, and the distance between the center of the receiver and the laser emitting device is L. A driving device is used to drive the laser emitting device to move, and the unit movement angle of the laser emitting device corresponding to each pulse of the driving device is Δθ.

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