WO2022142247A1 - 使用激光扫平仪追踪探测器的方法及激光追踪系统 - Google Patents

使用激光扫平仪追踪探测器的方法及激光追踪系统 Download PDF

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WO2022142247A1
WO2022142247A1 PCT/CN2021/104740 CN2021104740W WO2022142247A1 WO 2022142247 A1 WO2022142247 A1 WO 2022142247A1 CN 2021104740 W CN2021104740 W CN 2021104740W WO 2022142247 A1 WO2022142247 A1 WO 2022142247A1
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Prior art keywords
laser
detector
leveler
laser leveler
detection signal
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PCT/CN2021/104740
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English (en)
French (fr)
Inventor
王伟臣
石昕
邢星
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NORTHWEST INSTRUMENT (SHANGHAI) CO Ltd
Northwest Instrument Inc
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NORTHWEST INSTRUMENT (SHANGHAI) CO Ltd
Northwest Instrument Inc
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Application filed by NORTHWEST INSTRUMENT (SHANGHAI) CO Ltd, Northwest Instrument Inc filed Critical NORTHWEST INSTRUMENT (SHANGHAI) CO Ltd
Priority to CA3205031A priority Critical patent/CA3205031C/en
Priority to EP21913000.2A priority patent/EP4257921A4/en
Publication of WO2022142247A1 publication Critical patent/WO2022142247A1/zh
Priority to US18/148,765 priority patent/US11761764B2/en
Anticipated expiration legal-status Critical
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G01C15/004—Reference lines, planes or sectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G01C15/004—Reference lines, planes or sectors
    • G01C15/006—Detectors therefor

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  • the present disclosure relates to the field of intelligent surveying and mapping, and more particularly, to a method and a laser tracking system for tracking a detector using a laser leveler.
  • the horizontal axis accuracy of the laser leveler refers to the range of the angle between the laser leveler's laser surface and the absolute horizontal plane in each of the four directions of the horizontal plane, front, back, left, right, and horizontal plane when the laser leveler is normally leveled. According to geometric principles, the accuracy of the horizontal axis is also often expressed as a range of height values beyond a certain distance.
  • the existing methods for calibrating the laser leveler are all suitable for calibrating the laser leveler in the rotation scanning mode. Since the detector needs to distinguish the laser rays of the laser leveling instrument from the ambient light, it is generally necessary to use the "periodic scanning to the detector to generate a photoelectric signal" of the laser leveling instrument to achieve this. Generally, the period is required to be a certain or several fixed values. Therefore, the existing calibration methods are not suitable for laser levelers operating in fan-sweep mode or dot-sweep mode.
  • the first aspect of the present disclosure proposes a method for using a laser leveler to track a detector.
  • the method is used for the laser leveler and needs to use a fan-scanning mode or a spotting mode, which includes:
  • the laser leveler emits laser rays for circular scanning
  • the detector In the process of the circular scanning, when the detector detects the laser ray, the detector sends a detection signal to the laser leveler;
  • the laser leveler When the laser leveler receives the detection signal, the laser beam emitted by the laser leveler performs circular scanning in opposite directions;
  • the frequency at which the detection signal is received by the laser leveler is greater than a first threshold, it is determined that the laser leveler tracks the detector.
  • the method before the laser leveler emits laser rays for circular scanning, the method further includes: adjusting the detector so that it can detect the emission of the laser leveler. position of the laser beam.
  • the laser leveler emitting laser rays to perform the circular scanning further comprises: the laser leveler performing the circular scan at a first rate, wherein the first rate is the rate at which the detector can detect the laser ray.
  • the circular scanning of the laser rays emitted by the laser leveler in opposite directions further includes:
  • the laser leveler performs the circular scan in the opposite direction at a second rate, wherein the second rate is less than the current rate of the laser leveler, and the second rate is detectable by the detector The speed of the laser rays.
  • the method adopts the following steps instead of determining that the laser leveler tracks the detector when the frequency of the detection signal received by the laser leveler is greater than a first threshold:
  • the method further includes:
  • the laser leveler At the position where the laser leveler tracks the detector, the laser leveler is set to enter the fan-sweep mode or the spotting mode.
  • a laser tracking system comprising:
  • a detector for receiving the laser rays
  • the detector further includes a first wireless communication module, when the detector detects the laser ray, the first wireless communication module of the detector sends a detection signal to the laser leveler;
  • the laser leveling instrument further includes a second wireless communication module for receiving the detection signal.
  • the detector is in a position capable of detecting the laser rays emitted by the laser leveler.
  • the laser rays emitted by the laser leveler perform circular scanning in opposite directions.
  • the laser leveling instrument is further used for:
  • the laser leveler is further configured to: determine that the detection is tracked when the time interval during which the laser leveler changes the scanning direction of the circular scanning is less than a second threshold device.
  • the laser leveling instrument is further configured to enter a fan-sweep mode or a dot-spot mode at the position tracked to the detector.
  • the method and laser tracking system for using a laser leveler to track a detector can make the laser leveler go back and forth to perform circular scanning and use the assistance of the detector to achieve a leveling operation without requiring the laser leveler and the detector to perform a leveling operation. Under the premise, the search of the detected position can be realized flexibly, quickly and accurately.
  • FIG. 1 is a schematic diagram of a laser tracking system according to the present disclosure
  • FIG. 2 is a system block diagram of a laser leveler according to the present disclosure
  • FIG. 3 is a flowchart of a method of tracking a detector using a laser leveler in accordance with the present disclosure.
  • FIG. 4 is a flowchart of a method of calibrating a laser leveler according to the present disclosure
  • Figure 5 shows one of the schematic diagrams of the process of calibrating the laser leveler
  • FIG. 6 shows the second schematic diagram of the process of calibrating the laser leveling instrument
  • FIG. 7 shows a third schematic diagram of the process of calibrating the laser leveler.
  • FIG. 8 shows the fourth schematic diagram of the process of calibrating the laser leveler.
  • each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which may include one or more components used in implementing various embodiments Executable instructions for the specified logical function.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may in fact be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
  • the present invention mainly focuses on the following technical problem: how to realize the calibration of the laser leveler when the laser leveler is in the dot mode or the fan-sweep mode.
  • a method for tracking a detector using a laser leveler which includes: the laser leveler emits laser rays to perform circular scanning; in the process of the circular scanning , when the detector detects the laser ray, the detector sends a detection signal to the laser leveler; when the laser leveler receives the detection signal, the laser leveler emits The laser rays are circularly scanned in opposite directions; and when the frequency of the detection signal received by the laser leveler is greater than a first threshold, it is determined that the laser leveler tracks the detector.
  • a laser tracking system which includes a laser leveler 1 and a detector 2 , wherein the detector 2 is in a position capable of detecting the laser rays emitted by the laser leveler 1 .
  • the detector 2 Before calibrating the laser leveler 1 , it is necessary to realize the tracking of the laser leveler 1 to the detector 2 , so that the detected position of the laser leveler 1 can be determined.
  • the laser leveler 1 is at least used for emitting laser rays for circular scanning, and the detector 2 is at least used for receiving the laser rays.
  • the detector 2 includes a first wireless communication module
  • the laser leveler 1 includes a second wireless communication module; wherein, when the detector 2 detects the laser rays, the first wireless communication module sends the second wireless communication module of the laser leveler 1 to the second wireless communication module.
  • the communication module sends a probe signal.
  • the first wireless communication module and the second wireless communication module may implement wireless communication (eg, Bluetooth communication technology, etc.) using any currently known or future-developed communication technology.
  • FIG. 3 discloses a method for the laser tracking system of the present embodiment to use the laser leveler to track the detector, and the specific operations are as follows:
  • the detector 2 adjusts the detector 2 to be in a position where it can detect the laser rays emitted by the laser scanner 1 , and establish communication between the laser leveler 1 and the detector 2 at the same time.
  • the two can be separated by a fixed distance or by a distance that can be measured by the rangefinder, and the separated distance enables the detector 2 to accurately detect the laser rays emitted by the laser leveler 1;
  • the laser leveler 1 emits a laser beam 4 that rotates circularly at a fixed rate (eg, along the direction 5 ) to form a laser surface 3 ; to the laser beam emitted by the laser leveler 1.
  • Step 310 The laser leveler 1 emits laser rays to perform circular scanning.
  • the laser leveler 1 performs circular scanning at a first rate, where the first rate is the rate at which the detector 2 can detect the laser rays.
  • Step 320 During the circular scanning process, when the detector 2 detects the laser rays, the detector 2 sends a detection signal to the laser leveler 1 .
  • the first wireless communication module sends a detection signal to the second wireless communication module of the laser leveler 1 .
  • Step 330 When the laser leveler 1 receives the detection signal, the laser beam emitted by the laser leveler 1 performs circular scanning in the opposite direction.
  • step 330 when the second wireless communication module of the laser leveler 1 receives the detection signal, the laser leveler 1 performs circular scanning in the opposite direction at a second rate, where the second rate is smaller than the laser level The current rate of the sweeper, and the second rate is the rate at which the detector 2 can detect the laser rays.
  • step 320 Return to step 320, and execute step 340 until the frequency of the detection signal received by the laser leveling instrument is greater than the first threshold.
  • step 320 go back to executing step 320, and execute step 340 until the time interval for changing the scanning direction of the circular scanning by the laser leveler 1 is less than the second threshold.
  • the speed of the circular scanning performed by the laser leveler 1 decreases stepwise with each change of the scanning direction.
  • Step 340 Determine that the laser leveler tracks the detector.
  • the laser leveler 1 since the laser leveler 1 performs circular scanning back and forth (for example, circular scanning in the opposite direction is performed after receiving the detection signal), it can be seen that the frequency of circular scanning by the laser leveler 1 is getting higher and higher. , so that the frequency of the laser beam received by the detector 2 becomes higher, and the frequency of the detection signal sent by the detector 2 is also higher and higher, when the frequency of the detection signal received by the laser leveler 1 , the first threshold), it indicates that the laser leveler 1 has tracked the detector 2, that is, it has reached the detected position.
  • the laser leveler 1 performs circular scanning back and forth (for example, circular scanning in the opposite direction is realized after receiving the detection signal), it can be seen that the frequency of circular scanning by the laser leveler 1 is getting higher and higher,
  • the built-in threshold eg, the second threshold
  • the bright laser leveler 1 has tracked the detector 2, that is, it has reached the detected position.
  • the laser leveler 1 is set to enter the fan-sweep mode or the dot-spotting mode.
  • the method and system for tracking a detector for a laser leveler disclosed in this embodiment can realize the tracking of a laser leveler only under the condition that the detector can receive laser rays without the need to perform leveling operations on the laser leveler and the detector.
  • the detector determines the exact detected position. That is, the method and system for tracking a detector for a laser leveler disclosed in Embodiment 1 are simple in operation and simple in structure, and can realize precise positioning of the detected position.
  • a system for calibrating a laser beamer which includes: a laser beamer 1 for generating a laser beam for calibration in a calibration state, and a detection for acquiring the laser beam for calibration device 2.
  • the laser leveler 1 and the detector 2 are arranged on the same horizontal plane, so that the laser leveler 1 is in the detected position; and the laser leveler 1 is set to the dot mode or the fan scan mode.
  • the laser leveler 1 as shown in FIG. 2 includes: a casing 150 , a control module 110 , a pulse signal generation module 120 , a laser module 130 and a laser rotation unit 140 .
  • the control module 110 is disposed in the casing 150
  • the pulse signal generating module 120 is disposed in the casing 150 and is electrically coupled to the control module 110 to be controlled by the control module 110 to generate a pulse signal
  • the laser module 130 is disposed in the casing 150 Inside and electrically coupled with the pulse signal generating module 120, in the calibration state, the pulse signal is used to generate laser rays for calibration
  • the laser rotation unit 140 is arranged in the housing 150 and is electrically coupled with the control module 110 for controlling and adjust the projection direction of the laser rays generated by the laser module 130 .
  • the laser rotation unit 140 includes: a motor module 141 and an optical module 142, wherein the motor module 141 is electrically coupled to the control module 110, and the optical module 142 is electrically coupled to the motor module 141 for changing the direction of the laser rays;
  • the module 110 controls the motor module 141 to drive the optical module 142 to rotate, the direction of the laser beam emitted by the laser leveler 1 is changed.
  • the laser leveler 1 can accurately determine the detected position, thereby realizing the method for calibrating the laser leveler disclosed in FIG. 4 .
  • Fig. 4 discloses the method for calibrating the laser leveling instrument of the present embodiment, and the specific operations are as follows:
  • Step 410 Set the laser leveler 1 and the detector 2 on the same horizontal plane, so that the laser leveler 1 is at the detected position.
  • the laser leveler 1 and the detector 2 are set on the same horizontal plane with a distance 6 away. And before the laser leveler 1 is ready to emit laser rays for calibration to the detector 2 , the leveling operation is performed on the laser leveler 1 . Specifically, after the laser leveling instrument 1 is turned on, it first performs an automatic leveling operation, that is, the laser leveling instrument 1 adjusts the X-axis and the Y-axis to the considered level state through the detection of water bubbles.
  • Step 420 Set the laser leveler 1 to be in the dot mode or the fan scan mode.
  • the detector 2 can receive rays of various frequencies (for example, natural light, etc.) from the calibration environment during the calibration process of the laser leveler 1, in addition, since the laser leveler 1 is in the spot mode or the fan scan mode, which is different from the conventional use of the leveler
  • the instrument emits periodic laser rays so that the detector can receive different laser rays; therefore, in order to enable the detector 2 to accurately receive the laser rays from the laser leveler 1 and overcome the defects of the prior art, the laser leveler 1 needs to be in the dot mode or the fan scan.
  • the mode is still capable of emitting laser rays with a single frequency on and off or varying on and off for easy identification by the detector 2 .
  • This step specifically includes:
  • Step 420.1 Set the laser leveler 1 to be in the spotting mode
  • Step 420.2 In the calibration state, the control module 110 of the laser leveler 1 controls the pulse signal generation module 120 to generate a pulse signal, the laser module 130 uses the pulse signal to generate a laser beam for calibration, and the frequency of the laser beam for calibration Same frequency limit as above for pulse signal.
  • step 420 specifically includes:
  • Step 421.1 Set the laser leveler 1 to be in the fan sweep mode
  • Step 421.2 In the calibration state, apply a pulse signal to the laser sweeper 1, so that it emits a laser beam for calibration, wherein the frequency of the laser beam for calibration is formed by combining the frequency of the pulse signal and the frequency of the fan sweep .
  • the control module 110 of the laser leveler 1 controls the pulse signal generation module 120 to generate a pulse signal
  • the laser module 130 uses the pulse signal to generate laser rays for calibration.
  • the pulse signal mentioned in this embodiment has a fixed frequency or a variable frequency that the detector 2 can recognize.
  • step 420 specifically includes:
  • Step 422.1 Set laser leveler 1 in fan scan mode
  • Step 422.2 The laser beam emitted by the laser leveler 1 is used as the laser beam for calibration.
  • the frequency of the fan scan of the laser leveler 1 is the frequency of the laser beam received by the detector 2 for calibration.
  • Step 430 When the detector 2 detects the laser ray emitted by the laser leveler 1 for calibration, the detector generates first position information.
  • the laser leveler 1 performs a circular motion, so that the laser beam 10 emitted by it for calibration is detected by the detector 2 .
  • the first position information detected by the detector may specifically be the first height information 8, or may be based on distance 6 and the first angle information 7 generated by the first height information 8 .
  • Step 440 When the laser leveler 1 is rotated to the first rotation angle, the projection direction of the laser in the laser leveler is rotated relative to the laser leveler by the first rotation angle in the opposite direction, so that the detector detects the use of the laser leveler emitted by the laser leveler. on a calibrated laser beam to generate second position information;
  • the laser leveler 1 when the laser leveler 1 rotates to the first rotation angle, the laser leveler 1 performs the leveling operation again.
  • the first rotation angle may be any angle, preferably 90°, 180°, and 270°.
  • the calibration process may need to repeat operations for many times. For example, after the calibration of the X-axis is completed, the laser leveler 1 is rotated by 90°, and the same operation as the calibration of the X-axis is repeated to realize the calibration of the Y-axis.
  • the laser rotation unit 140 When the housing 150 is rotated to the first rotation angle, the laser rotation unit 140 is rotated relative to the housing 150 by the first rotation angle in the opposite direction, so that the laser beam 10 for calibration emitted by the laser module 130 is received by the detector 2 .
  • the second position information detected by the detector 2 may specifically be the second height information 11 , or may be based on Second angle information 9 generated from distance 6 and second height information 11 .
  • Step 450 Based on the first position information and the second position information, determine whether the laser leveler needs to be calibrated.
  • This step specifically includes:
  • the laser leveler 1 receives the first position information and the second position information, and generates calibration information, and when the calibration information exceeds a set threshold, performs calibration based on the calibration information; or
  • the laser leveler 1 receives the calibration information generated by the detector 2 based on the first position information and the second position information, and when the calibration information exceeds a set threshold, performs calibration based on the calibration information; or
  • the detector 2 generates calibration information based on the first position information and the second position information.
  • the calibration information exceeds the set threshold, the calibration information is sent to the laser leveler 1, so that the laser leveler 1 performs the calibration based on the calibration information. calibration.
  • the calibration information may be the average value of the difference between the first height information 8 and the second height information 11 , or the average value of the difference between the first angle information 7 and the second angle information 9 .
  • the method and system for calibrating a laser leveler disclosed in this embodiment can realize the calibration of the laser leveler in the dot-sweeping mode or the fan-sweep mode, which greatly improves the application range of the calibration technology, and is useful for actual users of the laser leveler. Here comes the greater convenience.

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Abstract

本公开内容公开了使用激光扫平仪追踪探测器的方法以及激光追踪系统。该方法用于所述激光扫平仪需要使用扇扫模式或打点模式，其包括：所述激光扫平仪发射激光射线以进行圆周式扫描；在所述圆周式扫描的过程中，当所述探测器探测到所述激光射线时，所述探测器向所述激光扫平仪发送探测信号；当所述激光扫平仪接收到所述探测信号时，所述激光扫平仪所发射的激光射线以相反方向进行圆周式扫描；以及在所述激光扫平仪接收所述探测信号的频率大于第一阈值时，确定所述激光扫平仪追踪到所述探测器。本公开内容能够在校准激光扫平仪之前确定激光扫平仪的被探测位置，可以在无需激光扫平仪、探测器找平的情况下准确地找到被探测位置。

Description

使用激光扫平仪追踪探测器的方法及激光追踪系统 技术领域
本公开内容涉及智能测绘领域，并且更具体地，涉及使用激光扫平仪追踪探测器的方法及激光追踪系统。
背景技术
激光扫平仪的水平轴精度是指激光扫平仪正常安平之后进行水平面扫描时，水平面的前后左右四个方向中的每一个方向上，扫平仪激光面与绝对水平面的夹角大小的范围。根据几何原理，水平轴的精度还经常表示为某特定距离外的高度值范围。
现有的校准激光扫平仪的方法均是适用于旋转扫描模式下对激光扫平仪进行校准。由于探测器需要从环境光中分辨出激光扫平仪的激光射线，一般需要利用激光扫平仪的"周期性扫到探测器，从而产生光电信号"这一特点来实现，一般要求周期为某一个或者几个固定值。因此，现有的校准方法并不适于扇扫模式或打点模式操作下的激光扫平仪。
发明内容
针对上述问题，本公开内容的第一方面提出了使用激光扫平仪追踪探测器的方法，该法用于所述激光扫平仪需要使用扇扫模式或打点模式，其包括：
所述激光扫平仪发射激光射线以进行圆周式扫描；
在所述圆周式扫描的过程中，当所述探测器探测到所述激光射线时，所述探测器向所述激光扫平仪发送探测信号；
当所述激光扫平仪接收到所述探测信号时，所述激光扫平仪所发射的激光射线以相反方向进行圆周式扫描；以及
在所述激光扫平仪接收所述探测信号的频率大于第一阈值时，确定所述激光扫平仪追踪到所述探测器。
根据本发明的一个示例性的实施例，在所述激光扫平仪发射激光射线 以进行圆周式扫描之前，所述方法还包括：调整所述探测器使其处于能够探测到所述激光扫平仪发射的激光射线的位置。
根据本发明的一个示例性的实施例，所述激光扫平仪发射激光射线以进行圆周式扫描进一步包括：所述激光扫平仪以第一速率进行所述圆周式扫描，其中，所述第一速率是所述探测器能够探测到所述激光射线的速率。
根据本发明的一个示例性的实施例，所述激光扫平仪接收到所述探测信号时，所述激光扫平仪所发射的激光射线以相反方向进行圆周式扫描进一步包括：
所述激光扫平仪以第二速率进行相反方向的所述圆周式扫描，其中，所述第二速率小于所述激光扫平仪的当前速率，并且所述第二速率是所述探测器能够探测到所述激光射线的速率。
根据本发明的一个示例性的实施例，所述方法采用以下步骤替代在所述激光扫平仪接收所述探测信号的频率大于第一阈值时确定所述激光扫平仪追踪到所述探测器：
在所述激光扫平仪变换所述圆周式扫描的扫描方向的时间间隔小于第二阈值时，确定所述激光扫平仪追踪到所述探测器。
根据本发明的一个示例性的实施例，在确定所述激光扫平仪追踪到所述探测器之后，所述方法还包括：
在所述激光扫平仪追踪到所述探测器的位置处，将所述激光扫平仪设置进入所述扇扫模式或所述打点模式。
针对上述问题，本公开内容的第二方面提出了激光追踪系统，所述系统包括：
激光扫平仪，用于发射激光射线以进行圆周式扫描；以及
探测器，用于接收所述激光射线；
其中，所述探测器进一步包括第一无线通信模块，当所述探测器探测到所述激光射线时，所述探测器的第一无线通信模块向所述激光扫平仪发送探测信号；并且
所述激光扫平仪进一步包括第二无线通信模块，所述第二无线通信模块用于接收所述探测信号。
根据本发明的一个示例性的实施例，所述探测器处于能够探测到所述激光扫平仪发射的激光射线的位置。
根据本发明的一个示例性的实施例，在所述第二无线通信模块接收到所述探测信号时，所述激光扫平仪所发射的激光射线以相反方向进行圆周式扫描。
根据本发明的一个示例性的实施例，所述激光扫平仪进一步用于：
在所述激光扫平仪接收所述探测信号的频率大于第一阈值时，确定追踪到所述探测器。
根据本发明的一个示例性的实施例，所述激光扫平仪进一步用于：在所述激光扫平仪变换所述圆周式扫描的扫描方向的时间间隔小于第二阈值时，确定追踪到所述探测器。
根据本发明的一个示例性的实施例，所述激光扫平仪进一步用于：在追踪到所述探测器的位置处，进入扇扫模式或打点模式。
依据本公开内容的使用激光扫平仪追踪探测器的方法及激光追踪系统能够通过使激光扫平仪往返进行圆周式扫描并经由探测器的协助以实现在无需使激光扫平仪、探测器进行找平操作的前提下，灵活地、快速地、准确地实现被探测位置的找寻。
附图说明
结合附图并参考以下详细说明，本公开的各实施例的特征、优点及其他方面将变得更加明显，在此以示例性而非限制性的方式示出了本公开的若干实施例，在附图中：
图1为依据本公开内容的激光追踪系统的示意图；
图2为依据本公开内容的激光扫平仪的系统框图；
图3为依据本公开内容的使用激光扫平仪追踪探测器的方法的流程图；以及
图4为依据本公开内容的校准激光扫平仪的方法的流程图；
图5示出了校准激光扫平仪过程的示意图之一；
图6示出了校准激光扫平仪过程的示意图之二；
图7示出了校准激光扫平仪过程的示意图之三；以及
图8示出了校准激光扫平仪过程的示意图之四。
具体实施方式
以下参考附图详细描述本公开的各个示例性实施例。附图中的流程图和框图示出了根据本公开的各种实施例的方法和系统的可能实现的体系架构、功能和操作。应当注意，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，所述模块、程序段、或代码的一部分可以包括一个或多个用于实现各个实施例中所规定的逻辑功能的可执行指令。也应当注意，在有些作为备选的实现中，方框中所标注的功能也可以按照不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，或者它们有时也可以按照相反的顺序执行，这取决于所涉及的功能。同样应当注意的是，流程图和/或框图中的每个方框、以及流程图和/或框图中的方框的组合，可以使用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以使用专用硬件与计算机指令的组合来实现。
本文所使用的术语"包括"、"包含"及类似术语应该被理解为是开放性的术语，即"包括/包含但不限于"，表示还可以包括其他内容。术语"基于"是"至少部分地基于"。术语"一个实施例"表示"至少一个实施例"；术语"另一实施例"表示"至少一个另外的实施例"，等等。
本发明主要关注以下技术问题：如何能够在激光扫平仪处于打点模式或扇扫模式的情况下实现对该激光扫平仪的校准。
为了解决上述问题，根据本发明的一个总体构思，提供一种使用激光扫平仪追踪探测器的方法，其包括：激光扫平仪发射激光射线以进行圆周式扫描；在所述圆周式扫描的过程中，当所述探测器探测到所述激光射线时，所述探测器向所述激光扫平仪发送探测信号；当所述激光扫平仪接收到所述探测信号时，所述激光扫平仪所发射的激光射线以相反方向进行圆周式扫描；以及在所述激光扫平仪接收所述探测信号的频率大于第一阈值时，确定所述激光扫平仪追踪到所述探测器。
实施例1
如图1所示，公开了激光追踪系统，其包括激光扫平仪1以及探测器2，其中，探测器2处于能够探测到激光扫平仪1发射的激光射线的位置。在对激光扫平仪1进行校准之前，需要实现激光扫平仪1对探测器2的追踪，由此能够确定激光扫平仪1的被探测位置。
在本实施例中，激光扫平仪1至少用于发射激光射线以进行圆周式扫描，探测器2至少用于接收该激光射线。进一步，探测器2包括第一无线通信模块，并且激光扫平仪1包括第二无线通信模块；其中，当探测器2探测到激光射线时，第一无线通信模块向激光扫平仪1的第二无线通信模块发送探测信号。第一无线通信模块、第二无线通信模块可以采用任何现有已知的或未来开发的通信技术实现无线通信(例如，蓝牙通信技术等)。
图3公开了本实施例的激光追踪系统实现使用激光扫平仪追踪探测器的方法，具体操作如下：
首先调整探测器2，使其处于能够探测到激光扫描仪1发射的激光射线的位置，同时建立激光扫平仪1与探测器2之间的通信。具体地，如图1所示，二者可以间隔固定距离或者间隔可以由测距器能够测量的距离，所间隔的距离使得探测器2能够精准地探测到激光扫平仪1所发射的激光射线；激光扫平仪1发射激光射线4以固定速率(例如，沿着方向5)做圆周式旋转，以形成激光面3；在该激光面3的扫描区域内安置探测器2，以便于探测器2探测到激光扫平仪1发射的激光射线。
步骤310：激光扫平仪1发射激光射线以进行圆周式扫描。
具体地，激光扫平仪1以第一速率进行圆周式扫描，其中，该第一速率是探测器2能够探测到激光射线的速率。
步骤320：在该圆周式扫描的过程中，当探测器2探测到激光射线时，探测器2向激光扫平仪1发送探测信号。
具体地，在该圆周式扫描的过程中，当探测器2探测到激光射线时，第一无线通信模块向激光扫平仪1的第二无线通信模块发送探测信号。
步骤330：当激光扫平仪1接收到该探测信号时，激光扫平仪1所发射的激光射线以相反方向进行圆周式扫描。
在本实施例中，步骤330中，在激光扫平仪1的第二无线通信模块接收到探测信号时，激光扫平仪1以第二速率进行相反方向的圆周式扫描，其中，第二速率小于激光扫平仪的当前速率，并且第二速率是探测器2能够探测到激光射线的速率。
返回执行步骤320，直到激光扫平仪接收探测信号的频率大于第一阈值时，执行步骤340。
或者，返回执行步骤320，直到激光扫平仪1变换圆周式扫描的扫描方向的时间间隔小于第二阈值时，执行步骤340。
本实施例中，在重复执行步骤320和步骤330的过程中，激光扫平仪1进行圆周式扫描的速率随着每次扫描方向的改变而呈阶梯式下降。
步骤340：确定所述激光扫平仪追踪到所述探测器。
具体地，由于激光扫平仪1往返进行圆周式扫描(例如，在接收到探测信号之后实现相反方向的圆周式扫描)，由此可知，激光扫平仪1往返进行圆周式扫描的频率越来越高，使得探测器2接收到激光射线的频率变高，进而探测器2发送探测信号的频率也越来越高，当激光扫平仪1接收到探测信号的频率高于其内部设定的阈值(例如，第一阈值)时，表明激光扫平仪1已经追踪到探测器2，也即到达了被探测位置。
或者，由于激光扫平仪1往返进行圆周式扫描(例如，在接收到探测信号之后实现相反方向的圆周式扫描)，由此可知，激光扫平仪1往返进行圆周式扫描的频率越来越高，当激光扫平仪1变换圆周式扫描的扫描方向的时间间隔小于其内设的阈值(例如，第二阈值)时，明激光扫平仪1已经追踪到探测器2，也即到达了被探测位置。
另外，在步骤340之后，在激光扫平仪1追踪到探测器2的位置处，将激光扫平仪1设置进入所述扇扫模式或所述打点模式。
本实施例所公开的激光扫平仪追踪探测器的方法及系统在无需对激光扫平仪和探测器进行找平操作的情况下，仅在探测器能够接收到激光射线的条件下，实现激光扫平仪追踪探测器以确定准确的被探测位置。也即，实施例1所公开的激光扫平仪追踪探测器的方法及系统操作简单、结构简单并且能够实现对被探测位置的精准定位。
实施例2
如图1所示，公开了校准激光扫平仪的系统，其包括了：用于在校准状态下生成用于校准的激光射线的激光扫平仪1以及用于获取该用于校准的激光射线的探测器2。其中，激光扫平仪1与探测器2设置于同一水平面，使得激光扫平仪1处于被探测位置；并且激光扫平仪1被设置为打点模式或扇扫模式。
此外，如图2所示的激光扫平仪1包括：壳体150、控制模块110、脉冲信号产生模块120、激光器模块130以及激光旋转单元140。其中，控制模块110设置在壳体150内，脉冲信号产生模块120设置在壳体150内并与控制模块110电耦接，以受控制模块110控制产生脉冲信号；激光器模块130设置在壳体150内并与该脉冲信号产生模块120电耦接，在校准状态下利用该脉冲信号生成用于校准的激光射线；激光旋转单元140设置在壳体150并与控制模块110电耦接，用于控制和调理激光器模块130生成的激光射线的投射方向。
并且，激光旋转单元140包括：电机模块141和光学模块142，其中，电机模块141与控制模块110电耦接，光学模块142与电机模块141电耦接，用于改变激光射线的方向；在控制模块110控制电机模块141驱动光学模块142旋转的情况下，改变激光扫平仪1发射激光射线的方向。
基于实施例1所公开的使用激光扫平仪追踪探测器的方法，实现了激光扫平仪1精确地确定被探测位置，由此能够实现图4所公开的校准激光扫平仪的方法。
图4公开了本实施例的校准激光扫平仪的方法，具体操作如下：
步骤410：将激光扫平仪1与探测器2设置于同一水平面，使得激光扫平仪1处于被探测位置。
如图5所示，在本步骤中，激光扫平仪1与探测器2间隔距离6设置于同一水平面。并且在激光扫平仪1准备向探测器2发射用于校准的激光射线之前，对激光扫平仪1进行安平操作。具体地，激光扫平仪1在开机之后，首先进行自动安平操作，也即，激光扫平仪1通过水泡检测，调整X轴、Y轴到其认为的水平状态。
步骤420：设置激光扫平仪1处于打点模式或扇扫模式。
由于实现激光扫平仪1的校准过程中探测器2可以接收到来自校准环境的各种频率的射线(例如，自然光等)，此外，由于激光扫平仪1处于打点模式或扇扫模式与常规利用扫平仪发射周期性激光射线以便于探测器接收不同；因此为了使探测器2能够准确地接收来自激光扫平仪1的激光射线并且克服现有技术的缺陷，需要激光扫平仪1处于打点模式或扇扫模式仍能够发射具有单一频率的亮灭或亮暗变化的激光射线，以便于探测器2识别。
本步骤具体包括：
步骤420.1：将设置激光扫平仪1处于打点模式；
步骤420.2：在校准状态下，激光扫平仪1的控制模块110控制脉冲信号产生模块120生成脉冲信号，激光器模块130利用脉冲信号生成用于校准的激光射线，并且该用于校准的激光射线的频率与上述脉冲信号的频率限相同。
或者，步骤420具体包括：
步骤421.1：将设置激光扫平仪1处于扇扫模式；
步骤421.2：在校准状态下，将脉冲信号作用于激光扫平仪1，使得其发射用于校准的激光射线，其中，通过合并脉冲信号的频率和扇扫频率形成该用于校准的激光射线的频率。具体地，激光扫平仪1的控制模块110控制脉冲信号产生模块120生成脉冲信号，激光器模块130利用脉冲信号生成用于校准的激光射线。
在本实施例中提及的脉冲信号具有探测器2可识别的固定频率或可变频率。
或者，步骤420具体包括：
步骤422.1：设置激光扫平仪1处于扇扫模式
步骤422.2：使得激光扫平仪1发射的激光射线作为用于校准的激光射线。
也就是说，在扇扫模式下，激光扫平仪1扇扫的频率即作为探测器2接收的用于校准的激光射线的频率。
步骤430：在探测器2探测到激光扫平仪1发射的用于校准的激光射线时，探测器生成第一位置信息。
如图6所示，激光扫平仪1进行圆周式运动，使得其所发射的用于校准的激光射线10被探测器2探测到。
如图7所示，在探测器2探测到激光扫平仪1发射的用于校准的激光射线10时，探测器探测的第一位置信息具体地可以是第一高度信息8，或者可以是基于距离6和第一高度信息8生成的第一角度信息7。
步骤440：在激光扫平仪1旋转到第一旋转角度时，将激光扫平仪中的激光投射方向相对于激光扫平仪沿相反方向旋转第一旋转角度，使得探测器探测到激光扫平仪发射的用于校准的激光射线，以生成第二位置信息；
具体地，在激光扫平仪1旋转到第一旋转角度时，激光扫平仪1再次进行安平操作。在本实施例中，第一旋转角度可以是任意角度，优选为90°、180°、270°，根据选取的角度，校准过程可能需要多次重复操作。例如，当完成X轴的校准后，激光扫平仪1旋转90°，重复与X轴校准相同的操作来实现Y轴的校准。
在壳体150旋转到第一旋转角度时，将激光旋转单元140相对于壳体150沿着相反方向旋转第一旋转角度，使得激光器模块130发射的用于校准的激光射线10被探测器2接收。
如图8所示，在探测器2探测到激光扫平仪1发射的用于校准的激光射线10时，探测器2探测的第二位置信息具体地可以是第二高度信息11，或者可以是基于距离6和第二高度信息11生成的第二角度信息9。
步骤450：基于第一位置信息和第二位置信息，确定是否需要对激光扫平仪进行校准。
该步骤具体包括：
激光扫平仪1接收第一位置信息和第二位置信息，并生成校准信息，在该校准信息超过设定的阈值的情况下，基于该校准信息进行校准；或者
激光扫平仪1接收探测器2基于第一位置信息和第二位置信息生成的校准信息，在该校准信息超过设定的阈值的情况下，基于该校准信息进行校准；或者
探测器2基于第一位置信息和第二位置信息生成校准信息，在该校准信息超过设定的阈值的情况下，将该校准信息发送到激光扫平仪1，使得激光扫平仪1基于校准信息进行校准。
在本实施例中，例如，校准信息可以是第一高度信息8和第二高度信息11差值的平均值，也可以是第一角度信息7和第二角度信息9差值的平均值。
本实施例所公开的校准激光扫平仪的方法及系统能够实现激光扫平仪处于打点模式或扇扫模式下的校准，极大的提高了校准技术的适用范围，为激光扫平仪的实际使用者带来了更大的便利。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。对于附图中的各单元之间的连线，仅仅是为了便于说明，其表示至少连线两端的单元是相互通信的，并非旨在限制未连线的单元之间无法通信。
以上所述仅为本公开的实施例可选实施例，并不用于限制本公开的实施例，对于本领域的技术人员来说，本公开的实施例可以有各种更改和变化。凡在本公开的实施例的精神和原则之内，所作的任何修改、等效替换、改进等，均应包含在本公开的实施例的保护范围之内。
虽然已经参考若干具体实施例描述了本公开的实施例，但是应该理解，本公开的实施例并不限于所公开的具体实施例。本公开的实施例旨在涵盖在所附权利要求的精神和范围内所包括的各种修改和等同布置。所附权利要求的范围符合最宽泛的解释，从而包含所有这样的修改及等同结构和功能。

Claims (12)

  1. 一种使用激光扫平仪追踪探测器的方法，其中，所述方法用于所述激光扫平仪需要使用扇扫模式或打点模式，所述方法包括：
    所述激光扫平仪发射激光射线以进行圆周式扫描；
    在所述圆周式扫描的过程中，当所述探测器探测到所述激光射线时，所述探测器向所述激光扫平仪发送探测信号；
    当所述激光扫平仪接收到所述探测信号时，所述激光扫平仪所发射的激光射线以相反方向进行圆周式扫描；以及
    在所述激光扫平仪接收所述探测信号的频率大于第一阈值时，确定所述激光扫平仪追踪到所述探测器。
  2. 根据权利要求1所述的方法，其中，在所述激光扫平仪发射激光射线以进行圆周式扫描之前，所述方法还包括：
    调整所述探测器使其处于能够探测到所述激光扫平仪发射的激光射线的位置。
  3. 根据权利要求1所述的方法，其中，所述激光扫平仪发射激光射线以进行圆周式扫描进一步包括：
    所述激光扫平仪以第一速率进行所述圆周式扫描，其中，所述第一速率是所述探测器能够探测到所述激光射线的速率。
  4. 根据权利要求1所述的方法，其中，当所述激光扫平仪接收到所述探测信号时，所述激光扫平仪所发射的激光射线以相反方向进行圆周式扫描进一步包括：
    所述激光扫平仪以第二速率进行相反方向的所述圆周式扫描，其中，所述第二速率小于所述激光扫平仪的当前速率，并且所述第二速率是所述探测器能够探测到所述激光射线的速率。
  5. 根据权利要求1所述的方法，其中，所述方法采用以下步骤替代在 所述激光扫平仪接收所述探测信号的频率大于第一阈值时确定所述激光扫平仪追踪到所述探测器：
    在所述激光扫平仪变换所述圆周式扫描的扫描方向的时间间隔小于第二阈值时，确定所述激光扫平仪追踪到所述探测器。
  6. 根据权利要求1所述的方法，其中，在确定所述激光扫平仪追踪到所述探测器之后，所述方法还包括：
    在所述激光扫平仪追踪到所述探测器的位置处，将所述激光扫平仪设置进入所述扇扫模式或所述打点模式。
  7. 一种激光追踪系统，所述系统包括：
    激光扫平仪，用于发射激光射线以进行圆周式扫描；以及
    探测器，用于接收所述激光射线；
    其中，所述探测器进一步包括第一无线通信模块，当所述探测器探测到所述激光射线时，所述探测器的第一无线通信模块向所述激光扫平仪发送探测信号；并且
    所述激光扫平仪进一步包括第二无线通信模块，所述第二无线通信模块用于接收所述探测信号。
  8. 根据权利要求7所述的激光追踪系统，其中，所述探测器处于能够探测到所述激光扫平仪发射的激光射线的位置。
  9. 根据权利要求7所述的激光追踪系统，其中，在所述第二无线通信模块接收到所述探测信号时，所述激光扫平仪所发射的激光射线以相反方向进行圆周式扫描。
  10. 根据权利要求7所述的激光追踪系统，其中，所述激光扫平仪进一步用于：
    在所述激光扫平仪接收所述探测信号的频率大于第一阈值时，确定追踪到所述探测器。
  11. 根据权利要求7所述的激光追踪系统，其中，所述激光扫平仪进一步用于：
    在所述激光扫平仪变换所述圆周式扫描的扫描方向的时间间隔小于第二阈值时，确定追踪到所述探测器。
  12. 根据权利要求10或11所述的激光追踪系统，其中，所述激光扫平仪进一步用于：
    在追踪到所述探测器的位置处，进入扇扫模式或打点模式。
PCT/CN2021/104740 2020-12-31 2021-07-06 使用激光扫平仪追踪探测器的方法及激光追踪系统 Ceased WO2022142247A1 (zh)

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