CN102824188A - Laser light positioning system and laser light positioning method - Google Patents
Laser light positioning system and laser light positioning method Download PDFInfo
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- CN102824188A CN102824188A CN2012102923375A CN201210292337A CN102824188A CN 102824188 A CN102824188 A CN 102824188A CN 2012102923375 A CN2012102923375 A CN 2012102923375A CN 201210292337 A CN201210292337 A CN 201210292337A CN 102824188 A CN102824188 A CN 102824188A
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Abstract
The invention discloses a laser light positioning system and a laser light positioning method. The laser light positioning system comprises a laser positioning module, a data processing and distributing module, and a mobile control terminal. The data processing and distributing module is communicated with the mobile control terminal through a WIFI (Wireless Fidelity) module and a router. The laser positioning module comprises at least one guide rail for bearing laser adjusting mechanisms. At least one laser adjusting mechanism is disposed on the guide rail and is used for all-directional fine adjustment of laser light. The data processing and distributing module and the WIFI module are disposed on control circuit boards disposed inside the laser adjusting mechanisms. The data processing and distributing module controls the laser adjusting mechanisms. A connection structure between the control terminal and the laser positioning module of the laser light positioning system is simplified, the traditional laser positioning system line is improved, signal interference is reduced, and positioning precision and operating efficiency are improved. In addition, reliability and stability in data processing are improved.
Description
Technical field
The invention belongs to laser lamp positioning equipment technical field, especially be applied to hospital CT scan location, analog machine location and medical acceleration therapy apparatus location, be specifically related to a kind of laser lamp navigation system and localization method.
Background technology
Common laser lamp navigation system will be carried out the transmission and the reception of data through network service, and its communication mode is also had nothing in common with each other, but traditional laser lamp navigation system nearly all is to adopt wire communication.The conventional laser lamp is driven by motion control card, can only drive 4 laser lamp bodies, and it is quite big to rethink the number of axle difficulty that increases laser lamp.Each lamp body of conventional laser lamp navigation system is distributed in the diverse location of therapeutic room; And Control Computer is installed in operating room; This has just determined wire communication to have considerable data wire to pass from trench; Pass ceiling again and arrive the laser lamp body, cause the very big inconvenience of installation, also destroyed the attractive in appearance of therapeutic room simultaneously.Because circuit is long, external environment is abominable, and pickup electrode is vulnerable to disturb; If adopt conventional radio communication, its communication signal strength is big, in a cubicle, has installed under the situation of quite a lot of equipment, and conventional wireless signal might have influence on the operation of miscellaneous equipment.
Summary of the invention
The objective of the invention is to deficiency to above-mentioned prior art; A kind of laser lamp navigation system and localization method are provided; This laser lamp navigation system is provided with a plurality of guide rails that carry a plurality of laser governor motions, and a WIFI module is installed on the control circuit board in the laser governor motion; Mobile control terminals such as mobile phone, PDA, panel computer or laptop computer utilize wireless WIFI network and WIFI module and the surplus distribution module of date processing to carry out data communication, thereby realize to utilize move control terminal simultaneously to the controlled in wireless of a plurality of laser governor motions.
For achieving the above object; The technical scheme that the present invention takes is: a kind of laser lamp navigation system is provided; Comprise laser positioning module, date processing and distribution module, it is characterized in that: said date processing is communicated by letter with mobile control terminal through router through the WIFI module with distribution module again; Said laser positioning module comprises the guide rail of at least one carrying laser governor motion; A said guide rail is provided with at least one laser governor motion; Said laser governor motion is used for the laser lamp line is carried out the fine setting adjusting of all directions; Said date processing and distribution module and WIFI module are arranged on the control circuit board in the laser governor motion; Through said date processing and distribution module control laser governor motion.
Said date processing comprises microprocessor and the data memory module that is connected with microprocessor with distribution module; Said microprocessor is connected with WIFI module, switch lamp module, motor drive module, encoder respectively.
Said switch lamp module is used to control the light on and off of laser fluorescent tube; Said switch lamp module comprises relay, adjustable mu balanced circuit and filter circuit; Said relay, adjustable mu balanced circuit are connected with filter circuit successively; Said filter circuit is connected with the laser fluorescent tube of laser governor motion.
Said motor drive module is a stepper motor driver; Said motor drive module is connected with the motor of laser positioning module.
Said motor drive module is the digital stepper motor driver.
Said motor is arranged on an end of guide rail; Said guide rail is provided with the grating chi along the guide rail direction; On the belt that one end is arranged on motor is connected of said laser governor motion; The other end of said laser governor motion is arranged on the grating chi.
One end of said laser governor motion is provided with encoder; The corresponding pulse data in laser fluorescent tube position when said encoder move on guide rail through gathering the laser governor motion, the position of monitoring laser fluorescent tube on guide rail, encoder also sends the pulse data of collection to microprocessor; When said encoders monitor data and motor locator data are inconsistent; The alarm unit that microprocessor is provided with is reported to the police; Said laser lamp navigation system reinitializes, and the laser governor motion comes back to dead-center position, to guarantee localized accuracy and reliability.
Said mobile control terminal is mobile phone, PDA, panel computer or laptop computer; Said mobile control terminal is provided with the laser lamp positioning starting module that is used to start the laser positioning module.
A kind of localization method of laser lamp navigation system is characterized in that: may further comprise the steps:
A, startup laser lamp positioning starting module start laser lamp positioning starting module through moving control terminal; Laser lamp positioning starting module after the activation is connected with microprocessor with the WIFI module through router; The laser positioning data are set, download the laser positioning data or import the laser positioning data through laser lamp positioning starting module;
B, initialization WIFI module are connected the power supply that is connected with the WIFI module, the WIFI module initialization;
C, WIFI module receive data, move control terminal and send the laser positioning data through router to the WIFI module; The WIFI module receives corresponding laser positioning data according to its own IP address; Simultaneously, the WIFI module sends to microprocessor with the laser positioning data that receive;
The initialization of laser governor motion is at first controlled in D, laser positioning module initialization, microprocessor;
E, selection execution pattern, microprocessor judges it is the laser lamp positioning command or the order of laser lamp navigation system calibration according to the laser positioning data that receive; And entering step F laser lamp location mode of operation or step H laser lamp navigation system calibration mode of operation;
F, laser lamp location mode of operation; Microprocessor inquires the umber of pulse of motor needs displacement from data memory module according to the laser governor motion coordinate figure that comprises in the laser positioning data that receive; The umber of pulse that above-mentioned motor need be shifted also is the motor locator data; Microprocessor sends to motor drive module with motor locator data signal; Thereby microprocessor control motor drive module drives the motor motion, and the laser governor motion drives the lower edge guide rail movement at motor; Simultaneously, encoder feeds back to microprocessor with the pulse data that monitors;
G, judge whether laser governor motion location is accurate; According to step F, when pulse data that encoders monitor arrives and motor locator data were inconsistent, the alarm unit that microprocessor is provided with was reported to the police; Return step D simultaneously, microprocessor is again with the initialization of laser governor motion; When the pulse data that encoders monitor arrives is consistent with the motor locator data, shows and locate successfully;
H, laser lamp navigation system calibration mode of operation, under laser lamp navigation system calibration mode of operation, the umber of pulse that the laser positioning data need be shifted for the motor through the setting of laser lamp positioning starting module; The umber of pulse that above-mentioned motor need be shifted also is the motor locator data; Microprocessor sends to motor drive module with the motor locator data signal that receives; Thereby microprocessor control motor drive module drives the motor motion; The laser governor motion drives laser beam arrival actual alignment position in lower edge guide rail movement to the laser governor motion at motor; If the laser positioning data that are provided with can not make the position of laser beam arrival actual alignment in the laser governor motion; The laser positioning data that adjustment is provided with laser beam in the laser governor motion arrives the position of actual alignment, and the pulse data of laser fluorescent tube position correspondence was saved in data memory module when move the laser governor motion of the motor locator data of above-mentioned setting and encoder collection this moment on guide rail.
The laser governor motion that the present invention adopts comprises the laser fluorescent tube; Realize the fine setting of all directions such as laser linewidth, deflection, rotation is regulated through the deflection vernier knob, rotary fine adjustment knob and the focal length vernier knob that are provided with; Laser governor motion set inside has control circuit board, and control circuit board is provided with functional modules such as laser treatment and distribution module, power module, switch lamp module.
The laser lamp positioning starting module that the present invention adopts is a startup software, is used for realizing laser governor motion On-line Control.Start module through laser positioning and can define the user, and user right is provided with.
Laser orientation system provided by the invention and localization method have following beneficial effect:
1, moves control terminal and carry out data communication through wireless WIFI network and WIFI module and date processing and distribution module; Move control terminal to the motion of laser governor motion on guide rail thereby realize utilizing; And then control laser lamp location, not only simplified the syndeton between mobile control terminal and the laser positioning module, improve conventional laser navigation system circuit; And the minimizing signal cross-talk, improve positioning accuracy and work efficiency;
2, this laser lamp navigation system can be provided with a plurality of guide rails that carry the laser governor motion; A plurality of laser governor motions can be set on each guide rail; One WIFI module is installed on the control circuit board in each laser governor motion, can realizes moving control terminal thus and be connected with a plurality of laser governor motions simultaneously; The reliability and stability of date processing have also been improved simultaneously;
3, adopt the motion of pulse control step motor, improved the positioning accuracy of laser lamp greatly;
4, monitor the displacement of laser governor motion in real time through encoder; When the pulse data of encoders monitor and motor locator data are inconsistent; The alarm unit of microprocessor setting is reported to the police immediately and again with the laser lamp initialization, is guaranteed localized accuracy of laser lamp and reliability.
Description of drawings
Fig. 1 is the theory diagram of laser lamp navigation system;
Fig. 2 is a switch lamp module principle block diagram;
Fig. 3 is the laser positioning modular structure sketch map that comprises a guide rail;
Fig. 4 is the flow chart of laser lamp localization method.
Wherein, 1, guide rail; 2, grating chi; 3, belt; 4, laser governor motion; 5, motor.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is carried out detailed description, but they not to further restriction of the present invention.
Laser lamp navigation system provided by the invention comprises laser positioning module, date processing and distribution module, and date processing is communicated by letter with mobile control terminal through router through the WIFI module with distribution module again.
As shown in Figure 1: date processing comprises microprocessor and the data memory module that is connected with microprocessor with distribution module; Microprocessor is connected with encoder with WIFI module, switch lamp module, motor drive module respectively.
The microprocessor that present embodiment adopts is responsible for data parsing and pulsing, motor 5 speed controlling, the control of laser lamp switch lamp etc. for supporting 32/16 ARM7TMI-STM CPU LPC2134 microprocessor of real-time simulation and embedded tracking; The data memory module that present embodiment adopts is the high speed Flash memorizer that has 64KB, is responsible for data storage.
The WIFI module that present embodiment adopts is based on the flush bonding module that meets the wifi wireless network standards of Uart interface, supports the IEEE802.11b/g wireless standard, frequency range: 2.412 ~ 2.484GHZ; Support facilities network and MANET wireless network mode; Support multiple security authentication mechanism: WEP64/WEP128/TKIP/CCMP (AES) WEP/WPA-PSK/WPA2-PSK; Support multiple network agreement: TCP/UDP/ICMP/DHCP/DNS/HTTP; Support serial ports transparent transmission pattern.
As shown in Figure 2, the switch lamp module is used to control the light on and off of laser lamp, guarantees reliable and stable, the long service life of laser lamp; The switch lamp module comprises relay, adjustable mu balanced circuit and filter circuit; Relay, adjustable mu balanced circuit are connected with filter circuit successively.Filter circuit is connected with the laser fluorescent tube of laser governor motion.Relay is a bang-bang relay, and relay is by DC power supply, and relay receives turning on light or turn off the light order from microprocessor; When receiving when turning on light signal; The voltage signal that dc source provides provides stable voltage source for laser lamp behind adjustable mu balanced circuit and filter circuit; And adjustable mu balanced circuit and filter circuit can weaken the instantaneous interference of laser lamp switch, the service life of improving the laser fluorescent tube greatly greatly.
Motor drive module is a stepper motor driver, preferably the digital stepper motor driver; Motor drive module is connected with motor 5.The motor drive module model that present embodiment adopts is the digital stepper motor driver of the DMC422 of Lei Sai company, adopts 32 bit DSPs technology, adopts any current value in 32 segmentations and the rated current, can satisfy the application need of most of occasions.Because this motor driver adopts low speed/anti-resonance vibration technology and built-in fine branch technology, even under the condition of low segmentation, also can reach the effect of high segmentation; And low/in/high-speed cruising is all very steady, and noise is extra small; This motor driver is inner integrated, and parameter is adjusted function automatically, can generate the optimized operation parameter automatically to different motor, brings into play motor properties to greatest extent.
The laser positioning module comprises the guide rail 1 of at least one carrying laser governor motion 4; A guide rail 1 is provided with at least one laser governor motion 4; Laser governor motion 4 is used for the laser lamp line is carried out the fine setting adjusting of all directions; Date processing and distribution module and WIFI module are arranged on the control circuit board in the laser governor motion 4; Through date processing and distribution module control laser governor motion 4.Motor 5 is arranged on an end of guide rail 1; Guide rail 1 is provided with along the grating chi 2 of guide rail 1 direction; One end of laser governor motion 4 is arranged on the belt 3 that is connected with motor 5; The other end of laser governor motion 4 is arranged on the grating chi 2.Control circuit board is that laser positioning module each several part provides voltage.
According to the difference of actual application environment, the laser positioning module can comprise a plurality of guide rails 1.For example, in CT (Computed Tomography) chamber, need three guide rails 1 at least, preferably three guide rails 1.Wherein a laser governor motion 4 that can move up and down is respectively installed in two left and right sides that are installed in the CT lathe on these two guide rails 1, and what project respectively is horizontal laser light; Another one guide rail 1 is installed on the ceiling; This root guide rail 1 is provided with three laser governor motions 4; It is not movable that wherein two laser governor motions 4 are fixed on guide rail 1 two ends, can project two root cap shape line lasers, and another one laser governor motion 4 can move on guide rail 1; The intersection point of the laser of the laser fluorescent tube projection of the laser of the laser fluorescent tube projection of this laser governor motion 4 and two laser governor motions 4 of the CT lathe left and right sides is the virtual intersection point at human body center, the i.e. central point of tumor.
Each laser governor motion 4 inner control circuit board provided by the invention are provided with the WIFI module that contains IP; Move control terminal through router, WIFI module and date processing and distribution module control laser governor motion 4 location; Because the uniqueness of IP can be controlled corresponding laser governor motion 4 accurately, uses the WIFI module simultaneously; Avoided traditional complicated circuit; Simplify the syndeton between control terminal and the laser positioning module, improved conventional laser navigation system circuit, also reduced operation easier.The laser fluorescent tube that the present invention adopts is red laser fluorescent tube or green laser fluorescent tube; Red laser fluorescent tube parameter request is: live width≤1mm (3 ~ 5 meters any adjustable positions of distance are burnt), line length>=2.0m (in 3 meters of the distances), wavelength 635nm, output＜1mW; Green laser fluorescent tube parameter request is: live width≤1mm (3 ~ 5 meters any adjustable positions of distance are burnt), line length>=2.0m (in 3 meters of the distances), wavelength 532nm, output＜1mW.
One end of laser governor motion 4 is provided with encoder; The corresponding pulse data in laser fluorescent tube position when encoder move on guide rail 1 through gathering laser governor motion 4, the position of monitoring laser fluorescent tube on guide rail 1, encoder also sends the pulse data of collection to microprocessor; When encoders monitor data and motor locator data were inconsistent, the alarm unit that microprocessor is provided with was reported to the police, and the laser lamp navigation system reinitializes, and laser governor motion 4 turns back to dead-center position again earlier, and (this dead-center position is a mechanical zero; Mechanical zero is the system coordinates initial point, does not need calibration), turn back to CT zero point (CT zero point is the intersection point of each laser rays, and this point overlaps with the isocenter point of CT machine) again to guarantee localized accuracy and reliability.The motor locator data is meant that motor 5 that microprocessor finds from data memory module needs the umber of pulse of displacement.
Mobile control terminal is mobile phone, PDA, panel computer or laptop computer; Mobile control terminal is provided with the laser lamp positioning starting module that is used to start the laser positioning module.
Present embodiment may further comprise the steps to orientate as through the WIFI module and the laser lamp of router control CT Room and routinely be used to control the localized method of laser lamp and carry out detailed explanation provided by the invention through moving control terminal:
A, startup laser lamp positioning starting module start laser lamp positioning starting module through moving control terminal; Laser lamp positioning starting module after the activation is connected with microprocessor with the WIFI module through router; Mobile control terminal can import the patient data, and (these data can be through moving control terminal through the router access radiotherapy planning TPS of system; Connect with TPS and to download the patient information data, comprise that patient need do the coordinate position of CT) or can manually import the laser positioning data;
B, initialization WIFI module are connected the power supply that is connected with the WIFI module, the WIFI module initialization;
C, WIFI module receive data, move control terminal and send the laser positioning data through router to the WIFI module; The WIFI module receives corresponding laser positioning data according to its own IP address; Simultaneously, the WIFI module sends to microprocessor with the laser positioning data that receive;
D, laser positioning module initialization; Microprocessor is at first controlled 4 initialization of laser governor motion, also is that microprocessor control laser fluorescent tube is turned on light, regulated speed that laser governor motion 4 move on guide rail 1, control laser governor motion 4 and get back to original position through control step motor 5; For the CT system; Control laser governor motion 4 is got back to original position; Also promptly controlling laser governor motion 4 moves to and comes back to the CT dead-center position behind the mechanical zero (the CT dead-center position here refers to the CT isocenter point; In the laser lamp position fixing process, the laser positioning data all be with CT zero point be benchmark);
E, selection execution pattern, microprocessor judges it is the laser lamp positioning command or the order of laser lamp navigation system calibration according to the laser positioning data that receive; And entering step F laser lamp location mode of operation or step H laser lamp navigation system calibration mode of operation;
F, laser lamp location mode of operation; Microprocessor inquires the umber of pulse of motor 5 needs displacement from data memory module according to laser governor motion 4 coordinate figures that comprise in the laser positioning data that receive; It also is the motor locator data that above-mentioned motor 5 needs the umber of pulse of displacement; Microprocessor sends to motor drive module with motor locator data signal; Thereby microprocessor control motor drive module drives motor 5 motions, and laser governor motion 4 is in 1 motion of motor 5 drive lower edge guide rails; Simultaneously, encoder feeds back to microprocessor with the pulse data that monitors; In this process, microprocessor can be controlled the laser fluorescent tube at any time and turn on light, regulates speed, the control laser governor motion that laser governor motion 4 moves through control step motor 5 on guide rail 1 and get back to original position; For the CT system, control laser governor motion 4 is got back to original position, also promptly controls and comes back to the CT dead-center position after laser governor motion 4 moves to mechanical zero;
G, judge whether laser governor motion 4 location is accurate; According to step F, when pulse data that encoders monitor arrives and motor locator data were inconsistent, the alarm unit that microprocessor is provided with was reported to the police; Return step D simultaneously, microprocessor is again with 4 initialization of laser governor motion; When the pulse data that encoders monitor arrives is consistent with the motor locator data, shows and locate successfully;
H, laser lamp navigation system calibration mode of operation, under laser lamp navigation system calibration mode of operation, the laser positioning data need the umber of pulse of displacement for the motor 5 that is provided with through laser lamp positioning starting module; It also is the motor locator data that above-mentioned motor 5 needs the umber of pulse of displacement; Microprocessor sends to motor drive module with the motor locator data signal that receives; Thereby microprocessor control motor drive module drives motor 5 motions; Laser governor motion 4 moves to laser beam arrival actual alignment position in the laser governor motion 4 at motor 5 drive lower edge guide rails 1; If the laser positioning data that are provided with can not make the position of laser beam arrival actual alignment in the laser governor motion 4; The laser positioning data that adjustment is provided with laser beam in laser governor motion 4 arrives the position of actual alignment, and the pulse data of laser fluorescent tube position correspondence was saved in data memory module when move the laser governor motion 4 of the motor locator data of above-mentioned setting and encoder collection this moment on guide rail 1.
CT machine in conjunction with this laser lamp navigation system is installed says, because laser governor motion 4 is installed on the guide rail 1, though light is that perpendicular projection is gone out when mounted, as long as some deviations are arranged during projection, is mapped at a distance will deviation a lot; Be exactly that guide rail 1 can not be accomplished absolute vertical in addition, in moving process, the light that throws away; Error can be amplified, and that is to say to move 1mm on the guide rail 1, and laser lamp light is not necessarily 1mm on human body skin; So need calibrate the laser lamp navigation system, to guarantee positioning accuracy.Above-mentioned laser lamp navigation system calibration mode of operation comprises the calibration of three aspects: system's zero point correction, CT zero point correction (CT system zero point correction also is the intersection point calibration of each laser rays of CT) and 1 ~ 60cm calibration; System is positioned at CT machine zero point (the CT machine has been confirmed zero point) 300mm place, below zero point when the CT machine is installed.Above-mentioned calibration is a foundation with the calibration die body rule that is installed in apart from 1 three to five meters of guide rail.At first be to system's zero point correction; Laser governor motion 4 on guide rail 1 from mechanical zero; Move to laser lamp light and penetrate the following 300mm of CT machine correspondence position at the zero point place on calibration die body rule; This moment, the position at laser governor motion 4 places was system zero point, through moving control terminal the umber of pulse of above-mentioned motor 5 displacements and the pulse data of encoder collection was saved in the data memory module.Next is the CT zero point correction; Behind the system of completion zero point correction; Control laser governor motion 4 returns and moves to laser lamp light and penetrate the CT machine correspondence position at zero point on calibration die body rule; This moment, laser governor motion 4 positions were CT system zero point, through moving control terminal the umber of pulse of above-mentioned motor 5 displacements and the pulse data of encoder collection were saved in the data memory module.Be 1 ~ 60cm calibration at last, this calibration is that every separated 1cm is to laser lamp irradiate light position correction; With to calibrating apart from system 5cm at zero point position; Method is got back to system zero point for first control laser governor motion 4; Controlling laser governor motion 4 again moves to laser lamp light and penetrates system above 50mm at the zero point place on calibration die body rule; Laser lamp light and the 5cm position consistency of calibrating on the die body rule are saved in the umber of pulse of above-mentioned motor 5 displacements and the pulse data of encoder collection in the data memory module through moving control terminal at this moment.
Said system zero point correction, CT zero point correction and 1 ~ 60cm calibration are not unalterable, with respect to different processes and corollary equipment, can carry out corresponding setting and adjustment.
The staff can be provided with user scope to the laser lamp positioning starting module that moves control terminal: user EXEC and administrator mode; Domestic consumer can only get into the laser lamp station-keeping mode through user EXEC, and the manager can also get into calibration mode through administrator mode.
The motor 5 that present embodiment adopts uses 0.9 ° of stepper drive, and a moving week of motor revolution needs 400 pulses, again after digital driver 32 segmentations; The motor revolution is moving to need 12800 pulses once week; Being converted on the laser lamp, is exactly that the whenever mobile 1mm of laser lamp needs nearly 300 pulses, improves the positioning accuracy of laser lamp greatly; Adopt the sigmoid curve acceleration and deceleration algorithm of motor 5 in addition, make it not exist motor to lose the situation in step; Because factors such as mechanically deforms, the laser lamp light deviation that laser lamp projects can be amplified, and therefore when calibrating, each root guide rail 1 has all been carried out the checking the calibration of 1cm section; Each motor 5 walks and all will guarantee the positioning accuracy of laser lamp from the corresponding umber of pulse that walks of inquiry in the microprocessor internal data base; In this case, also adopt the displacement of the upright monitoring in real time of linear encoder laser lamp slide block simultaneously, when coding Monitoring Data and motor locator data are inconsistent, report to the police immediately and reinitialize, guarantee localized accuracy and reliability.
Claims (9)
1. a laser lamp navigation system comprises laser positioning module, date processing and distribution module, it is characterized in that: said date processing is communicated by letter with mobile control terminal through router through the WIFI module with distribution module again; Said laser positioning module comprises the guide rail of at least one carrying laser governor motion; A said guide rail is provided with at least one laser governor motion; Said laser governor motion is used for the laser lamp line is carried out the fine setting adjusting of all directions; Said date processing and distribution module and WIFI module are arranged on the control circuit board in the laser governor motion; Through said date processing and distribution module control laser governor motion.
2. laser lamp navigation system according to claim 1 is characterized in that: said date processing comprises microprocessor and the data memory module that is connected with microprocessor with distribution module; Said microprocessor is connected with WIFI module, switch lamp module, motor drive module, encoder respectively.
3. laser lamp navigation system according to claim 2 is characterized in that: said switch lamp module is used to control the light on and off of laser fluorescent tube; Said switch lamp module comprises relay, adjustable mu balanced circuit and filter circuit; Said relay, adjustable mu balanced circuit are connected with filter circuit successively; Said filter circuit is connected with the laser fluorescent tube of laser governor motion.
4. according to claim 2 or 3 described laser lamp navigation systems, it is characterized in that: said motor drive module is a stepper motor driver; Said motor drive module is connected with the motor of laser positioning module.
5. laser lamp navigation system according to claim 4 is characterized in that: said motor drive module is the digital stepper motor driver.
6. laser lamp navigation system according to claim 4 is characterized in that: said motor is arranged on an end of guide rail; Said guide rail is provided with the grating chi along the guide rail direction; On the belt that one end is arranged on motor is connected of said laser governor motion; The other end of said laser governor motion is arranged on the grating chi.
7. laser lamp navigation system according to claim 6 is characterized in that: an end of said laser governor motion is provided with encoder; The corresponding pulse data in laser fluorescent tube position when said encoder move on guide rail through gathering the laser governor motion, the position of monitoring laser fluorescent tube on guide rail, encoder also sends the pulse data of collection to microprocessor; When said encoders monitor data and motor locator data are inconsistent; The alarm unit that microprocessor is provided with is reported to the police; Said laser lamp navigation system reinitializes, and the laser governor motion comes back to dead-center position, to guarantee localized accuracy and reliability.
8. laser lamp navigation system according to claim 1 is characterized in that: said mobile control terminal is mobile phone, PDA, panel computer or laptop computer; Said mobile control terminal is provided with the laser lamp positioning starting module that is used to start the laser positioning module.
9. the localization method of the described laser lamp navigation system of claim 1 is characterized in that: may further comprise the steps:
A, startup laser lamp positioning starting module start laser lamp positioning starting module through moving control terminal; Laser lamp positioning starting module after the activation is connected with microprocessor with the WIFI module through router; The laser positioning data are set, download the laser positioning data or import the laser positioning data through laser lamp positioning starting module;
B, initialization WIFI module are connected the power supply that is connected with the WIFI module, the WIFI module initialization;
C, WIFI module receive data, move control terminal and send the laser positioning data through router to the WIFI module; The WIFI module receives corresponding laser positioning data according to its own IP address; Simultaneously, the WIFI module sends to microprocessor with the laser positioning data that receive;
The initialization of laser governor motion is at first controlled in D, laser positioning module initialization, microprocessor;
E, selection execution pattern, microprocessor judges it is the laser lamp positioning command or the order of laser lamp navigation system calibration according to the laser positioning data that receive; And entering step F laser lamp location mode of operation or step H laser lamp navigation system calibration mode of operation;
F, laser lamp location mode of operation; Microprocessor inquires the umber of pulse of motor needs displacement from data memory module according to the laser governor motion coordinate figure that comprises in the laser positioning data that receive; The umber of pulse that above-mentioned motor need be shifted also is the motor locator data; Microprocessor sends to motor drive module with motor locator data signal; Thereby microprocessor control motor drive module drives the motor motion, and the laser governor motion drives the lower edge guide rail movement at motor; Simultaneously, encoder feeds back to microprocessor with the pulse data that monitors;
G, judge whether laser governor motion location is accurate; According to step F, when pulse data that encoders monitor arrives and motor locator data were inconsistent, the alarm unit that microprocessor is provided with was reported to the police; Return step D simultaneously, microprocessor is again with the initialization of laser governor motion; When the pulse data that encoders monitor arrives is consistent with the motor locator data, shows and locate successfully;
H, laser lamp navigation system calibration mode of operation, under laser lamp navigation system calibration mode of operation, the umber of pulse that the laser positioning data need be shifted for the motor through the setting of laser lamp positioning starting module; The umber of pulse that above-mentioned motor need be shifted also is the motor locator data; Microprocessor sends to motor drive module with the motor locator data signal that receives; Thereby microprocessor control motor drive module drives the motor motion; The laser governor motion drives laser beam arrival actual alignment position in lower edge guide rail movement to the laser governor motion at motor; If the laser positioning data that are provided with can not make the position of laser beam arrival actual alignment in the laser governor motion; The laser positioning data that adjustment is provided with laser beam in the laser governor motion arrives the position of actual alignment, and the pulse data of laser fluorescent tube position correspondence was saved in data memory module when move the laser governor motion of the motor locator data of above-mentioned setting and encoder collection this moment on guide rail.
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| CN105303921A (en) * | 2015-11-20 | 2016-02-03 | 温州医科大学 | Simulated X-CT experimental device |
| CN106841210B (en) * | 2016-12-30 | 2023-06-06 | 佛山市坦斯盯科技有限公司 | Translation-adjustable forward laser irradiation mechanism applied to circuit board detector |
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| TWI606736B (en) * | 2017-01-03 | 2017-11-21 | 東林科技股份有限公司 | Portable wireless communication device, wireless positioning system having the same and positioning method thereof |
| CN108036719A (en) * | 2017-11-07 | 2018-05-15 | 扬州莱达光电技术有限公司 | A kind of welding auxiliary positioning instrument based on photoelectric measurement |
| CN107907876A (en) * | 2017-11-27 | 2018-04-13 | 合肥通彩自动化设备有限公司 | A kind of laser orientation system and method |
| CN108281878A (en) * | 2018-04-04 | 2018-07-13 | 吉林大学 | A kind of external simulation light-source system for pulse laser |
| CN108281878B (en) * | 2018-04-04 | 2023-10-27 | 吉林大学 | External analog light source system for pulse laser |
| CN111736523A (en) * | 2020-06-23 | 2020-10-02 | 吉林省科英激光股份有限公司 | Control system and method capable of realizing zero position compensation of scanning motor |
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