CN102824188B - 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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- CN102824188B CN102824188B CN201210292337.5A CN201210292337A CN102824188B CN 102824188 B CN102824188 B CN 102824188B CN 201210292337 A CN201210292337 A CN 201210292337A CN 102824188 B CN102824188 B CN 102824188B
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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, be especially applied to hospital's 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, by network service, be carried out the sending and receiving of data, and its communication mode is also had nothing in common with each other, but traditional laser lamp navigation system is nearly all to adopt wire communication.Conventional laser lamp is driven by motion control card, can only drive 4 axle laser lamp bodies, and the number of axle difficulty that rethinks increase laser lamp is quite large.Each lamp body of conventional laser lamp navigation system is distributed in the diverse location of therapeutic room, be arranged on operating room and control computer, this has just determined that wire communication has considerable data wire and passes from trench, arrive laser lamp body through ceiling again, cause the very big inconvenience of installation, also destroyed the attractive in appearance of therapeutic room simultaneously.Because circuit is long, external environment is severe, and pickup electrode is vulnerable to disturb; If adopt conventional radio communication, its communication signal strength is large, and the in the situation that of quite a lot of equipment being installed in a cubicle, conventional wireless signal likely can have influence on the operation of miscellaneous equipment.
Summary of the invention
The object of the invention is to for above-mentioned the deficiencies in the prior art, a kind of laser lamp navigation system and localization method are provided, this laser lamp navigation system is provided with multiple guide rails of the multiple laser governor motions of carrying, and a WIFI module is installed on the control circuit board in laser governor motion; The mobile control terminals such as mobile phone, PDA, panel computer or laptop computer utilize the remaining distribution module of wireless WIFI network and WIFI module and date processing to carry out data communication, utilize the mobile control terminal controlled in wireless to multiple laser governor motions simultaneously thereby realize.
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: described date processing is communicated by letter with mobile control terminal through router by WIFI module with distribution module again; Described laser positioning module comprises the guide rail of at least one carrying laser governor motion; On a described guide rail, be provided with at least one laser governor motion; Described laser governor motion regulates for the fine setting of laser lamp line being carried out to all directions; Described date processing and distribution module and WIFI module are arranged on the control circuit board in laser governor motion; By described date processing and distribution module control laser governor motion.
The data memory module that described date processing comprises microprocessor and is connected with microprocessor with distribution module; Described microprocessor is connected with WIFI module, switch lamp module, motor drive module, encoder respectively.
Described switch lamp module is for controlling the light on and off of laser fluorescent tube; Described switch lamp module comprises relay, adjustable mu balanced circuit and filter circuit; Described relay, adjustable mu balanced circuit are connected successively with filter circuit; Described filter circuit is connected with the laser fluorescent tube of laser governor motion.
Described motor drive module is stepper motor driver; Described motor drive module is connected with the motor of laser positioning module.
Described motor drive module is digital stepper motor driver.
Described motor is arranged on one end of guide rail; On described guide rail, be provided with along the grating scale of guide rail direction; One end of described laser governor motion is arranged on the belt being connected with motor; The other end of described laser governor motion is arranged on grating scale.
One end of described laser governor motion is provided with encoder; Pulse data corresponding to laser fluorescent tube position when described encoder moves on guide rail by gathering laser governor motion, the position of monitoring laser fluorescent tube on guide rail, encoder the pulse data by collection send microprocessor to; When described encoders monitor data and motor locator data are when inconsistent, the alarm unit that microprocessor arranges is reported to the police, described laser lamp navigation system reinitializes, and laser governor motion comes back to dead-center position, to guarantee accuracy and the reliability of location.
Described mobile control terminal is mobile phone, PDA, panel computer or laptop computer; Described mobile control terminal is provided with the laser lamp positioning starting module for starting laser positioning module.
A localization method for laser lamp navigation system, is characterized in that: comprise the following steps:
A, startup laser lamp positioning starting module, start laser lamp positioning starting module by mobile control terminal; Laser lamp positioning starting module after activation is connected with microprocessor with WIFI module by router; Laser positioning data are set, download laser positioning data or import laser positioning data by laser lamp positioning starting module;
B, initialization WIFI module, connect the power supply being connected with WIFI module, WIFI module initialization;
C, WIFI module receive data, and mobile control terminal sends laser positioning data through router to WIFI module; WIFI module receives corresponding laser positioning data according to the IP address of self; Meanwhile, the laser positioning data that receive are sent to microprocessor by WIFI module;
D, laser positioning module initialization, first microprocessor is controlled laser governor motion and is initialized;
E, selection execution pattern, microprocessor is the order of laser lamp positioning command or the calibration of laser lamp navigation system according to the laser positioning data judgement receiving; And enter 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, the laser governor motion coordinate figure that microprocessor comprises according to the laser positioning data that receive inquires the umber of pulse that motor need to be shifted from data memory module, the umber of pulse that above-mentioned motor need to be shifted is also motor locator data, motor locator data signal is sent to motor drive module by microprocessor, thereby microprocessor control motor drive module drives motor motion, laser governor motion under motor drives along guide rail movement; Meanwhile, the pulse data monitoring is fed back to microprocessor by encoder;
G, judge whether laser governor motion location is accurate, according to step F, when the pulse data that encoders monitor arrives and motor locator data are inconsistent, the alarm unit that microprocessor arranges is reported to the police, return to step D, microprocessor initializes laser governor motion again simultaneously; When the pulse data that encoders monitor arrives is consistent with motor locator data, show to locate successfully;
H, laser lamp navigation system calibration mode of operation, under laser lamp navigation system calibration mode of operation, laser positioning data are the umber of pulse that need to be shifted by the motor of laser lamp positioning starting module setting, the umber of pulse that above-mentioned motor need to be shifted is also motor locator data, the motor locator data signal receiving is sent to motor drive module by microprocessor, thereby microprocessor control motor drive module drives motor motion, laser governor motion motor drive under along guide rail movement to laser governor motion in laser beam arrive actual alignment position, if the laser positioning data that arrange can not make the position of laser beam arrival actual alignment in laser governor motion, adjust the laser positioning data that arrange until in laser governor motion laser beam arrive the position of actual alignment, when now the laser governor motion of the motor locator data of above-mentioned setting and encoder collection being moved on guide rail, pulse data corresponding to laser fluorescent tube position is saved in data memory module.
The laser governor motion that the present invention adopts comprises laser fluorescent tube, realize the fine setting of all directions such as laser linewidth, deflection, rotation is regulated by the deflection vernier knob, rotary fine adjustment knob and the focal length vernier knob that arrange, laser governor motion inside is provided with control circuit board, is provided with the functional modules such as laser treatment and distribution module, power module, switch lamp module on control circuit board.
The laser lamp positioning starting module that the present invention adopts is a startup software, for realizing laser governor motion On-line Control.Start module by laser positioning and can define user, and user right is arranged.
Laser orientation system provided by the invention and localization method have following beneficial effect:
1, mobile control terminal carries out data communication by wireless WIFI network and WIFI module and date processing and distribution module, utilize the motion on guide rail to laser governor motion of mobile control terminal thereby realize, and then control laser lamp and locate, not only simplify the syndeton between mobile control terminal and laser positioning module, improve conventional laser navigation system circuit, and minimizing signal cross-talk, improve positioning precision and work efficiency;
2, this laser lamp navigation system can arrange multiple guide rails of carrying laser governor motion, multiple 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 thus mobile control terminal and be connected with multiple laser governor motions simultaneously; Also the reliability and stability of date processing have been improved simultaneously;
3, adopt the motion of pulse control step motor, greatly improved the positioning precision of laser lamp;
4, by the displacement of encoder Real-Time Monitoring laser governor motion, when the pulse data of encoders monitor and motor locator data are when inconsistent, the alarm unit of microprocessor setting is reported to the police immediately and again laser lamp is initialized, and guarantees accuracy and the reliability of laser lamp location.
Accompanying drawing explanation
Fig. 1 is the theory diagram of laser lamp navigation system;
Fig. 2 is switch lamp module principle block diagram;
Fig. 3 is the laser positioning modular structure schematic diagram that comprises a guide rail;
Fig. 4 is the flow chart of laser lamp localization method.
Wherein, 1, guide rail; 2, grating scale; 3, belt; 4, laser governor motion; 5, motor.
The specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail, but they are 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 by WIFI module with distribution module again.
As shown in Figure 1: the data memory module that date processing comprises microprocessor and is connected with microprocessor with distribution module; Microprocessor is connected with WIFI module, switch lamp module, motor drive module and encoder respectively.
The microprocessor that the present embodiment adopts is 32/16 ARM7TMI-STM CPU LPC2134 microprocessor supporting real-time simulation and Embedded Trace, is responsible for data parsing and pulsing, motor 5 speed controlling, the control of laser lamp switch lamp etc.; The data memory module that the present embodiment adopts is the high speed Flash memorizer with 64KB, is responsible for data storage.
The WIFI module that the present embodiment adopts is the flush bonding module that meets wifi wireless network standards based on Uart interface, supports 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, switch lamp module, for controlling the light on and off of laser lamp, guarantees that laser lamp is reliable and stable, long service life; Switch lamp module comprises relay, adjustable mu balanced circuit and filter circuit; Relay, adjustable mu balanced circuit are connected successively with filter circuit.Filter circuit is connected with the laser fluorescent tube of laser governor motion.Relay is bang-bang relay, and relay is by DC power supply, and relay receives turning on light or turning off the light order from microprocessor; When receiving while turning on light signal, the voltage signal that DC source provides after adjustable mu balanced circuit and filter circuit for laser lamp provides stable voltage source, and adjustable mu balanced circuit and filter circuit can weaken the instantaneous interference of laser lamp switch, the service life of improving greatly laser fluorescent tube greatly.
Motor drive module is stepper motor driver, preferably digital stepper motor driver; Motor drive module is connected with motor 5.The motor drive module model that the present embodiment adopts is the digital stepper motor driver of the DMC422 of Lei Sai company, adopts 32 bit DSP technology, adopts any current value in 32 segmentations and rated current, can meet the application needs of most of occasions.Because this motor driver adopts low speed/anti-resonance vibration technology and built-in micro-subdivide technology, even under the condition of low segmentation, also can reach the effect of high segmentation; And low/medium/high speed operation is all very steady, and noise is extra small; This motor driver is inner integrated parameter automatic regulating function, can generate optimized operation parameter automatically for different motors, brings into play to greatest extent the performance of motor.
Laser positioning module comprises the guide rail 1 of at least one carrying laser governor motion 4; On a guide rail 1, be provided with at least one laser governor motion 4; Laser governor motion 4 regulates for the fine setting of laser lamp line being carried out to all directions; Date processing and distribution module and WIFI module are arranged on the control circuit board in laser governor motion 4; By date processing and distribution module control laser governor motion 4.Motor 5 is arranged on one end of guide rail 1; On guide rail 1, be provided with along the grating scale 2 of guide rail 1 direction; One end of laser governor motion 4 is arranged on the belt 3 being connected with motor 5; The other end of laser governor motion 4 is arranged on grating scale 2.Control circuit board provides voltage for laser positioning module each several part.
According to the difference of actual application environment, laser positioning module can comprise multiple guide rails 1.For example,, at CT(Computed Tomography) in chamber, at least need to have three guide rails 1, preferably three guide rails 1.Wherein two are arranged on the left and right sides of CT lathe, a laser governor motion 4 that can move up and down of each installation on these two guide rails 1, and what project respectively is horizontal laser light; Another one guide rail 1 is arranged on ceiling, on this root guide rail 1, be provided with three laser governor motions 4, wherein to be fixed on guide rail 1 two ends not movable for two laser governor motions 4, can project two root cap shape line lasers, another one laser governor motion 4 can move on guide rail 1, the intersection point of the laser of the laser of laser fluorescent tube projection of this laser governor motion 4 and the laser fluorescent tube projection of 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.
On the control circuit board of each laser governor motion provided by the invention 4 inside, be provided with the WIFI module that contains IP, mobile control terminal is located by router, WIFI module and date processing and distribution module control laser governor motion 4, due to the uniqueness of IP, can control accurately corresponding laser governor motion 4, use WIFI module simultaneously, avoid traditional complicated circuit, simplify the syndeton between control terminal and laser positioning module, improve 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: 3～5 meters of any position adjustable focus of live width≤1mm(distance), in 3 meters of line length >=2.0m(distances), wavelength 635nm, output < 1mW; Green laser fluorescent tube parameter request is: 3～5 meters of any position adjustable focus of live width≤1mm(distance), in 3 meters of line length >=2.0m(distances), wavelength 532nm, output < 1mW.
One end of laser governor motion 4 is provided with encoder; Pulse data corresponding to laser fluorescent tube position when encoder moves on guide rail 1 by gathering laser governor motion 4, the position of monitoring laser fluorescent tube on guide rail 1, encoder the pulse data by collection send microprocessor to; When encoders monitor data and motor locator data are when inconsistent, the alarm unit that microprocessor arranges is reported to the police, and laser lamp navigation system reinitializes, and laser governor motion 4 first turns back to dead-center position again, and (this dead-center position is mechanical zero; Mechanical zero is system coordinates initial point, does not need calibration), then turn back to accuracy and the reliability of CT zero point (CT zero point be the intersection point of each axle laser rays, this point overlaps with the isocenter point of CT machine) to guarantee to locate.Motor locator data refers to that the motor 5 that microprocessor finds from data memory module needs the umber of pulse being shifted.
Mobile control terminal is mobile phone, PDA, panel computer or laptop computer; Mobile control terminal is provided with the laser lamp positioning starting module for starting laser positioning module.
The present embodiment is described in detail for the method for controlling laser lamp location provided by the invention to orientate example by mobile control terminal as through the laser lamp of WIFI module and router control CT Room, comprises the following steps:
A, startup laser lamp positioning starting module, start laser lamp positioning starting module by mobile control terminal; Laser lamp positioning starting module after activation is connected with microprocessor with WIFI module by router; Laser positioning data are set, download laser positioning data or import laser positioning data by laser lamp positioning starting module; Particularly, mobile control terminal can import patient data, and (these data can be by mobile control terminal through router access radiotherapy planning system TPS, connect and download patient information data with TPS, comprise that client need does the coordinate position of CT) or can manually input laser positioning data;
B, initialization WIFI module, connect the power supply being connected with WIFI module, WIFI module initialization;
C, WIFI module receive data, and mobile control terminal sends laser positioning data through router to WIFI module; WIFI module receives corresponding laser positioning data according to the IP address of self; Meanwhile, the laser positioning data that receive are sent to microprocessor by WIFI module;
D, laser positioning module initialization, first microprocessor is controlled laser governor motion 4 and is initialized, and is also that microprocessor control laser fluorescent tube is turned on light, regulated speed, the control laser governor motion 4 that laser governor motion 4 moves on guide rail 1 to get back to original position by control step motor 5; For CT system, control laser governor motion 4 and get back to original position, also controlling laser governor motion 4 moves to and comes back to CT dead-center position after mechanical zero (the CT dead-center position here refers to CT isocenter point, in laser lamp position fixing process, laser positioning data are all take CT zero point as benchmark);
E, selection execution pattern, microprocessor is the order of laser lamp positioning command or the calibration of laser lamp navigation system according to the laser positioning data judgement receiving; And enter 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, laser governor motion 4 coordinate figures that microprocessor comprises according to the laser positioning data that receive inquire the umber of pulse of motor 5 needs displacements from data memory module, it is also motor locator data that above-mentioned motor 5 needs the umber of pulse of displacement, motor locator data signal is sent to motor drive module by microprocessor, thereby microprocessor control motor drive module drives motor 5 to move, laser governor motion 4 moves along guide rail 1 under motor 5 drives; Meanwhile, the pulse data monitoring is fed back to microprocessor by encoder; In this process, microprocessor can be controlled at any time laser fluorescent tube and turn on light, regulates speed, the control laser governor motion that laser governor motion 4 moves on guide rail 1 to get back to original position by control step motor 5; For CT system, control laser governor motion 4 and get back to original position, also control after laser governor motion 4 moves to mechanical zero and come back to CT dead-center position;
G, judge laser governor motion 4 locate whether accurate, according to step F, when the pulse data that encoders monitor arrives and motor locator data are inconsistent, the alarm unit that microprocessor arranges is reported to the police, return to step D, microprocessor initializes laser governor motion 4 again simultaneously; When the pulse data that encoders monitor arrives is consistent with motor locator data, show to locate successfully;
H, laser lamp navigation system calibration mode of operation, under laser lamp navigation system calibration mode of operation, laser positioning data are that the motor 5 arranging by laser lamp positioning starting module needs the umber of pulse being shifted, it is also motor locator data that above-mentioned motor 5 needs the umber of pulse of displacement, the motor locator data signal receiving is sent to motor drive module by microprocessor, thereby microprocessor control motor drive module drives motor 5 to move, laser governor motion 4 under motor 5 drives, move to laser governor motion 4 along guide rail 1 in laser beam arrive actual alignment position, if the laser positioning data that arrange can not make the position of laser beam arrival actual alignment in laser governor motion 4, adjust the laser positioning data that arrange until in laser governor motion 4 laser beam arrive the position of actual alignment, when now the laser governor motion 4 of the motor locator data of above-mentioned setting and encoder collection being moved on guide rail 1, pulse data corresponding to laser fluorescent tube position is saved in data memory module.
Say in conjunction with the CT machine that this laser lamp navigation system is installed, because laser governor motion 4 is arranged on guide rail 1, although light is that perpendicular projection is gone out when mounted, as long as projection time has some deviations, be mapped at a distance will deviation a lot; It is absolute vertical to be exactly in addition that guide rail 1 can not be accomplished, in moving process, and the light projecting away, error can be amplified, and that is to say mobile 1mm on guide rail 1, laser lamp light 1mm not necessarily on human body skin, so need to calibrate laser lamp navigation system, to guarantee positioning precision.Above-mentioned laser lamp navigation system calibration mode of operation comprises the calibration of three aspects:: system zero point correction, CT zero point correction (CT system zero point correction is also the intersection point calibration of the each axle laser rays of CT) and 1～60cm calibration; System is positioned at CT machine zero point (CT machine has determined zero point in the time that CT machine is installed) 300mm place, below zero point.Above-mentioned calibration is take the calibration phantom rule that is arranged on 1 three to five meters of of distance guide rail as foundation.First be to system zero point correction, laser governor motion 4 on guide rail 1 from mechanical zero, move to laser lamp light and penetrate 300mm place below the CT machine correspondence position at zero point on calibration phantom rule, now the position at laser governor motion 4 places is system zero point, and the umber of pulse above-mentioned motor 5 being shifted by mobile control terminal and the pulse data of encoder collection are saved in data memory module.Next is CT zero point correction, after completion system zero point correction, controlling laser governor motion 4 returns and moves to laser lamp light and penetrate the CT machine correspondence position at zero point on calibration phantom rule, now laser governor motion 4 positions are CT system zero point, and the umber of pulse above-mentioned motor 5 being shifted by mobile control terminal and the pulse data of encoder collection are saved in data memory module.Be finally 1～60cm calibration, this calibration is to laser lamp irradiate light position correction every 1cm; With to calibrating apart from system 5cm at zero point position, method is got back to system zero point for first controlling laser governor motion 4, controlling laser governor motion 4 moves to laser lamp light and penetrates system above 50mm at the zero point place on calibration phantom rule again, the now 5cm position consistency on laser lamp light and calibration phantom rule, the umber of pulse above-mentioned motor 5 being shifted by mobile control terminal and the pulse data of encoder collection are saved in data memory module.
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 arrange accordingly and adjust.
Staff can arrange user scope to the laser lamp positioning starting module of mobile control terminal: user EXEC and administrator mode; Domestic consumer can only enter laser lamp station-keeping mode by user EXEC, and manager can also enter calibration mode by administrator mode.
The motor 5 that the present embodiment adopts uses 0.9 ° of stepper drive, 400 pulses of one week needs of the every rotation of motor, again after digital driver 32 segmentations, the every rotation of motor needs 12800 pulses once week, being converted on laser lamp, is exactly that the every mobile 1mm of laser lamp needs nearly 300 pulses, improves greatly the positioning precision of laser lamp, in addition adopt the sigmoid curve acceleration and deceleration algorithm of motor 5, make it not exist motor to lose the situation of step; Due to factors such as mechanically deforms, the laser lamp light deviation that laser lamp projects can be amplified, and therefore, in the time calibrating, each root guide rail 1 has all been carried out to the checking the calibration of 1cm section; Each motor 5 walks and all will, from the umber of pulse that walks corresponding to inquiry in microprocessor internal data base, guarantee the positioning precision of laser lamp; In this case, also adopt the displacement of the vertical Real-Time Monitoring laser lamp slide block of linear encoder simultaneously, in the time that encode Monitoring Data and motor locator data are inconsistent, report to the police immediately and reinitialize, guarantee accuracy and the reliability of location.
Claims (1)
1. a laser lamp navigation system, comprises laser positioning module, date processing and distribution module, it is characterized in that: described date processing is communicated by letter with mobile control terminal through router by WIFI module with distribution module again; Described laser positioning module comprises the guide rail of at least one carrying laser governor motion; On each described guide rail, be provided with at least one laser governor motion; Described laser governor motion regulates for the fine setting of laser lamp line being carried out to all directions; Described date processing and distribution module and WIFI module are arranged on the control circuit board in laser governor motion; Mobile control terminal is by router, WIFI module and date processing and distribution module control laser governor motion location.
2, laser lamp navigation system according to claim 1, is characterized in that: the data memory module that described date processing comprises microprocessor and is connected with microprocessor with distribution module; Described 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: described switch lamp module is for controlling the light on and off of laser fluorescent tube; Described switch lamp module comprises relay, adjustable mu balanced circuit and filter circuit; Described relay, adjustable mu balanced circuit are connected successively with filter circuit; Described filter circuit is connected with the laser fluorescent tube of laser governor motion.
4, according to the laser lamp navigation system described in claim 2 or 3, it is characterized in that: described motor drive module is stepper motor driver; Described 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: described motor drive module is digital stepper motor driver.
6, laser lamp navigation system according to claim 4, is characterized in that: described motor is arranged on one end of guide rail; On described guide rail, be provided with along the grating scale of guide rail direction; One end of described laser governor motion is arranged on the belt being connected with motor; The other end of described laser governor motion is arranged on grating scale.
7, laser lamp navigation system according to claim 6, is characterized in that: one end of described laser governor motion is provided with encoder; Pulse data corresponding to laser fluorescent tube position when described encoder moves on guide rail by gathering laser governor motion, the position of monitoring laser fluorescent tube on guide rail, encoder the pulse data by collection send microprocessor to; When described encoders monitor data and motor locator data are when inconsistent, the alarm unit that microprocessor arranges is reported to the police, described laser lamp navigation system reinitializes, and laser governor motion comes back to dead-center position, to guarantee accuracy and the reliability of location.
8, laser lamp navigation system according to claim 1, is characterized in that: described mobile control terminal is mobile phone, PDA, panel computer or laptop computer; Described mobile control terminal is provided with the laser lamp positioning starting module for starting laser positioning module.
9, a localization method for laser lamp navigation system claimed in claim 1, is characterized in that: comprise the following steps:
A, startup laser lamp positioning starting module, start laser lamp positioning starting module by mobile control terminal; Laser lamp positioning starting module after activation is connected with microprocessor with WIFI module by router; Laser positioning data are set, download laser positioning data or import laser positioning data by laser lamp positioning starting module;
B, initialization WIFI module, connect the power supply being connected with WIFI module, WIFI module initialization;
C, WIFI module receive data, and mobile control terminal sends laser positioning data through router to WIFI module; WIFI module receives corresponding laser positioning data according to the IP address of self; Meanwhile, the laser positioning data that receive are sent to microprocessor by WIFI module;
D, laser positioning module initialization, first microprocessor is controlled laser governor motion and is initialized;
E, selection execution pattern, microprocessor is the order of laser lamp positioning command or the calibration of laser lamp navigation system according to the laser positioning data judgement receiving; And enter 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, the laser governor motion coordinate figure that microprocessor comprises according to the laser positioning data that receive inquires the umber of pulse that motor need to be shifted from data memory module, the umber of pulse that above-mentioned motor need to be shifted is also motor locator data, motor locator data signal is sent to motor drive module by microprocessor, thereby microprocessor control motor drive module drives motor motion, laser governor motion under motor drives along guide rail movement; Meanwhile, the pulse data monitoring is fed back to microprocessor by encoder;
G, judge whether laser governor motion location is accurate, according to step F, when the pulse data that encoders monitor arrives and motor locator data are inconsistent, the alarm unit that microprocessor arranges is reported to the police, return to step D, microprocessor initializes laser governor motion again simultaneously; When the pulse data that encoders monitor arrives is consistent with motor locator data, show to locate successfully;
H, laser lamp navigation system calibration mode of operation, under laser lamp navigation system calibration mode of operation, laser positioning data are the umber of pulse that need to be shifted by the motor of laser lamp positioning starting module setting, the umber of pulse that above-mentioned motor need to be shifted is also motor locator data, the motor locator data signal receiving is sent to motor drive module by microprocessor, thereby microprocessor control motor drive module drives motor motion, laser governor motion motor drive under along guide rail movement to laser governor motion in laser beam arrive actual alignment position, if the laser positioning data that arrange can not make the position of laser beam arrival actual alignment in laser governor motion, adjust the laser positioning data that arrange until in laser governor motion laser beam arrive the position of actual alignment, when now the laser governor motion of the motor locator data of above-mentioned setting and encoder collection being moved on guide rail, pulse data corresponding to laser fluorescent tube position is saved in data memory module.
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