CN107816944A - Planar laser positioning measuring device and localization method - Google Patents

Planar laser positioning measuring device and localization method Download PDF

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Publication number
CN107816944A
CN107816944A CN201711014241.1A CN201711014241A CN107816944A CN 107816944 A CN107816944 A CN 107816944A CN 201711014241 A CN201711014241 A CN 201711014241A CN 107816944 A CN107816944 A CN 107816944A
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msub
laser
module
mrow
laser pick
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CN201711014241.1A
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CN107816944B (en
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杨杰
罗艳
肖祖勇
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Electric Group Co ltd In Chongqing Of Chongqing China
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Electric Group Co ltd In Chongqing Of Chongqing China
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness

Abstract

The invention discloses a kind of planar laser positioning measuring device, including locating module and measurement bar；Locating module can launch the horizontal laser strafed；Measurement bar includes single-chip microcomputer and the conllinear laser pick-off module I set gradually along measurement bar length direction, laser pick-off module ii, laser pick-off module ii I；The pulse counter driven by laser signal is provided with single-chip microcomputer, single-chip microcomputer can go out the counting n that laser strafes 360 ° since laser pick-off module I according to the counting statistics of pulse counter0, laser counting n to laser pick-off module ii is strafed from laser pick-off module I1And laser strafes the counting n to laser pick-off module ii I from laser pick-off module ii2.Additionally provide a kind of localization method：Using the sweep angle of planar laser positioning measuring device collection laser, locating module then is counted to the distance of each laser pick-off module using trigonometric function formula, the coordinate that coordinate system counts locating module is finally built, so as to realize positioning.

Description

Planar laser positioning measuring device and localization method
Technical field
The invention belongs to plane mapping technical field, and in particular to it is a kind of using laser carry out plane positioning device and The localization method carried out using the device.
Background technology
At present, typically three-point fix algorithm is used, it is necessary to known 3 points when the point in various planes positions Position coordinates, and need to measure unknown point to 3 points of distance, then arrived respectively using three known points as the center of circle and with known point The distance of unknown point is that radius makees three circles, and three round intersection points are exactly the coordinate of measurement point.However, this is a preferable feelings Condition, actual due to the limitation of measurement accuracy, actually they are usual hands on less than one point, and what is handed over is one piece of area area Domain.
Laser range finder of the prior art is to project pulse laser a branch of or that a sequence is of short duration to target at work Beam, the laser speed of target reflection is received by photoelectric cell, and measure laser beam is calculated from rangefinder from the time for being transmitted into reception Range-to-go.Due to needing that laser is reflected, it is desirable to rangefinder and target vertical, and need to avoid occurring to overflow Reflection.
The content of the invention
For above-mentioned the deficiencies in the prior art, the present invention provides a kind of planar laser positioning measuring device, solves existing skill The technical problem that laser reflection carrys out measurement distance is relied in art, can be measured when for positioning by the angle of laser fire Distance, measurement efficiency is improved, improve measurement accuracy.
In order to solve the above technical problems, technical scheme is as follows：A kind of planar laser positioning measuring device, including Locating module and measurement bar；The locating module includes laser beam emitting head, motor, speculum and is laser beam emitting head and motor The power supply of power supply；The laser beam emitting head can be launched to the reflecting surface of speculum parallel with electrical axis or conllinear to swash Light, the speculum are arranged on motor shaft, and the reflecting surface of speculum and the axis of motor shaft are in 45° angle so that speculum is anti- The laser penetrated can be strafed with the rotation carry out level of motor shaft；The measurement bar include single-chip microcomputer and along measurement pole length Conllinear laser pick-off module I that direction is set gradually, laser pick-off module ii, laser pick-off module ii I；It is provided with single-chip microcomputer The pulse counter driven by laser signal, single-chip microcomputer can go out laser from laser pick-off according to the counting statistics of pulse counter Module I starts to strafe 360 ° of counting n0, laser counting n to laser pick-off module ii is strafed from laser pick-off module I1And Laser strafes the counting n to laser pick-off module ii I from laser pick-off module ii2。
Preferably, the pulse counter includes counter J1, counter J2 and counter J3；Counter J1 can be Laser pick-off module I starts counting up when receiving laser signal, and can receive laser letter again in laser pick-off module I Number when stop count；Counter J2 can start counting up when laser pick-off module I receives laser signal, and can swash Optical Receivers II stops counting when receiving laser signal；Counter J3 can receive laser letter in laser pick-off module ii Number when start counting up, and can stop when laser pick-off module ii I receives laser signal count.
Preferably, the number of pulse counter is 1, and numbering is counter J0；Counter J0 can be in laser pick-off mould Block I is started counting up when receiving laser signal, and can stop meter when laser pick-off module I receives laser signal again Number；Counting statistics program is encoded with the single-chip microcomputer, counting statistics program can count laser respectively from laser pick-off module I Start to strafe 360 ° of counting, laser strafes counting to laser pick-off module ii and laser from swashing from laser pick-off module I Optical Receivers II strafes laser pick-off module ii I counting.
Preferably, the crystal oscillator of single-chip microcomputer is 18MHZ, and after 1/2 frequency dividing, 9MHZ counting frequency is provided for pulse counter Rate.
To solve the low technical problem of the positioning precision of three-point fox method in the prior art, the present invention also provides a kind of use The localization method of above-mentioned planar laser positioning measuring device, comprises the following steps：
Step s1：Measurement bar is horizontally mounted in plane to be measured, locating module is placed on to the tested point of plane to be measured On；
Step s2：Start locating module and measurement bar；Laser beam emitting head in locating module launches laser to speculum, Motor driven speculum rotates so that the laser of speculum reflection can be strafed with the rotation carry out level of motor shaft；
Step s3：During laser level strafes 360 °, the laser pick-off module I in measurement bar is firstly received sharp Optical signal, laser signal, last laser pick-off mould are then received by laser pick-off module ii, laser pick-off module ii I successively Block I receives laser signal again；Single-chip microcomputer controls pulse counter to be counted according to laser signal；
Step s4：Single-chip microcomputer goes out laser since laser pick-off module I according to the counting statistics of pulse counter and strafed 360 ° of counting n0, laser counting n to laser pick-off module ii is strafed from laser pick-off module I1And laser is from laser pick-off Module ii strafes laser pick-off module ii I counting n2；
Step s5：The counting cycle of pulse counter is t0；Calculate the laser fire swing circle T of one week0：T0=n0× t0；Calculating laser strafes the sweep times T to laser pick-off module ii from laser pick-off module I1：T1=n1×t0；Calculate laser The sweep times T to laser pick-off module ii I is strafed from laser pick-off module ii2：T2=n2×t0；
Step s6：Locating module is calculated to the line and locating module to laser pick-off module ii of laser pick-off module I Angle Φ between line1：
Calculate locating module to laser pick-off module ii line and locating module to laser pick-off module ii I line it Between angle Φ2：
Step s7：Locating module is calculated respectively to laser pick-off module I, II, III distance l1、l2、l3：
Wherein, L1For the distance between laser pick-off module I to laser pick-off module ii, L2Arrived for laser pick-off module ii The distance between laser pick-off module ii I；
Step s8：Plane right-angle coordinate r is established for plane to be measured：Using laser pick-off module I as origin o, connect with laser Module I, laser pick-off module ii and straight line y-axis where laser pick-off module ii I are received, using the straight line perpendicular to y-axis as x-axis； Calculate the angle Φ between line and the y-axis between locating module and laser pick-off module I0：
Step s9：Calculate coordinate (x, y) of the locating module in coordinate system r：
Using the coordinate of locating module as the coordinate of tested point, so as to complete positioning of the tested point in plane to be measured.
Preferably, when coordinate system r and plane to be measured conventional coordinates R are misaligned, also to locating module in step s9 Coordinate (x, y) be corrected, wherein, conventional coordinates R origin is o ', axis of abscissas X, axis of ordinates Y, by as follows Step correction pen with means for holding it in right position nib coordinate (x, y)：
Step s901：Coordinates of the origin o ' in coordinate system r is (x0,y0), choose any point (x on axis of abscissas Xm, ym), calculate the angle τ between x-axis and X-axis：
Step s902：Coordinate (X, Y) of the pen with means for holding it in right position nib coordinate (x, y) in conventional coordinates R is calculated, by following public affairs Formula：
With coordinate of the pen with means for holding it in right position nib coordinate (X, Y) as tested point in plane after correction, so as to realize to tested point Positioning.
Compared with prior art, the invention has the advantages that：
1st, because laser has good directionality and along straightline propagation, it is very suitable for planar carrying out angle survey Amount, the laser that locating module generation level is strafed, each laser pick-off module receives laser successively, using angle measurement method, The angle between locating module and the line of individual laser pick-off module is calculated, recycles trigonometric function formula to calculate positioning mould Block finally establishes plane right-angle coordinate, calculates the coordinate of locating module the distance between to each laser pick-off module.
2nd, during using laser measurement angle, the pulse counter provided using single-chip microcomputer gathers laser level The time strafed, because single-chip microcomputer can have higher frequency, relatively low counting cycle, when can so improve acquisition scans Between precision, so as to improve the precision of angular surveying, and then improve positioning precision.
3rd, rolling counters forward frequency of the present invention is high, and rotary laser speed is low, and measured angle precision is high, and what is obtained determines Position precision is high.The present invention uses 18MHz crystal oscillators, passes through 1/2 frequency dividing, counter frequency 9MHz；Reasonable disposition motor speed, makes It is about 50ms to obtain rotary laser swing circle, then measured angle minimum resolution is about 0.0008 °, positioning precision in the range of 5m Up to 0.07mm.
4th, planar laser positioning measuring device of the invention is manufactured using normal component, has simple in construction, small volume weight The advantages of amount is light, cost is cheap, good reliability, precision are high and stability is high.
5th, localization method of the invention gathers the angle of laser fire first, is then calculated using trigonometric function formula each Distance, finally resettle plane coordinate system and utilize trigonometric function formula coordinates computed.The localization method of the present invention is different from three Point location method, without three known point coordinates near known tested point, the positioning of planar arbitrfary point position can be realized, Because the precision of angle detection is high, therefore there is higher positioning precision.
Brief description of the drawings
Fig. 1 is the structural representation of locating module；
Fig. 2 is the structural representation of measurement bar；
Fig. 3 is the schematic diagram using the pulse counter metering laser fire time；
Fig. 4 is the schematic diagram for calculating coordinate of the tested point in coordinate system r；
Fig. 5 is plane right-angle coordinate transition diagram.
Embodiment
Embodiment 1
As shown in Figure 1 to Figure 2, a kind of planar laser positioning measuring device, including locating module and measurement bar；The positioning Module includes laser beam emitting head 3, motor 1, speculum 2 and the power supply 4 powered for laser beam emitting head 3 and motor 1；The laser Emitting head 3 can be launched to the reflecting surface of speculum 2 pacifies with the diameter parallel of motor 1 or conllinear laser, the speculum 2 On motor shaft 1, the reflecting surface of speculum 2 and the axis of motor shaft are in 45° angle so that the laser that speculum 2 reflects can Strafed with the rotation carry out level of motor shaft；The measurement bar includes single-chip microcomputer 5 and set successively along measurement bar length direction The conllinear laser pick-off module I put, laser pick-off module ii, laser pick-off module ii I；In single-chip microcomputer 5 be provided with believed by laser The pulse counter of number driving, single-chip microcomputer 5 can go out laser according to the counting statistics of pulse counter and be opened from laser pick-off module I Beginning strafes 360 ° of counting n0, laser counting n to laser pick-off module ii is strafed from laser pick-off module I1And laser from swash Optical Receivers II strafes laser pick-off module ii I counting n2。
Single-chip microcomputer 5 can be according to the counting n of pulse counter0Calculate the laser fire swing circle T of one week0, Jin Ergen According to T0、n1With n2, laser is calculated respectively, and sweep angle Φ to laser pick-off module ii is strafed from laser pick-off module I1, swash Light strafes the sweep angle Φ to laser pick-off module ii I from laser pick-off module ii2, recycle trigonometric function formula just can divide Locating module is not calculated to laser pick-off module I, II, III distance l1、l2、l3.Whole process need not carry out laser reflection, Locating module need to be only placed on to position to be measured, opening locating module makes it by the laser fire survey that can complete distance in one week Amount, very convenient quick, efficiency high.Also, utilizing the arteries and veins during laser measurement angle, provided using single-chip microcomputer 5 Counter collection time for strafing of laser level is rushed, because single-chip microcomputer 5 can have a higher frequency, the relatively low counting cycle, The precision of acquisition scans time can be so improved, so as to improve the precision of angular surveying, and then improves positioning precision.
After the planar laser positioning measuring device in using present embodiment collects individual count, it is fixed to recycle Positioning can be achieved in the coordinate that position algorithm calculates locating module.Location algorithm can write the monolithic of measurement bar with software program In machine 5, host computer can also be set, the related data that planar laser positioning measuring device is collected, such as laser fire in addition Angle, φ1、Φ2, locating module to laser pick-off module I, II, III distance l1、l2、l3, it is transferred to by data communication module In host computer, then location algorithm run by host computer.Location algorithm can use but be not limited in the present invention step s5 to step S9 location algorithm.
In present embodiment, the pulse counter includes counter J1, counter J2 and counter J3；Count Device J1 can start counting up when laser pick-off module I receives laser signal, and can be connect again in laser pick-off module I Stop counting when receiving laser signal；Counter J2 can start counting up when laser pick-off module I receives laser signal, and And it can stop counting when laser pick-off module ii receives laser signal；Counter J3 can connect in laser pick-off module ii Started counting up when receiving laser signal, and can stop counting when laser pick-off module ii I receives laser signal.
In present embodiment, the crystal oscillator of single-chip microcomputer 5 is 18MHZ, after 1/2 frequency dividing, is provided for pulse counter 9MHZ count frequency.
To solve the low technical problem of the positioning precision of three-point fox method in the prior art, the present invention also provides a kind of use The localization method of above-mentioned planar laser positioning measuring device, as shown in Figures 3 to 5, comprises the following steps：
Step s1：Measurement bar is horizontally mounted in plane to be measured, locating module is placed on to the tested point of plane to be measured On；
Step s2：Start locating module and measurement bar；Laser beam emitting head 3 in locating module is launched to speculum 2 to swash Light, motor 1 drive speculum 2 to rotate so that the laser that speculum 2 reflects can be swept with the rotation carry out level of motor shaft Penetrate；
Step s3：During laser level strafes 360 °, the laser pick-off module I in measurement bar is firstly received sharp Optical signal, laser signal, last laser pick-off mould are then received by laser pick-off module ii, laser pick-off module ii I successively Block I receives laser signal again；Single-chip microcomputer controls pulse counter to be counted according to laser signal；
Step s4：Single-chip microcomputer 5 goes out laser since laser pick-off module I according to the counting statistics of pulse counter and strafed 360 ° of counting n0, laser counting n to laser pick-off module ii is strafed from laser pick-off module I1And laser is from laser pick-off Module ii strafes laser pick-off module ii I counting n2；
Step s5：The counting cycle of pulse counter is t0；Calculate the laser fire swing circle T of one week0：T0=n0× t0；Calculating laser strafes the sweep times T to laser pick-off module ii from laser pick-off module I1：T1=n1×t0；Calculate laser The sweep times T to laser pick-off module ii I is strafed from laser pick-off module ii2：T2=n2×t0；
Step s6：Locating module is calculated to the line and locating module to laser pick-off module ii of laser pick-off module I Angle Φ between line1：
Calculate locating module to laser pick-off module ii line and locating module to laser pick-off module ii I line it Between angle Φ2：
Step s7：Locating module is calculated respectively to laser pick-off module I, II, III distance l1、l2、l3：
Wherein, L1For the distance between laser pick-off module I to laser pick-off module ii, L2Arrived for laser pick-off module ii The distance between laser pick-off module ii I；
Step s8：Plane right-angle coordinate r is established for plane to be measured：Using laser pick-off module I as origin o, connect with laser Module I, laser pick-off module ii and straight line y-axis where laser pick-off module ii I are received, using the straight line perpendicular to y-axis as x-axis； Calculate the angle Φ between line and the y-axis between locating module and laser pick-off module I0：
Step s9：Calculate coordinate (x, y) of the locating module in coordinate system r：
Using the coordinate of locating module as the coordinate of tested point, so as to complete positioning of the tested point in plane to be measured.
In present embodiment, when coordinate system r and plane to be measured conventional coordinates R are misaligned, in step s9 also The coordinate (x, y) of locating module is corrected, wherein, conventional coordinates R origin is o ', axis of abscissas X, axis of ordinates For Y, pen with means for holding it in right position nib coordinate (x, y) is corrected as follows：
Step s901：Coordinates of the origin o ' in coordinate system r is (x0,y0), choose any point (x on axis of abscissas Xm, ym), calculate the angle τ between x-axis and X-axis：
Step s902：Coordinate (X, Y) of the pen with means for holding it in right position nib coordinate (x, y) in conventional coordinates R is calculated, by following public affairs Formula：
With coordinate of the pen with means for holding it in right position nib coordinate (X, Y) as tested point in plane after correction, so as to realize to tested point Positioning.
In present embodiment, the pulse counter includes counter J1, counter J2 and counter J3；Step In s3, when laser pick-off module I is firstly received laser signal, the control counter J1 of single-chip microcomputer 5 is started counting up, when laser connects When receipts module I receives laser signal again, counter J1 stops counting；When laser pick-off module I receives laser signal, Single-chip microcomputer control counter J2 is started counting up, and when laser pick-off module ii receives laser signal again, counter J2 stops Count；When laser pick-off module ii receives laser signal, single-chip microcomputer control counter J2 is started counting up, when laser pick-off mould When block III receives laser signal again, counter J3 stops counting；Monolithic counting statistics counter J1 counting, so as to obtain Obtain the counting n that laser strafes 360 ° since laser pick-off module I0；Single-chip microcomputer statistical counter J2 counting, it is sharp so as to obtain Light strafes the counting n to laser pick-off module ii from laser pick-off module I1；Single-chip microcomputer statistical counter J3 counting, so as to obtain Obtain laser and strafe the counting n to laser pick-off module ii I from laser pick-off module ii2.So, using three separate meters Number device is counted, and is not interfered between each other, counting precision is higher.
Embodiment 2
Present embodiment and embodiment 1 except that：Planar laser in present embodiment is determined In level measuring arrangement, the number of pulse counter is 1, and numbering is counter J0；Counter J0 can be in laser pick-off module I Started counting up when receiving laser signal, and can stop counting when laser pick-off module I receives laser signal again； Counting statistics program is encoded with the single-chip microcomputer, counting statistics program can count laser respectively and be opened from laser pick-off module I Begin to strafe 360 ° of counting, laser strafes counting to laser pick-off module ii and laser from laser from laser pick-off module I Receiving module II strafes laser pick-off module ii I counting.
The localization method realized using the planar laser positioning measuring device in present embodiment, with specific embodiment party Formula 1 except that：In step s3 to step s4, counter J0 can open when laser pick-off module I receives laser signal Begin to count, and can stop counting when laser pick-off module I receives laser signal again；It is encoded with the single-chip microcomputer Counting statistics program, counting statistics program can count laser respectively according to counter J0 counting and be opened from laser pick-off module I Beginning strafes 360 ° of counting n0, laser counting n to laser pick-off module ii is strafed from laser pick-off module I1And laser from swash Optical Receivers II strafes laser pick-off module ii I counting n2.In such manner, it is possible to simplify apparatus structure, cost is reduced.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to the technology of invention Scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover in this hair Among bright right.

Claims (8)

  1. A kind of 1. planar laser positioning measuring device, it is characterised in that：Including locating module and measurement bar；The locating module bag Include laser beam emitting head, motor, speculum and the power supply powered for laser beam emitting head and motor；The laser beam emitting head can be to The reflecting surface of speculum launches the laser parallel or conllinear with electrical axis, and the speculum is arranged on motor shaft, reflection The reflecting surface of mirror and the axis of motor shaft are in 45° angle so that the laser of speculum reflection can be carried out with the rotation of motor shaft Level is strafed；The measurement bar includes single-chip microcomputer and the conllinear laser pick-off module set gradually along measurement bar length direction I, laser pick-off module ii, laser pick-off module ii I；The pulse counter driven by laser signal, monolithic are provided with single-chip microcomputer Machine can go out the counting n that laser strafes 360 ° since laser pick-off module I according to the counting statistics of pulse counter0, laser The counting n to laser pick-off module ii is strafed from laser pick-off module I1And laser is strafed to laser from laser pick-off module ii Receiving module III counting n2。
  2. 2. planar laser positioning measuring device according to claim 1, it is characterised in that：The pulse counter includes meter Number device J1, counter J2 and counter J3；Counter J1 can start to count when laser pick-off module I receives laser signal Number, and can stop counting when laser pick-off module I receives laser signal again；Counter J2 can be in laser pick-off Module I starts counting up when receiving laser signal, and can stop meter when laser pick-off module ii receives laser signal Number；Counter J3 can start counting up when laser pick-off module ii receives laser signal, and can be in laser pick-off mould Block III stops counting when receiving laser signal.
  3. 3. planar laser positioning measuring device according to claim 1, it is characterised in that：The number of pulse counter is 1 Individual, numbering is counter J0；Counter J0 can start counting up when laser pick-off module I receives laser signal, and energy It is enough to stop counting when laser pick-off module I receives laser signal again；Counting statistics program is encoded with the single-chip microcomputer, Counting statistics program can count the meter that laser strafes 360 ° since laser pick-off module I respectively according to counter J0 counting Number, laser strafes counting to laser pick-off module ii from laser pick-off module I and laser is strafed from laser pick-off module ii To laser pick-off module ii I counting.
  4. 4. planar laser positioning measuring device according to claim 1, it is characterised in that：The crystal oscillator of single-chip microcomputer is 18MHZ, After 1/2 frequency dividing, 9MHZ count frequency is provided for pulse counter.
  5. A kind of 5. localization method of planar laser positioning measuring device using described in claim 1, it is characterised in that：Including with Lower step：
    Step s1：Measurement bar is horizontally mounted in plane to be measured, locating module is placed on the tested point of plane to be measured；
    Step s2：Start locating module and measurement bar；Laser beam emitting head in locating module launches laser, motor to speculum Drive speculum rotation so that the laser of speculum reflection can be strafed with the rotation carry out level of motor shaft；
    Step s3：During laser level strafes 360 °, the laser pick-off module I in measurement bar is firstly received laser letter Number, laser signal is then received by laser pick-off module ii, laser pick-off module ii I successively, last laser pick-off module I is again It is secondary to receive laser signal；Single-chip microcomputer controls pulse counter to be counted according to laser signal；
    Step s4：Single-chip microcomputer goes out laser according to the counting statistics of pulse counter and 360 ° is strafed since laser pick-off module I Count n0, laser counting n to laser pick-off module ii is strafed from laser pick-off module I1And laser is from laser pick-off module ii Strafe laser pick-off module ii I counting n2；
    Step s5：The counting cycle of pulse counter is t0；Calculate the laser fire swing circle T of one week0：T0=n0×t0；Meter Calculation laser strafes the sweep times T to laser pick-off module ii from laser pick-off module I1：T1=n1×t0；Calculate laser from swash Optical Receivers II strafes laser pick-off module ii I sweep times T2：T2=n2×t0；
    Step s6：Locating module is calculated to the line of the line and locating module to laser pick-off module ii of laser pick-off module I Between angle Φ1：
    Locating module is calculated to the line and locating module of laser pick-off module ii between laser pick-off module ii I line Angle Φ2：
    Step s7：Locating module is calculated respectively to laser pick-off module I, II, III distance l1、l2、l3：
    <mrow> <msub> <mi>l</mi> <mn>1</mn> </msub> <mo>=</mo> <mfrac> <msub> <mi>L</mi> <mn>1</mn> </msub> <msqrt> <mrow> <mn>1</mn> <mo>+</mo> <msup> <mrow> <mo>&amp;lsqb;</mo> <mfrac> <mrow> <msub> <mi>L</mi> <mn>2</mn> </msub> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <msub> <mi>&amp;Phi;</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>&amp;Phi;</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <mo>(</mo> <msub> <mi>L</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>L</mi> <mn>2</mn> </msub> <mo>)</mo> <msub> <mi>sin&amp;Phi;</mi> <mn>2</mn> </msub> </mrow> </mfrac> <mo>&amp;rsqb;</mo> </mrow> <mn>2</mn> </msup> <mo>-</mo> <mn>2</mn> <mfrac> <mrow> <msub> <mi>L</mi> <mn>2</mn> </msub> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <msub> <mi>&amp;Phi;</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>&amp;Phi;</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <mo>(</mo> <msub> <mi>L</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>L</mi> <mn>2</mn> </msub> <mo>)</mo> <msub> <mi>sin&amp;Phi;</mi> <mn>2</mn> </msub> </mrow> </mfrac> <msub> <mi>cos&amp;Phi;</mi> <mn>1</mn> </msub> </mrow> </msqrt> </mfrac> <mo>;</mo> </mrow>
    <mrow> <msub> <mi>l</mi> <mn>2</mn> </msub> <mo>=</mo> <mfrac> <msub> <mi>L</mi> <mn>1</mn> </msub> <msqrt> <mrow> <mn>1</mn> <mo>+</mo> <msup> <mrow> <mo>&amp;lsqb;</mo> <mfrac> <mrow> <mo>(</mo> <msub> <mi>L</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>L</mi> <mn>2</mn> </msub> <mo>)</mo> <msub> <mi>sin&amp;Phi;</mi> <mn>2</mn> </msub> </mrow> <mrow> <msub> <mi>L</mi> <mn>2</mn> </msub> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <msub> <mi>&amp;Phi;</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>&amp;Phi;</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>&amp;rsqb;</mo> </mrow> <mn>2</mn> </msup> <mo>-</mo> <mn>2</mn> <mfrac> <mrow> <mo>(</mo> <msub> <mi>L</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>L</mi> <mn>2</mn> </msub> <mo>)</mo> <msub> <mi>sin&amp;Phi;</mi> <mn>2</mn> </msub> </mrow> <mrow> <msub> <mi>L</mi> <mn>2</mn> </msub> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <msub> <mi>&amp;Phi;</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>&amp;Phi;</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> </mfrac> <msub> <mi>cos&amp;Phi;</mi> <mn>1</mn> </msub> </mrow> </msqrt> </mfrac> <mo>;</mo> </mrow>
    <mrow> <msub> <mi>l</mi> <mn>3</mn> </msub> <mo>=</mo> <mfrac> <msub> <mi>L</mi> <mn>2</mn> </msub> <msqrt> <mrow> <mn>1</mn> <mo>+</mo> <msup> <mrow> <mo>&amp;lsqb;</mo> <mfrac> <mrow> <msub> <mi>L</mi> <mn>1</mn> </msub> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <msub> <mi>&amp;Phi;</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>&amp;Phi;</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <mo>(</mo> <msub> <mi>L</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>L</mi> <mn>2</mn> </msub> <mo>)</mo> <msub> <mi>sin&amp;Phi;</mi> <mn>1</mn> </msub> </mrow> </mfrac> <mo>&amp;rsqb;</mo> </mrow> <mn>2</mn> </msup> <mo>-</mo> <mn>2</mn> <mfrac> <mrow> <msub> <mi>L</mi> <mn>1</mn> </msub> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <msub> <mi>&amp;Phi;</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>&amp;Phi;</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <mo>(</mo> <msub> <mi>L</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>L</mi> <mn>2</mn> </msub> <mo>)</mo> <msub> <mi>sin&amp;Phi;</mi> <mn>1</mn> </msub> </mrow> </mfrac> <msub> <mi>cos&amp;Phi;</mi> <mn>2</mn> </msub> </mrow> </msqrt> </mfrac> <mo>;</mo> </mrow>
    Wherein, L1For the distance between laser pick-off module I to laser pick-off module ii, L2For laser pick-off module ii to laser The distance between receiving module III；
    Step s8：Plane right-angle coordinate r is established for plane to be measured：Using laser pick-off module I as origin o, with laser pick-off mould Block I, laser pick-off module ii and straight line y-axis where laser pick-off module ii I, using the straight line perpendicular to y-axis as x-axis；Calculate The angle Φ between line and y-axis between locating module and laser pick-off module I0：
    <mrow> <msub> <mi>&amp;Phi;</mi> <mn>0</mn> </msub> <mo>=</mo> <mi>arccos</mi> <mo>&amp;lsqb;</mo> <mfrac> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>L</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>L</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msubsup> <mi>l</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>l</mi> <mn>3</mn> <mn>2</mn> </msubsup> </mrow> <mrow> <mn>2</mn> <msub> <mi>l</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <msub> <mi>L</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>L</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>&amp;rsqb;</mo> <mo>;</mo> </mrow>
    Step s9：Calculate coordinate (x, y) of the locating module in coordinate system r：
    <mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mi>x</mi> <mo>=</mo> <msub> <mi>l</mi> <mn>1</mn> </msub> <mi>s</mi> <mi>i</mi> <mi>n</mi> <msub> <mi>&amp;Phi;</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>y</mi> <mo>=</mo> <msub> <mi>l</mi> <mn>1</mn> </msub> <msub> <mi>cos&amp;Phi;</mi> <mn>0</mn> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>;</mo> </mrow>
    Using the coordinate of locating module as the coordinate of tested point, so as to complete positioning of the tested point in plane to be measured.
  6. 6. localization method according to claim 5, it is characterised in that：As coordinate system r and the conventional coordinates R of plane to be measured When misaligned, also the coordinate (x, y) of locating module is corrected in step s9, wherein, conventional coordinates R origin is o ', Axis of abscissas is X, axis of ordinates Y, corrects pen with means for holding it in right position nib coordinate (x, y) as follows：
    Step s901：Coordinates of the origin o ' in coordinate system r is (x0,y0), choose any point (x on axis of abscissas Xm,ym), meter Calculate the angle τ between x-axis and X-axis：
    <mrow> <mi>&amp;tau;</mi> <mo>=</mo> <mi>arctan</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>x</mi> <mi>m</mi> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> </mrow> <mrow> <msub> <mi>y</mi> <mi>m</mi> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> </mrow> </mfrac> <mo>)</mo> </mrow> <mo>;</mo> </mrow>
    Step s902：Coordinate (X, Y) of the pen with means for holding it in right position nib coordinate (x, y) in conventional coordinates R is calculated, as follows：
    <mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mi>X</mi> <mo>=</mo> <mo>(</mo> <mi>x</mi> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> <mo>)</mo> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;tau;</mi> <mo>+</mo> <mo>(</mo> <mi>y</mi> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> <mo>)</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;tau;</mi> </mtd> </mtr> <mtr> <mtd> <mi>Y</mi> <mo>=</mo> <mo>-</mo> <mo>(</mo> <mi>x</mi> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> <mo>)</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;tau;</mi> <mo>+</mo> <mo>(</mo> <mi>y</mi> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> <mo>)</mo> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;tau;</mi> </mtd> </mtr> </mtable> </mfenced> <mo>;</mo> </mrow>
    With coordinate of the pen with means for holding it in right position nib coordinate (X, Y) as tested point in plane after correction, tested point is determined so as to realize Position.
  7. 7. localization method according to claim 5, it is characterised in that：The pulse counter includes counter J1, counted Device J2 and counter J3；In step s3 to step s4, when laser pick-off module I is firstly received laser signal, single-chip microcomputer Control counter J1 is started counting up, and when laser pick-off module I receives laser signal again, counter J1 stops counting；When When laser pick-off module I receives laser signal, single-chip microcomputer control counter J2 is started counting up, when laser pick-off module ii again When receiving laser signal, counter J2 stops counting；When laser pick-off module ii receives laser signal, single-chip microcomputer control Counter J2 is started counting up, and when laser pick-off module ii I receives laser signal again, counter J3 stops counting；Monolithic Counting statistics counter J1 counting, 360 ° of counting n is strafed so as to obtain laser since laser pick-off module I0；Single-chip microcomputer Statistical counter J2 counting, the counting n to laser pick-off module ii is strafed so as to obtaining laser from laser pick-off module I1；It is single Piece machine statistical counter J3 counting, the meter to laser pick-off module ii I is strafed from laser pick-off module ii so as to obtain laser Number n2。
  8. 8. localization method according to claim 5, it is characterised in that：The number of pulse counter is 1, and numbering is counting Device J0；In step s3 to step s4, counter J0 can start counting up when laser pick-off module I receives laser signal, and And it can stop counting when laser pick-off module I receives laser signal again；Counting statistics is encoded with the single-chip microcomputer Program, counting statistics program can count laser respectively according to counter J0 counting and be strafed since laser pick-off module I 360 ° of counting n0, laser counting n to laser pick-off module ii is strafed from laser pick-off module I1And laser is from laser pick-off Module ii strafes laser pick-off module ii I counting n2。
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