U.S. patent number 10,940,573 [Application Number 16/357,483] was granted by the patent office on 2021-03-09 for hand-held tool system.
This patent grant is currently assigned to Positec Power Tools (Suzhou) Co., Ltd.. The grantee listed for this patent is Positec Power Tools (Suzhou) Co., Ltd.. Invention is credited to Paolo Andriolo, Mingming He, Shuai Meng, Yong Shao, Ka Tat Kelvin Wong, Jun Wu.
View All Diagrams
United States Patent |
10,940,573 |
Shao , et al. |
March 9, 2021 |
Hand-held tool system
Abstract
A hand-held tool system comprises a hand-held tool and a
positioning device matching the hand-held tool. The hand-held tool
comprises an output shaft and a working head coupled to the output
shaft. The positioning device comprises a detecting module
configured to detect a positional feature and/or a movement feature
of the positioning device and output a parameter indicative of the
positional feature and/or the movement feature, the detecting
module and the working head having a preset distance therebetween;
a storage module configured at least to record reference position
information about the working head; a control module configured to
acquire real-time position information about the working head based
on the parameter, the preset distance and the reference position
information; and an output module configured to output the
real-time position information in a way that can be perceived.
Inventors: |
Shao; Yong (Jiangsu,
CN), Wu; Jun (Jiangsu, CN), He;
Mingming (Jiangsu, CN), Andriolo; Paolo (Vicenza,
IT), Wong; Ka Tat Kelvin (Jiangsu, CN),
Meng; Shuai (Jiangsu, CN) |
Applicant: |
Name |
City |
State |
Country |
Type |
Positec Power Tools (Suzhou) Co., Ltd. |
Jiangsu |
N/A |
CN |
|
|
Assignee: |
Positec Power Tools (Suzhou) Co.,
Ltd. (Suzhou, CN)
|
Family
ID: |
1000005408565 |
Appl.
No.: |
16/357,483 |
Filed: |
March 19, 2019 |
Prior Publication Data
|
|
|
|
Document
Identifier |
Publication Date |
|
US 20190283196 A1 |
Sep 19, 2019 |
|
Related U.S. Patent Documents
|
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
Issue Date |
|
|
PCT/CN2017/102340 |
Sep 19, 2017 |
|
|
|
|
Foreign Application Priority Data
|
|
|
|
|
Sep 19, 2016 [CN] |
|
|
2016 1 0831703 |
Dec 23, 2016 [CN] |
|
|
2016 1 1209654 |
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01P
15/18 (20130101); G01S 17/08 (20130101); B23Q
16/00 (20130101); B23Q 9/0071 (20130101); B23Q
17/22 (20130101); G01C 9/00 (20130101); B25H
1/00 (20130101); G06T 5/00 (20130101); B23Q
2717/00 (20130101); B23Q 2716/00 (20130101) |
Current International
Class: |
B23Q
17/22 (20060101); B25H 1/00 (20060101); G06T
5/00 (20060101); G01S 17/08 (20060101); G01P
15/18 (20130101); G01C 9/00 (20060101); B23Q
9/00 (20060101); B23Q 16/00 (20060101) |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
|
|
|
|
|
|
|
1856693 |
|
Nov 2006 |
|
CN |
|
102328306 |
|
Jan 2012 |
|
CN |
|
103118825 |
|
May 2013 |
|
CN |
|
103429395 |
|
Dec 2013 |
|
CN |
|
202004018003 |
|
Mar 2005 |
|
DE |
|
Other References
State Intellectual Property Office of the P.R. China, International
Search Report and Written Opinion (English translation included)
for PCT/CN2017/102340 dated Nov. 19, 2017. cited by
applicant.
|
Primary Examiner: Chukwurah; Nathaniel C
Attorney, Agent or Firm: Middleton Reutlinger
Claims
What is claimed is:
1. A hand-held tool system, comprising: a hand-held tool; and a
positioning device couple to the hand-held tool; wherein the
hand-held tool comprises an output shaft and a working head coupled
to the output shaft; and the positioning device comprises: a
detecting module configured to detect a position feature and/or a
movement feature of the positioning device and output a parameter
indicative of the position feature and/or the movement feature, the
detecting module and the working head having a preset distance
therebetween; a storage module configured at least to record
reference position information about the working head; a control
module configured to acquire real-time position information about
the working head based on the parameter, the preset distance, and
the reference position information; and an output module configured
to output the real-time position information in a sensible
manner.
2. The hand-held tool system according to claim 1, wherein the
hand-held tool comprises a main body portion and a holding portion
arranged at an angle to the main body portion, wherein the
positioning device is disposed in the main body portion.
3. The hand-held tool system according to claim 2, wherein the
positioning device further comprises an input unit configured to
input predetermined position information.
4. The hand-held tool system according to claim 3, wherein the
input unit is configured to be a key or a touch screen, and wherein
the input unit is arranged on a tail end face of the main body
portion which is opposite to the working head.
5. The hand-held tool system according to claim 2, wherein the
positioning device further comprises an actuating unit for
actuating to record information of a determined reference position,
wherein the actuating unit is disposed in the holding portion and
adjacent to a switch trigger.
6. The hand-held tool system according to claim 2, wherein the
output module comprises a display screen for displaying position
information of the working head in a digital manner.
7. The hand-held tool system according to 6, wherein the display
screen is arranged on a tail end face of the main body portion
which is opposite to the working head.
8. The hand-held tool system according to claim 1, wherein the
positioning device further comprises a mode selection unit
configured to operably select the positioning device to be in a
predetermined working mode, wherein the control module is
configured to match an operation interface corresponding to the
predetermined working mode.
9. The hand-held tool system according to claim 1, wherein the
output module comprises a reminding device, wherein the reminding
device is controlled to send out an indication when the control
module determines that the positioning portion is moved to a preset
area adjacent to the predetermined position.
10. The hand-held tool system according to claim 9, wherein the
reminding device is controlled to send out an in-place indication
when the control module determines that the positioning portion is
reached to the predetermined position.
11. The hand-held tool system according to claim 1, wherein the
positioning device is provided with a DC power supply for supplying
electric energy.
12. The hand-held tool system according to claim 1, wherein the
detecting module comprises an inertial detection unit for detecting
an attitude angle of the positioning device, wherein the inertial
detection unit is arranged parallel with or perpendicular to an
axis of the output shaft of the hand-held tool.
13. The hand-held tool system according to claim 12, wherein the
inertial detection unit comprises an acceleration sensor and an
angular velocity sensor, wherein the acceleration sensor is
configured as a three-axis accelerometer and the angular velocity
sensor is configured as a three-axis gyroscope.
14. The hand-held tool system according to claim 12, wherein the
detecting module further comprises an image sensing unit configured
to detect a displacement of the positioning device, wherein the
image sensing unit comprises a laser camera and a laser
transmitter.
15. The hand-held tool system according to claim 1, wherein the
detecting module further comprises a laser ranging unit configured
to detect a linear distance between the positioning device and a
reference plane, wherein the laser ranging unit comprises a laser
transmitter and a laser sensor.
16. The hand-held tool system according to claim 15, wherein the
laser ranging unit comprises a first laser unit and a second laser
unit that are arranged perpendicular to each other.
17. The hand-held tool system according to claim 16, wherein axis
of the first laser unit and that of the second laser unit define a
plane perpendicular to the axis of the output shaft of the
hand-held tool.
18. The hand-held tool system according to claim 15, wherein the
laser ranging unit is rotatable about an axis.
19. The hand-held tool system according to claim 1, wherein the
hand-held tool comprises an interlock control circuit configured to
initiate the hand-held tool or the positioning device working
alternatively.
20. The hand-held tool system according to claim 1, wherein the
control module comprises a processing module configured to reset
the reference position information.
21. A hand-held tool system, comprising a hand-held tool and a
positioning device couple to the hand-held tool, wherein the
hand-held tool comprises an output shaft and a working head coupled
to the output shaft; and the positioning device comprises: a
detecting module configured to detect a position feature and/or a
movement feature of the positioning device and output a parameter
indicative of the position feature and/or the movement feature, the
detecting module and the working head having a preset distance
therebetween; a communication module configured to communicate with
an intelligent apparatus so as to obtain a predetermined position
information from the intelligent apparatus; a storage module
configured at least to record reference position information about
the working head; a control module configured to acquire real-time
position information about the working head based on the parameter,
the preset distance, and the reference position information; and an
output module configured to give an indication based on the
real-time position information and the predetermined position
information.
22. The hand-held tool system according to claim 21, wherein
communication is performed between the communication module and the
intelligent apparatus at least by means of one of Wi-Fi, Bluetooth,
infrared, and NFC.
23. The hand-held tool system according to claim 22, wherein
communication information at least comprises one of position
information, size information, image information, control
instruction information, state monitoring information, and voice
information.
Description
BACKGROUND
Technical Field
The present invention relates to a hand-held tool system, and in
particular, to a hand-held tool system provided with a positioning
device.
Related Art
Currently, during punching holes continuously or mounting screws on
a workpiece by using a hand-held tool, such as an electric
screwdriver and a hand-held electric drill, so as to hang pictures
on a wall, in order to ensure that various punching points are
arranged based on specified distances and directions,
pre-measurement, lineation, and working point position marking need
to be performed in advance. Operations are complex, time-consuming
and energy-consuming, traces may be left on the wall or the
workpiece. Moreover, since overall layout is not conducted before
hanging the pictures, positions between picture frames are
discordant or a spacing is not suitable, so that position deviation
and the like may occur easily.
In view of this, it is necessary to research and develop a
hand-held tool system configured to perform positioning, ranging,
and punching directly so as to assist in picture hanging and has
simple, intelligent, and humanized operations, without traces.
SUMMARY
In order to overcome defects in the prior art, the present
invention provides a hand-held tool system configured to perform
positioning accurately and quickly.
A technical solution of the present invention is shown as follows:
a hand-held tool system, including a hand-held tool; and a
positioning device couple to the hand-held tool, where the
hand-held tool includes an output shaft and a working head coupled
to the output shaft; and the positioning device includes: a
detecting module, configured to detect a position feature and/or a
movement feature of the positioning device and output a parameter
indicative of the position feature and/or the movement feature, the
detecting module and the working head having a preset distance
therebetween; a storage module, configured at least to record
reference position information about the working head; a control
module, configured to acquire real-time position information about
the working head based on the parameter, the preset distance, and
the reference position information; and an output module,
configured to output the real-time position information in a
sensible manner.
Preferably, the hand-held tool includes a main body portion and a
holding portion arranged at an angle to the main body portion,
where the positioning device is disposed in the main body
portion.
Preferably, the positioning device further includes an input unit
configured to input predetermined position information.
Preferably, the input unit is configured to be a key or a touch
screen arranged on a tail end face of the main body portion which
is opposite to the working head.
Preferably, the positioning device further includes a mode
selection unit configured to operably select the positioning device
to be in a predetermined working mode, where the control module is
configured to match an operation interface corresponding to the
predetermined working mode.
Preferably, the positioning device includes a positioning portion,
and the output module includes a reminding device, where the
reminding device is controlled to send out an indication when the
control module determines that the positioning portion is reached
to a preset area adjacent to the predetermined position.
Preferably, the reminding device is controlled to send out an
in-place indication when the control module determines that the
positioning portion is reached to the predetermined position.
Preferably, the positioning device further includes an actuating
unit for actuating to record information of a determined reference
position, where the actuating unit is disposed in the holding
portion and adjacent to a switch trigger.
Preferably, the output module includes a display screen for
displaying position information of the working head in a digital
manner. The display screen is arranged on a tail end face of the
main body portion which is opposite to the working head.
Preferably, the positioning device is provided with a DC power
supply for supplying electric energy.
Preferably, the detecting module includes an inertial detection
unit for detecting an attitude angle of the positioning device,
where the inertial detection unit is arranged parallel with or
perpendicular to an axis of the output shaft of the hand-held tool.
The inertial detection unit includes an acceleration sensor and an
angular velocity sensor, where the acceleration sensor is
configured as a three-axis accelerometer and the angular velocity
sensor is configured as a three-axis gyroscope.
Preferably, the detecting module further includes a laser ranging
unit configured to detect a linear distance between the positioning
device and a reference plane, where the laser ranging unit includes
a laser transmitter and a laser sensor.
Preferably, the laser ranging unit includes a first laser unit and
a second laser unit that are arranged perpendicular to each
other.
Preferably, axis of the first laser unit and that of the second
laser unit define a plane perpendicular to the axis of the output
shaft of the hand-held tool.
Preferably, the laser ranging unit is rotatable about an axis.
Preferably, the detecting module further includes an image sensing
unit configured to detect a displacement of the positioning device,
where the image sensing unit includes a laser camera and a laser
transmitter.
Preferably, the hand-held tool includes an interlock control
circuit configured to initiate the hand-held tool or the
positioning device working alternatively.
Preferably, the control module includes a processing module
configured to reset the reference position information.
Another technical solution of the present invention is shown as
follows: a hand-held tool system, including a hand-held tool and a
positioning devicecouple to the hand-held tool, where the hand-held
tool includes an output shaft and a working head coupled to the
output shaft; and the positioning device includes: a detecting
module configured to detect a position feature and/or a movement
feature of the positioning device and output a parameter indicative
of the position feature and/or the movement feature, the detecting
module and the working head having a preset distance therebetween;
a communication module configured to communicate with an
intelligent apparatus so as to obtain predetermined position
information from the intelligent apparatus; a storage module
configured at least to record reference position information about
the working head; a control module configured to acquire real-time
position information of the working head based on the parameter,
the preset distance, and the reference position information; and an
output module configured to give an indication based on the
real-time position information and the predetermined position
information.
Preferably, communication is performed between the communication
module and the intelligent apparatus at least by means of one of
Wi-Fi, Bluetooth, infrared, and NFC.
Preferably, communication information at least includes one of
position information, size information, image information, control
instruction information, state monitoring information, and voice
information.
Yet another technical solution of the present invention is shown as
follows: a hand-held tool system, including a hand-held tool and a
positioning device couple to the hand-held tool, where the
hand-held tool includes an output shaft and a working head coupled
to the output shaft; and the positioning device includes: a
detecting module configured to detect a position feature and/or a
movement feature of the positioning device and output a parameter
indicative of the position feature and/or the movement feature; a
positioning portion having a preset distance from the detecting
module; a storage module configured at least to record reference
position information of the positioning portion; a control module
configured to acquire real-time position information about the
positioning portion based on the parameter, the preset distance,
and the reference position information; and an output module
configured to output the real-time position information in a
sensible manner.
Preferably, a central line of the positioning portion overlaps with
an axis of the working head.
Preferably, the hand-held tool includes a main body portion and a
holding portion arranged at an angle to the main body portion,
where the positioning device is arranged movably in the main body
portion.
Still another technical solution of the present invention is shown
as follows: a hand-held tool system, including a hand-held tool and
a positioning device couple to the hand-held tool, where the
hand-held tool includes an output shaft and a working head coupled
to the output shaft; and the positioning device includes: a
detecting module configured to detect a position feature and/or a
movement feature of the positioning device and output a parameter
indicative of the position feature and/or the movement feature; a
positioning portion having a preset distance from the detecting
module; a communication module configured to communicate with an
intelligent apparatus so as to obtain predetermined position
information from the intelligent apparatus; a storage module
configured at least to record reference position information about
the working head; a control module configured to acquire real-time
position information about the positioning portion based on the
parameter, the preset distance, and the reference position
information; and an output module configured to give an indication
based on the real-time position information and the predetermined
position information.
Preferably, communication is performed between the communication
module and the intelligent apparatus at least by means of one of
Wi-Fi, Bluetooth, infrared, and NFC.
Preferably, the communication information at least includes one of
position information, size information, image information, control
instruction information, state monitoring information, and voice
information.
Preferably, the position information includes predetermined
position information relative to a reference position.
Yet another technical solution of the present invention is shown as
follows: a hand-held tool system, including a hand-held tool and a
positioning device working cooperatively with the hand-held tool,
where the hand-held tool includes an output shaft and a working
head coupled to the output shaft; and the positioning device
includes a primary positioning member connected to the hand-held
tool and a secondary positioning member separated from the primary
positioning member, where the secondary positioning member is
configured to be able to be in signal association with the primary
positioning member so as to provide a positioning benchmark for the
primary positioning member; and the primary positioning member
includes: a detecting module configured to detect a position
feature and/or a movement feature of the primary positioning member
and output a parameter indicative of the position feature and/or
the movement feature, the detecting module and the working head
having a preset distance therebetween; a storage module configured
at least to record reference position information about the working
head; a control module configured to acquire real-time position
information about the working head based on the parameter, the
preset distance, and the reference position information; and an
output module configured to output the real-time position
information in a sensible manner.
Preferably, the secondary positioning member is configured to
transmit optical information, and the detecting module includes a
sensor unit configured to detect an optical signal.
Preferably, the secondary positioning member includes a light
tower, which may transmit three different types of laser signals,
and the sensor unit includes at least three photoelectric
sensors.
Preferably, the primary positioning member has a housing, and the
at least three photoelectric sensors are distributed in a plurality
of planar surfaces or curved surfaces of the housing.
Preferably, the secondary positioning member includes at least one
light guide post, an optical detection sensor, and an infrared
transmitter, and the detecting module includes a laser ranging unit
and an infrared receiving unit, where the optical detection sensor
is configured to detect a laser signal transmitted from the laser
ranging unit and guided in through the light guide post; the
infrared transmitter is configured to emit an infrared signal when
the optical detection sensor detects a laser transmitted from the
laser ranging unit; and the infrared receiving unit is configured
to receive an infrared signal with information marked by the light
guide post.
Preferably, the laser ranging unit is arranged perpendicular to an
axis of the output shaft, and the infrared receiving unit is
arranged parallel with the laser ranging unit.
Preferably, the hand-held tool includes a main body portion and a
holding portion arranged at an angle to the main body portion,
where the primary positioning member is disposed in the main body
portion.
Preferably, the primary positioning member further includes an
actuating unit for actuating to record information of a determined
reference position, where the actuating unit is disposed in the
holding portion and is arranged adjacent to a switch trigger of the
holding portion.
Preferably, the primary positioning member further includes an
input unit configured to input predetermined position
information.
Preferably, the input unit is configured to be a key or a touch
screen arranged on a tail end face which is opposite to the working
head of the main body portion.
Preferably, the output module includes a display screen for
displaying position information about the working head in a digital
manner.
Preferably, the display screen is arranged on a tail end face which
is opposite to the working head of the main body portion.
Preferably, the primary positioning member further includes a mode
selection unit configured to operably select at least one
predetermined working mode for the positioning device, where the
control module is configured to match a corresponding operation
interface based on the predetermined working mode.
Preferably, the output module includes a reminding device, where
the reminding device is controlled to send out a indication when
the control module determines that the working head is moved to a
preset area adjacent to a predetermined position.
Preferably, the reminding device is controlled to send out an
in-place indication when the control module determines that the
working head is moved to the predetermined position.
Preferably, the primary positioning member is provided with a DC
power supply for supplying electric energy.
Yet another technical solution of the present invention is shown as
follows: a hand-held tool system, including a hand-held tool and a
positioning device working cooperatively with the hand-held tool,
where the hand-held tool includes an output shaft and a working
head coupled to the output shaft; and the positioning device
includes a primary positioning member connected to the hand-held
tool and a secondary positioning member separated from the primary
positioning member, where the secondary positioning member is
configured to be able to be in signal association with the primary
positioning member so as to provide a positioning benchmark for the
primary positioning member; and the primary positioning member
includes: a detecting module configured to detect a position
feature and/or a movement feature of the positioning device and
output a parameter indicative of the position feature and/or the
movement feature, the detecting module and the working head having
a preset distance therebetween; a communication module configured
to communicate with an intelligent apparatus so as to obtain
predetermined position information from the intelligent apparatus;
a storage module configured at least to record reference position
information about the working head; a control module configured to
acquire real-time position information about the working head based
on the parameter, the preset distance, and the reference position
information; and an output module configured to give a indication
based on the real-time position information and the predetermined
position information.
A beneficial effect of the above technical solutions of the present
invention is that since the positioning device is arranged on the
hand-held tool, in a process that a tool is moved, a distance
between the working head or the positioning portion and the
predetermined position may be indicated through the output module
or may be perceived by an operator, so that accurate and rapid
positioning may be implemented. Once the working head is moved to
the predetermined position, holes may be punched directly by using
the tool, without additional positioning operations. Therefore, the
operations may be simple, intelligent, and more humanized, and a
single-person operation may be implemented without additional
personnel assistance.
The present invention further provides an operation method for
implementing positioning and punching in a working area by using a
hand-held tool system. One solution is implemented as follows: an
output module is a display screen; and the operation method
includes the following operation steps: building a secondary
positioning member in a predetermined area and starting running;
moving a hand-held tool to a reference position in the
predetermined area so as to align a working head with the reference
position; recording the reference position; moving the hand-held
tool in the working area and observing displayed information on the
display screen; until the displayed information matches a preset
first predetermined position, stopping moving the hand-held tool so
as to remain the working head of the hand-held tool in a first hole
position corresponding to the first predetermined position; and
operating the hand-held tool so as to enable the working head to
punch a first hole in the first hole position.
Preferably, the operation method further includes the following
operation steps: recording the first hole position; moving the
hand-held tool in the working area and observing displayed
information on the display screen; until the displayed information
matches a preset second predetermined position, stopping moving the
hand-held tool so as to remain the working head of the hand-held
tool in a second hole position corresponding to the second
predetermined position; and operating the hand-held tool so as to
enable the working head to punch a second hole in the second hole
position.
Preferably, the operation method further includes the following
operation steps: moving the hand-held tool to a reference position
in the predetermined area so as to align the working head with the
reference position; recording the reference position; moving the
hand-held tool in the working area and observing displayed
information on the display screen; until the displayed information
matches a preset second predetermined position, stopping moving the
hand-held tool so as to remain the working head of the hand-held
tool in a second hole position corresponding to the second
predetermined position; and operating the hand-held tool so as to
enable the working head to punch a second hole in the second hole
position.
Preferably, the detecting module includes an inertial detection
unit, and the hand-held tool is moved within a preset attitude
angle range of the inertial detection unit.
Preferably, the hand-held tool is moved within a range of 0 to 30
degrees respectively for a pitch angle and a heading angle.
Preferably, the hand-held tool stops moving and remains stationary
within a preset time for zero speed correction.
Another solution is implemented as follows: output module includes
a reminding device; and the operation method includes the following
operation steps: building a secondary positioning member in a
predetermined area and starting running; moving the hand-held tool
to a reference position in the working area so as to align the
working head with a reference position; recording the reference
position; inputting first predetermined information relative to the
reference position; moving the hand-held tool in the working area
and determining whether a indication sent by the reminding device
is received; until the indication is received, stopping moving the
hand-held tool so as to remain the working head of the hand-held
tool in a first hole position corresponding to the first
predetermined information; and operating the hand-held tool so as
to enable the working head to punch a first hole in the first hole
position.
Preferably, recording the first hole position; inputting second
predetermined information relative to the first hole position;
moving the hand-held tool in the working area and determining
whether a indication sent by the reminding device is received;
until the indication is received, stopping moving the hand-held
tool so as to remain the working head of the hand-held tool in a
second hole position corresponding to the second predetermined
information; and operating the hand-held tool so as to enable the
working head to punch a second hole in the second hole
position.
Preferably, moving the hand-held tool to a reference position so as
to align the working head with the reference position; recording
the reference position; inputting second predetermined information
relative to the reference position; moving the hand-held tool in
the working area and determining whether a indication sent by the
reminding device is received; until the indication is received,
stopping moving the hand-held tool so as to remain the working head
of the hand-held tool in a second hole position corresponding to
the second predetermined information; and operating the hand-held
tool so as to enable the working head to punch a second hole in the
second hole position.
Preferably, the detecting module includes an inertial detection
unit, and the hand-held tool is moved within a preset attitude
angle range of the inertial detection unit.
Preferably, the hand-held tool is moved within the range of 0 to 30
degrees respectively for a pitch angle and a heading angle.
Preferably, the hand-held tool stops moving and remains stationary
within a preset time for zero speed correction.
Still another solution is implemented as follows: the output module
includes a reminding device; and the operation method includes the
following operation steps: building a secondary positioning member
in the predetermined area and starting running; initiating a
primary positioning member and establishing communication with an
intelligent apparatus so as to receive predetermined information;
moving the hand-held tool to a reference position in the working
area so as to align the working head with the reference position;
recording the reference position; moving the hand-held tool in the
working area and determining whether a indication sent by the
reminding device is received; until the indication is received,
stopping moving the hand-held tool so as to remain the working head
of the hand-held tool in a first hole position corresponding to
first predetermined information in the predetermined information;
and operating the hand-held tool so as to enable the working head
to punch a first hole in the first hole position.
Preferably, the operation method further includes the following
operation steps: recording the first hole position; moving the
hand-held tool in the working area and determining whether a
indication sent by the reminding device is received; until the
indication is received, stopping moving the hand-held tool so as to
remain the working head of the hand-held tool in a second hole
position corresponding to second predetermined position in the
predetermined information; and operating the hand-held tool so as
to enable the working head to punch a second hole in the second
hole position.
Preferably, the detecting module includes an inertial detection
unit, and the hand-held tool is moved within a preset attitude
angle range of the inertial detection unit.
Preferably, the hand-held tool is moved within the range of 0 to 30
degrees respectively for a pitch angle and a heading angle.
Yet another solution is implemented as follows: the output module
is a display screen; and the operation method includes the
following operation steps: building a secondary positioning member
in the predetermined area and starting running; moving the
hand-held tool to a reference position in the working area so as to
align the working head with the reference position, and rotating
the hand-held tool around the working head; recording the reference
position; moving the hand-held tool in the working area, rotating
the hand-held tool around the working head, and observing displayed
information on the display screen; until the displayed information
matches first predetermined information, stopping moving the
hand-held tool so as to remain the working head of the hand-held
tool in a first hole position corresponding to the first
predetermined information; and operating the hand-held tool so as
to enable the working head to punch a first hole in the first hole
position.
Preferably, the operation method further includes the following
operation steps: recording the first hole position; moving the
hand-held tool in the working area, rotating the hand-held tool
around the working head, and observing displayed information on the
display screen; until the displayed information matches second
predetermined information, stopping moving the hand-held tool so as
to remain the working head of the hand-held tool in a second hole
position corresponding to the second predetermined information; and
operating the hand-held tool so as to enable the working head to
punch a second hole in the second hole position.
Preferably, the operation method further includes the following
operation steps: moving the hand-held tool to a reference position
in the predetermined area so as to align the working head with the
reference position, and rotating the hand-held around the working
head; recording the reference position; moving the hand-held tool
in the working area, rotating the hand-held tool around the working
head, and observing displayed information on the display screen;
until the displayed information matches second predetermined
information relative to the reference position, stopping moving the
hand-held tool so as to remain the working head of the hand-held
tool in a second hole position corresponding to the second
predetermined information relative to the reference position; and
operating the hand-held tool so as to enable the working head to
punch a second hole in the second hole position.
Preferably, the detecting module includes an inertial detection
unit, and the hand-held tool is moved within a preset attitude
angle range of the inertial detection unit.
Preferably, the hand-held tool is moved within the range of 0 to 30
degrees respectively for a pitch angle and a heading angle.
Yet another solution is implemented as follows: the output module
includes a reminding device; and the operation method includes the
following operation steps: building a secondary positioning member
in the predetermined area and starting running; moving the a
hand-held tool to a reference position in the working area so as to
align the working head with the reference position, and rotating
the hand-held tool around the working head; recording the reference
position; inputting first predetermined information relative to the
reference position; moving the hand-held tool in the working area,
rotating the hand-held tool around the working head, and
determining whether a indication sent by the reminding device is
received; until the indication is received, stopping moving the
hand-held tool so as to remain the working head of the hand-held
tool in a first hole position corresponding to the first
predetermined information; and operating the hand-held tool so as
to enable the working head to punch a first hole in the first hole
position.
Preferably, the operation method further includes the following
operation steps: recording the first hole position; inputting
second predetermined information relative to the first hole
position; moving the hand-held tool in the working area, rotating
the hand-held tool around the working head, and determining whether
a indication sent by the reminding device is received; until the
indication is received, stopping moving the hand-held tool so as to
remain the working head of the hand-held tool at a second hole
position corresponding to the second predetermined information; and
operating the hand-held tool so as to enable the working head to
punch a first hole in the second hole position.
Preferably, the operation method further includes the following
operation steps: moving the hand-held tool to a reference position
so as to align the working head with the reference position;
recording the reference position; inputting second predetermined
information relative to the reference position; moving the
hand-held tool in the working area, rotating the hand-held tool
around the working head, and determining whether a indication sent
by the reminding device is received; until the indication is
received, stopping moving the hand-held tool so as to remain the
working head of the hand-held tool in a second hole position
corresponding to the second predetermined information; and
operating the hand-held tool so as to enable the working head to
punch a first hole in the second hole position.
Preferably, the detecting module includes an inertial detection
unit, and the hand-held tool is moved within a preset attitude
angle range of the inertial detection unit.
Preferably, the hand-held tool is moved within the range of 0 to 30
degrees respectively for a pitch angle and a heading angle.
Yet another solution is implemented as follows: the output module
includes a reminding device; and the operation method includes the
following operation steps: building a secondary positioning member
in the predetermined area and starting running; initiating a
primary positioning member and establishing communication with an
intelligent apparatus so as to receive a predetermined information
signal; moving the hand-held tool to a reference position in the
working area so as to align the working head with the reference
position, and rotating the hand-held tool around the working head;
recording the reference position; moving the hand-held tool in the
working area, rotating the hand-held tool around the working head,
and determining whether a indication sent by the reminding device
is received; until the indication is received, stopping moving the
hand-held tool so as to remain the working head of the hand-held
tool in a first hole position corresponding to first predetermined
information in the predetermined information signal; and operating
the hand-held tool so as to enable the working head to punch a
first hole in the first hole position.
Preferably, the operation method further includes the following
operation steps: recording the first hole position; moving the
hand-held tool in the working area, rotating the hand-held tool
around the working head, and determining whether a indication sent
by the reminding device is received; until the indication is
received, stopping moving the hand-held tool so as to remain the
working head of the hand-held tool in a second hole position
corresponding to second predetermined information in the
predetermined information signal; and operating the hand-held tool
so as to enable the working head to punch a second hole in the
second hole position.
Preferably, the detecting module includes an inertial detection
unit, and the hand-held tool is moved within a preset attitude
angle range of the inertial detection unit.
Preferably, the hand-held tool is moved within the range of 0 to 30
degrees respectively for a pitch angle and a heading angle.
Yet another solution is implemented as follows: the output module
is a display screen; and the operation method includes the
following operation steps: moving the hand-held tool to a reference
position in the predetermined area so as to align a positioning
portion with the reference position; recording the reference
position; moving the hand-held tool in the working area and
observing displayed information on the display screen; until the
displayed information matches first predetermined information,
stopping moving the hand-held tool so as to remain the positioning
portion of the positioning device in a first hole position
corresponding to the first predetermined information; and operating
the hand-held tool so as to enable the working head to punch a
first hole in the first hole position.
Preferably, the operation method further includes the following
operation steps: recording the first hole position; moving the
hand-held tool in the working area and observing displayed
information on the display screen; until the displayed information
matches second predetermined information, stopping moving the
hand-held tool so as to remain the positioning portion of the
positioning device in a second hole position corresponding to the
second predetermined information; and operating the hand-held tool
so as to enable the working head to punch a second hole in the
second hole position.
Preferably, the operation method further includes the following
operation steps: moving the hand-held tool to a reference position
in the predetermined area so as to align the positioning portion
with the reference position; recording the reference position;
moving the hand-held tool in the working area and observing
displayed information on the display screen; until the displayed
information matches second predetermined information, stopping
moving the hand-held tool so as to remain the positioning portion
of the positioning device in a second hole position corresponding
to the second predetermined information; and operating the
hand-held tool so as to enable the working head to punch a second
hole in the second hole position.
Preferably, the detecting module includes an inertial detection
unit, and the hand-held tool is moved within a preset attitude
angle range of the inertial detection unit.
Preferably, the hand-held tool is moved within the range of 0 to 30
degrees respectively for a pitch angle and a heading angle.
Yet another solution is implemented as follows: the output module
includes a reminding device; and the operation method includes the
following operation steps: moving the hand-held tool to a reference
position in the working area so as to align the positioning portion
with the reference position; recording the reference position;
inputting first predetermined information; moving the hand-held
tool in the working area and determining whether a indication sent
by the reminding device is received; until the indication is
received, stopping moving the hand-held tool so as to remain the
positioning portion of the positioning device in a first hole
position corresponding to the first predetermined information; and
operating the hand-held tool so as to enable the working head to
punch a first hole in the first hole position.
Preferably, recording the first hole position; inputting second
predetermined information; moving the hand-held tool in the working
area and determining whether a indication sent by the reminding
device is received; until the indication is received, stopping
moving the hand-held tool so as to remain the positioning portion
of the positioning device in a second hole position corresponding
to the second predetermined information; and operating the
hand-held tool so as to enable the working head to punch a second
hole in the second hole position.
Preferably, moving the hand-held tool to a reference position so as
to align the positioning portion with the reference position;
recording the reference position; inputting second predetermined
information relative to the reference position; moving the
hand-held tool in the working area and determining whether a
indication sent by the reminding device is received; until the
indication is received, stopping moving the hand-held tool so as to
remain the positioning portion of the positioning device in a
second hole position corresponding to the second predetermined
information; and operating the hand-held tool so as to enable the
working head to punch a second hole in the second hole
position.
Preferably, the detecting module includes an inertial detection
unit, and the hand-held tool is moved within a preset attitude
angle range of the inertial detection unit.
Preferably, the hand-held tool is moved within the range of 0 to 30
degrees respectively for a pitch angle and a heading angle.
Yet another solution is implemented as follows: the output module
includes a reminding device; and the operation method includes the
following operation steps: initiating the positioning device and
establishing communication with an intelligent apparatus so as to
receive a predetermined information signal from the intelligent
apparatus; moving the hand-held tool to a reference position in the
working area so as to align the positioning portion with the
reference position; recording the reference position; moving the
hand-held tool in the working area and determining whether an
indication sent by the reminding device is received; until the
indication is received, stopping moving the hand-held tool so as to
remain the positioning portion of the positioning device in a first
hole position corresponding to first predetermined information in
the predetermined information signal; and operating the hand-held
tool so as to enable the working head to punch a first hole in the
first hole position.
Preferably, the operation method further includes the following
operation steps: recording the first hole position; moving the
hand-held tool in the working area and determining whether an
indication sent by the reminding device is received; until the
indication is received, stopping moving the hand-held tool so as to
remain the positioning portion of the positioning device in a
second hole position corresponding to second predetermined
information in the predetermined information signal; and operating
the hand-held tool so as to enable the working head to punch a
second hole in the second hole position.
Preferably, the detecting module includes an inertial detection
unit, and the hand-held tool is moved within a preset attitude
angle range of the inertial detection unit.
Preferably, the hand-held tool is moved within the range of 0 to 30
degrees respectively for a pitch angle and a heading angle.
Yet another solution is implemented as follows: the operation
method includes the following operation steps: moving the hand-held
tool to a reference position in a predetermined area so as to align
the working head with the reference position; recording the
reference position; moving the hand-held tool in the working area
and observing displayed information on the display screen; until
the displayed information matches first predetermined information,
stopping moving the hand-held tool so as to remain the working head
of the hand-held tool in a first hole position corresponding to the
first predetermined information; and operating the hand-held tool
so as to enable the working head to punch a first hole in the first
hole position.
Preferably, the operation method further includes the following
operation steps: recording the first hole position; moving the
hand-held tool in the working area and observing displayed
information on the display screen; until the displayed information
matches second predetermined information relative to the first hole
position, stopping moving the hand-held tool so as to remain the
working head of the hand-held tool in a second hole position
corresponding to the second predetermined information; and
operating the hand-held tool so as to enable the working head to
punch a second hole in the second hole position.
Preferably, the operation method further includes the following
operation steps: moving the hand-held tool to a reference position
in the predetermined area so as to align the working head with the
reference position; recording the reference position; moving the
hand-held tool in the working area and observing displayed
information on the display screen; until the displayed information
matches second predetermined information relative to the reference
position, stopping moving the hand-held tool so as to remain the
working head of the hand-held tool in a second hole position
corresponding to the second predetermined information relative to
the reference position; and operating the hand-held tool so as to
enable the working head to punch a second hole in the second hole
position.
Preferably, the detecting module includes an inertial detection
unit, and the hand-held tool is moved within a preset attitude
angle range of the inertial detection unit.
Preferably, the hand-held tool is moved within the range of 0 to 30
degrees respectively for a pitch angle and a heading angle.
Preferably, the hand-held tool stops moving and remains stationary
within a preset time for zero speed correction.
Yet another solution is implemented as follows: the output module
includes a reminding device; and the operation method includes the
following operation steps: moving the hand-held tool to a reference
position in the working area so as to align the working head with
the reference position; recording the reference position; inputting
first predetermined information relative to the reference position;
moving the hand-held tool in the working area and determining
whether an indication sent by the reminding device is received;
until the indication is received, stopping moving the hand-held
tool so as to remain the working head of the hand-held tool in a
first hole position corresponding to the first predetermined
information; and operating the hand-held tool so as to enable the
working head to punch a first hole in the first hole position.
Preferably, recording the first hole position; inputting second
predetermined information relative to the first hole position;
moving the hand-held tool in the working area and determining
whether an indication sent by the reminding device is received;
until the indication is received, stopping moving the hand-held
tool so as to remain the working head of the hand-held tool in a
second hole position corresponding to the second predetermined
information; and operating the hand-held tool so as to enable the
working head to punch a second hole in the second hole
position.
Preferably, moving the hand-held tool to a reference position so as
to align the working head with the reference position; recording
the reference position; inputting second predetermined information
relative to the reference position; moving the hand-held tool in
the working area and determining whether a indication sent by the
reminding device is received; until the indication is received,
stopping moving the hand-held tool so as to remain the working head
of the hand-held tool in a second hole position corresponding to
the second predetermined information; and operating the hand-held
tool so as to enable the working head to punch a second hole in the
second hole position.
Preferably, the detecting module includes an inertial detection
unit, and the hand-held tool is moved within a preset attitude
angle range of the inertial detection unit.
Preferably, the hand-held tool is moved within the range of 0 to 30
degrees respectively for a pitch angle and a heading angle.
Preferably, the hand-held tool stops moving and remains stationary
within a preset time for zero speed correction.
Yet another solution is implemented as follows: the output module
includes a reminding device; and the operation method includes the
following operation steps: initiating the positioning device and
establishing communication with an intelligent apparatus so as to
receive a predetermined information signal from the intelligent
apparatus; moving the hand-held tool to a reference position in the
working area so as to align the working head with the reference
position; recording the reference position; moving the hand-held
tool in the working area and determining whether an indication sent
by the reminding device is received; until the indication is
received, stopping moving the hand-held tool so as to remain the
working head of the hand-held tool in a first hole position
corresponding to first predetermined information in the
predetermined information signal; and operating the hand-held tool
so as to enable the working head to punch a first hole in the first
hole position.
Preferably, the operation method further includes the following
operation steps: recording the first hole position; moving the
hand-held tool in the working area and determining whether an
indication sent by the reminding device is received; until the
indication is received, stopping moving the hand-held tool so as to
remain the working head of the hand-held tool in a second hole
position corresponding to second predetermined information in the
predetermined information signal; and operating the hand-held tool
so as to enable the working head to punch a second hole in the
second hole position.
Preferably, the detecting module includes an inertial detection
unit, and the hand-held tool is moved within a preset attitude
angle range of the inertial detection unit.
Preferably, the hand-held tool is moved within the range of 0 to 30
degrees respectively for a pitch angle and a heading angle.
Yet another solution is implemented as follows: the output module
is a display screen; and the operation method includes the
following operation steps: moving the hand-held tool to a reference
position in the working area so as to align the working head with
the reference position, and rotating the hand-held tool around the
working head; recording the reference position; moving the
hand-held tool in the working area, rotating the hand-held tool
around the working head, and observing displayed information on the
display screen; until the displayed information matches first
predetermined information, stopping moving the hand-held tool so as
to remain the working head of the hand-held tool in a first hole
position corresponding to the first predetermined information; and
operating the hand-held tool so as to enable the working head to
punch a first hole in the first hole position.
Preferably, the operation method further includes the following
operation steps: recording the first hole position; moving the
hand-held tool in the working area, rotating the hand-held tool
around the working head, and observing displayed information on the
display screen; until the displayed information matches second
predetermined information, stopping moving the hand-held tool so as
to remain the working head of the hand-held tool in a second hole
position corresponding to the second predetermined information; and
operating the hand-held tool so as to enable the working head to
punch a second hole in the second hole position.
Preferably, the operation method further includes the following
operation steps: moving the hand-held tool to a reference position
in the predetermined area so as to align the working head with the
reference position, and rotating the hand-held around the working
head; recording the reference position; moving the hand-held tool
in the working area, rotating the hand-held tool around the working
head, and observing displayed information on the display screen;
until the displayed information matches second predetermined
information relative to the reference position, stopping moving the
hand-held tool so as to remain the working head of the hand-held
tool in a second hole position corresponding to the second
predetermined information relative to the reference position; and
operating the hand-held tool so as to enable the working head to
punch a second hole in the second hole position.
Preferably, the detecting module includes an inertial detection
unit, and the hand-held tool is moved within a preset attitude
angle range of the inertial detection unit.
Preferably, the hand-held tool is moved within the range of 0 to 30
degrees respectively for a pitch angle and a heading angle.
The beneficial effect of the above technical solutions of the
present invention is that since the positioning device is arranged
on the hand-held tool, in the process that the tool is moved, the
distance between the working head or the positioning portion and
the predetermined position may be indicated through the output
module or may be perceived by an operator, so that accurate and
rapid positioning may be implemented. Once the working head is
moved to the predetermined position, holes may be punched directly
by using the tool, without additional positioning operations.
Therefore, the operations may be simple, intelligent and more, and
a single-person operation may be implemented without additional
personnel assistance.
In order to overcome the defects in the prior art, the present
invention provides a positioning device configured to perform
positioning accurately and quickly.
A technical solution of the present invention is shown as follows:
a positioning device, including: a detecting module configured to
detect a position feature and/or a movement feature of the
positioning device and output a parameter indicative of the
position feature and/or the movement feature; a positioning portion
having a preset distance from the detecting module; a storage
module configured at least to record reference position information
about the positioning portion; a control module configured to
acquire real-time position information about the positioning
portion based on the parameter, the preset distance, and the
reference position information; and an output module configured to
output the real-time position information in a sensible manner.
Preferably, the positioning device further includes a mode
selection unit configured to operably select at least one
predetermined working mode for the positioning device, where the
control module is configured to match a corresponding operation
interface based on the predetermined working mode.
Preferably, the positioning device further includes an input unit
configured to input predetermined position information.
Preferably, the input unit is configured to be a key or a touch
screen.
Preferably, the output module includes a reminding device, where
the reminding device is controlled to send out an indication when
the control module determines that the positioning portion is moved
to a preset area adjacent to a predetermined position.
Preferably, the reminding device is controlled to send out an
in-place indication when the control module determines that the
positioning portion is moved to the predetermined position.
Preferably, the positioning device further includes a DC power
supply for supplying electric energy.
Preferably, the detecting module includes an inertial detection
unit for detecting an attitude angle of the positioning device.
Preferably, the inertial detection unit includes an acceleration
sensor and an angular velocity sensor, where the acceleration
sensor is configured as a three-axis accelerometer and the angular
velocity sensor is configured as a three-axis gyroscope.
Preferably, the detecting module further includes an image sensing
unit configured to detect a displacement of the positioning device,
where the image sensing unit includes a laser camera and a laser
transmitter.
Preferably, the detecting module further includes a laser ranging
unit configured to detect a linear distance from a reference plane,
where the laser ranging unit includes a laser transmitter and a
laser sensor. The laser ranging unit includes a first laser unit
and a second laser unit that are arranged perpendicular to each
other.
Preferably, the control module includes a processing module
configured to clear the reference position information about the
working head.
Preferably, the positioning device further includes a communication
module, which is configured to communicate with an intelligent
apparatus.
Preferably, communication is performed between the communication
module and the intelligent apparatus at least by means of one of
Wi-Fi, Bluetooth, infrared, and NFC.
Preferably, the information of the communication at least includes
one of position information, size information, image information,
control instruction information, state monitoring information, and
voice information.
Another technical solution of the present invention is shown as
follows: a positioning device, including: a detecting module,
configured to detect a position feature and/or a movement feature
of the positioning device and output a parameter indicative of the
position feature and/or the movement feature; a positioning portion
having a preset distance from the detecting module; a storage
module configured at least to record reference position information
and predetermined position information about the positioning
portion; a control module, configured to acquire real-time position
information about the positioning portion based on the parameter,
the preset distance, and the position information; and an output
module, configured to give an indication based on the real-time
position information and the predetermined position
information.
Another technical solution of the present invention is shown as
follows: a positioning device, including: a detecting module
configured to detect a position feature and/or a movement feature
of the positioning device and output a parameter indicative of the
position feature and/or the movement feature; a positioning portion
having a preset distance from the detecting module; a communication
module configured to communicate with an intelligent apparatus so
as to obtain predetermined position information from the
intelligent apparatus; a storage module configured at least to
record reference position information about the positioning
portion; a control module configured to acquire real-time position
information about the positioning portion based on the parameter,
the preset distance, and the reference position information; and an
output module configured to give an indication based on the
real-time position information and the predetermined position
information.
Another technical solution of the present invention is shown as
follows: a positioning device, including: a detecting module
configured to detect a position feature and/or a movement feature
of the positioning device and output a parameter indicative of the
position feature and/or the movement feature; an information input
module configured to provide predetermined area information as well
as position information about a predetermined object in a
predetermined area; and a control module configured to control,
based on the information and the parameter, the output module to
project the information onto the predetermined area in a projecting
manner.
Preferably, the positioning device further includes an adjusting
module for correcting a projection proportion of the predetermined
object within the predetermined area.
Preferably, the positioning device further includes a communication
module for communicating with an intelligent apparatus so as to
acquire information about the predetermined object and the
predetermined area.
Preferably, the output module includes a laser galvanometer
projection apparatus.
Preferably, the output module further includes a driving circuit,
the laser galvanometer projection apparatus includes a laser
transmitter, an X-axis scanning motor, and a Y-axis scanning motor,
and the driving circuit is configured to receive displayed data and
controlling the starting and stopping of the laser transmitter as
well as a movement angle of the X-axis scanning motor.
Preferably, the X-axis scanning motor and the Y-axis scanning motor
are configured to be high-speed motors, and the laser transmitter
is configured to be a dotted laser transmitter.
Preferably, the detecting module includes an inertial detection
unit for detecting an attitude angle of the positioning device and
correcting a pitch distortion angle parameter thereof.
Preferably, the inertial detection unit includes an acceleration
sensor and an angular velocity sensor, where the acceleration
sensor is configured as a three-axis accelerometer and the angular
velocity sensor is configured as a three-axis gyroscope.
Preferably, the positioning device includes a power supply
providing energy for the positioning device to work.
Preferably, the information input module may communicate with the
intelligent apparatus so as to obtain the predetermined area
information and the position information about the predetermined
object in the predetermined area.
Another technical solution of the present invention is shown as
follows: a positioning device, where the positioning device
includes: a battery; a detecting module configured to obtain a
predetermined object and predetermined area information; an
information input module configured to provide the predetermined
area information as well as position information about the
predetermined object in a predetermined area; a control module
configured to acquire real-time position information about the
predetermined object based on the information and a parameter; and
an output module configured to give a indication based on the
real-time position information and predetermined position
information.
Preferably, the detecting module includes a camera.
Preferably, the positioning device further includes an input module
and a processing module, where the input module is configured to
operably select the processing module to process man-machine
interaction or battery level state monitoring and an output is
performed through the output module.
Preferably, the processing module includes a visual identification
unit and a visual ranging unit.
Preferably, the information at least includes one of size
information, image information, control instruction information,
and state monitoring information.
Preferably, the state monitoring information includes a battery
level and the remaining working time.
Preferably, the control instruction information includes a visual
ranging ambiguity tolerance.
Preferably, the image information includes a front-face image of a
preset predetermined and a typeset preset predetermined image.
The beneficial effect of the above technical solutions of the
present invention is that in the process that the positioning
device is moved, the distance between the positioning portion and
the predetermined position may be indicatedindicated through the
output module or may be perceived by an operator, so that more
accurate and rapid positioning may be implemented.
The present invention further provides a method for determining a
predetermined position in a predetermined area by using a
positioning device.
A technical solution of the present invention is shown as follows:
the method includes the following operation steps: moving the
positioning device so as to move the positioning portion to a
reference position in the predetermined area; recording a
coordinate of the reference position; moving the positioning device
and observing real-time position information from an output module;
stopping moving the positioning device when it is determined that
the real-time position information is consistent with a first
predetermined position; and marking the first predetermined
position by the positioning portion.
Preferably, the method further includes the following operation
steps: recording the first predetermined position; moving the
positioning device and observing real-time position information
from the output module; stopping moving the positioning device when
it is determined that the real-time position information is
consistent with a second predetermined position; and marking the
second predeterminedposition by the positioning portion.
Preferably, moving the positioning device so as to move the
positioning portion to a reference position in the predetermined
area; recording the reference position; inputting a first
predetermined position; moving the positioning device and observing
real-time position information from the output module; stopping
moving the positioning device when it is determined that the
real-time position information is consistent with the first
predetermined position; and marking the first predetermined
position by the positioning portion.
Preferably, recording the first predetermined position; inputting a
second predetermined position; moving the positioning device and
observing real-time position information from the output module;
stopping moving the positioning device when it is determined that
the real-time position information is consistent with the second
predetermined position; and making the second predetermined
position by the positioning portion.
A technical solution of the present invention is shown as follows:
the method includes the following operation steps: initiating a
communication module and establishing communication connection with
an intelligent apparatus so as to receive predetermined position
information from the intelligent apparatus; moving the positioning
device so as to move the positioning portion to a reference
position; recording reference position information; moving the
positioning device and determining whether a indication from the
output module is received; stopping moving the positioning device
when a indication signal is received; and marking a first
predetermined position in the predetermined position information by
the positioning portion.
Preferably, the method includes the following operation steps:
recording a coordinate of the first predetermined position; moving
the positioning device and determining whether a indication sent by
the output module is received; stopping moving the positioning
device when a indication signal is received; and marking a second
predetermined position by the positioning portion.
A technical solution of the present invention is shown as follows:
the method includes the following operation steps: initiating the
positioning device and establishing communication connection with
an intelligent apparatus; receiving predetermined position
information from the intelligent apparatus, where the predetermined
position information includes information about a predetermined
object in the predetermined area; projecting the information onto
the predetermined area in a projecting manner; adjusting and
correcting the projection so as to enable the predetermined object
to overlap with the projection in the predetermined area, thereby
determining a predetermined position in the projection; punching a
hole and mounting a peg in the predetermined position; and mounting
the predetermined object onto the peg.
Preferably, the projection is adjusted and corrected by operating
the intelligent apparatus.
The present invention further provides a method for performing
positioning detection by using a positioning device.
A technical solution of the present invention is shown as follows:
the method includes the following operation steps: recording a
reference position; detecting a position feature and/or a movement
feature of the positioning device and outputting a parameter
indicative of the position feature and/or the movement feature;
acquiring real-time position information about the positioning
portion based on the parameter, the preset distance, and the
reference position information; and outputting the real-time
position information in a sensible manner.
Preferably, the real-time position information is displayed in a
digital manner.
Another technical solution of the present invention is shown as
follows: the method includes the following operation steps:
recording a reference position; inputting predetermined position
information; detecting a position feature and/or a movement feature
of the positioning device and outputting a parameter indicative of
the position feature and/or the movement feature; acquiring
real-time position information about the positioning portion based
on the parameter, the preset distance, and the position
information; and giving an indication based on the real-time
position information and the predetermined position
information.
Preferably, a final coordinate or distance is compared with a
preset coordinate, and an indication is sent by the output module
when the real-time position information matches the predetermined
position information.
Preferably, the method includes the following operation steps:
initiating the positioning device so as to obtain predetermined
position information; recording a reference position; detecting a
position feature and/or a movement feature of the positioning
device and outputting a parameter indicative of the position
feature and/or the movement feature; acquiring real-time position
information about the positioning portion based on the parameter,
the preset distance, and the position information; and giving an
indication based on the real-time position information and the
predetermined position information.
Another technical solution of the present invention is shown as
follows: the method includes the following operation steps:
initiating the positioning device so as to obtain predetermined
position information as well as position information about a
predetermined object in a predetermined area; detecting a position
feature and/or a movement feature of the positioning device and
outputting a parameter indicative of the position feature and/or
the movement feature; and controlling, based on the information and
the parameter, the output module to project the information onto
the predetermined area in a projecting manner.
Another technical solution of the present invention is shown as
follows: the method includes the following operation steps:
obtaining a predetermined object and predetermined position
information; obtaining the predetermined position information as
well as position information about the predetermined object in a
predetermined area; acquiring real-time position information about
the predetermined object based on the information and the
parameter; and giving a indication based on the real-time position
information and the predetermined position information.
Preferably, the indication shown is an indication of voice.
The beneficial effect of the above technical solutions of the
present invention is that in the process that the positioning
device is moved, the distance between the positioning portion and
the predetermined position may be indicated through the output
module or may be perceived by an operator, so that accurate and
rapid positioning may be implemented.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a schematic diagram of an electric drill in a first
embodiment of the present invention.
FIG. 2 is a schematic diagram of an electric drill in a second
embodiment of the present invention.
FIG. 3 is a schematic diagram of coordinate correction for the
electric drill of FIG. 2 under a first working condition.
FIG. 4 is a schematic diagram of coordinate correction for the
electric drill of FIG. 2 under a second working condition.
FIG. 5 is a schematic diagram of coordinate correction for the
electric drill of FIG. 2 by providing a ranging module.
FIG. 6 is a flowchart of punching, by using the electric drill of
FIG. 2, a first hole and a second hole under a human-assisted
determining mode by taking a reference position as a benchmark.
FIG. 7 is a flowchart of punching, by using the electric drill of
FIG. 2, a first hole by taking a reference position as a benchmark
and a second hole by taking a first hole position as a benchmark,
under the human-assisted determining mode.
FIG. 8 is a working flowchart of a ranging and positioning
apparatus when the electric drill of FIG. 2 is under a
human-assisted determining mode.
FIG. 9 is a flowchart of punching, by using the electric drill of
FIG. 2, a first hole and a second hole under an intelligent
determining mode by inputting a preset working coordinate.
FIG. 10 is a flowchart of punching, by using the electric drill of
FIG. 2, a first hole and a second hole under an intelligent
determining mode by receiving a preset working coordinate from a
mobile phone.
FIG. 11 is a working flowchart of a ranging and positioning
apparatus when the electric drill of FIG. 2 is associated with an
intelligent apparatus under an intelligent determining mode.
FIG. 12 is a schematic diagram of a control flow of a controller
for a ranging and positioning apparatus of FIG. 2.
FIG. 13 is a schematic diagram of a working scenario of an electric
drill in a third embodiment of the present invention.
FIG. 14 is a schematic structural diagram of a laser ranging unit
for the electric drill of FIG. 13.
FIG. 15 is a schematic structural diagram of a ranging and
positioning apparatus for the electric drill of FIG. 13.
FIG. 16 is a schematic diagram of connection of various components
of the ranging and positioning apparatus of FIG. 15.
FIG. 17 is a schematic diagram of a working state of the electric
drill of FIG. 13 in a first working scenario.
FIG. 18 is a schematic diagram of a working state of the electric
drill of FIG. 13 in a third working scenario.
FIG. 19 is a schematic diagram of a working state of the electric
drill of FIG. 13 in a fifth working scenario.
FIG. 20 is a schematic diagram of a working state of the electric
drill of FIG. 13 in a sixth working scenario.
FIG. 21 is a schematic diagram of communication information and
control between the ranging and positioning apparatus of FIG. 15
and an intelligent apparatus.
FIG. 22 is a flowchart of punching a first hole and a second hole
by the electric drill of FIG. 13 under a human-assisted mode by
taking a reference position as a benchmark.
FIG. 23 is a flowchart of punching, by the electric drill of FIG.
13 under a human-assisted determining mode, a first hole by taking
a reference position as a benchmark and a second hole by taking a
first hole position as a benchmark.
FIG. 24 is a flowchart of punching a first hole and a second hole
by the electric drill of FIG. 13 under an intelligent determining
mode by inputting a preset working coordinate.
FIG. 25 is a flowchart of punching a first hole and a second hole
by the electric drill of FIG. 13 under an intelligent determining
mode by receiving a preset working coordinate from a mobile
phone.
FIG. 26 is a schematic diagram of a work flow of determining a
reference position by the electric drill of FIG. 13.
FIG. 27 is a schematic structural diagram of a ranging and
positioning apparatus in a preferred fourth embodiment of the
present invention.
FIG. 28 is a schematic structural diagram of the ranging and
positioning apparatus of FIG. 27 combined into an electric
drill.
FIG. 29 is a schematic diagram of connection of various components
of the ranging and positioning apparatus of FIG. 27.
FIG. 30 is a schematic diagram of a variation of a partial
structure of the ranging and positioning apparatus of FIG. 27.
FIG. 31 is a schematic diagram of correcting a positioning
coordinate for the ranging and positioning apparatus of FIG.
27.
FIG. 32 is a schematic diagram of communication information and
control between the ranging and positioning apparatus of FIG. 27
and an intelligent apparatus.
FIG. 33 is a flowchart of determining and marking a first
predetermined hole position and a second predetermined hole
position by the ranging and positioning apparatus of FIG. 27 under
a human-assisted mode by taking a reference position as a
benchmark.
FIG. 34 is a flowchart of determining and marking a first
predetermined hole position and a second predetermined hole
position by the ranging and positioning apparatus of FIG. 27 under
an intelligent determining mode by receiving a preset working
coordinate from a mobile phone.
FIG. 35 is a schematic diagram of a work flow of the ranging and
positioning apparatus combined with the electric drill of FIG. 28
being associated with an intelligent apparatus.
FIG. 36 is a schematic diagram of a working scenario of a
positioning system in a fifth embodiment of the present
invention.
FIG. 37 is a schematic structural diagram of a secondary
positioning member of FIG. 36, that is, a light tower.
FIG. 38 is a schematic structural diagram of a mobile ranging
apparatus of FIG. 36.
FIG. 39 is a schematic diagram of detecting scanning angles of the
light tower of FIG. 37.
FIG. 40 is a principle diagram of ranging by the light tower of
FIG. 37.
FIG. 41 is a schematic diagram of positioning coordinate correction
for a mobile ranging apparatus of FIG. 36.
FIG. 42 is a schematic diagram of communication information and
control between a mobile ranging apparatus of FIG. 36 and an
intelligent apparatus.
FIG. 43 is a flowchart of punching, by the electric drill of FIG.
36 under a human-assisted determining mode, a first hole by taking
a reference position as a benchmark and a second hole by taking a
first hole position as a benchmark.
FIG. 44 is a flowchart of punching a first hole and a second hole
by an electric drill of FIG. 36 under an intelligent determining
mode by inputting a preset working coordinate.
FIG. 45 is a flowchart of punching a first hole and a second hole
by an electric drill of FIG. 36 under an intelligent determining
mode by receiving a preset working coordinate from a mobile
phone.
FIG. 46 is a working flowchart of the ranging and positioning
apparatus of FIG. 36 under the human-assisted determining mode.
FIG. 47 is a working flowchart of a ranging and positioning
apparatus of FIG. 36 being associated with an intelligent apparatus
under an intelligent determining mode.
FIG. 48 is a schematic diagram of a working scenario of a
positioning system in a sixth embodiment of the present
invention.
FIG. 49 is a schematic structural diagram of a mobile ranging
apparatus combined with an electric drill of FIG. 48.
FIG. 50 is a schematic diagram of a functional structure of the
mobile ranging apparatus of FIG. 49.
FIG. 51 is a schematic structural diagram of a secondary
positioning member of FIG. 48.
FIG. 52 is a partially enlarged stereoscopic schematic diagram of a
secondary positioning member of FIG. 48.
FIG. 53 is a schematic diagram of a functional structure of the
secondary positioning member of FIG. 51.
FIG. 54 is a schematic diagram of two-dimensional coordinate
calculation of the positioning system of FIG. 48.
FIG. 55 is a schematic structural diagram of a secondary
positioning member in a seventh embodiment of the present
invention.
FIG. 56 is a schematic diagram of a functional structure of the
secondary positioning member of FIG. 55.
FIG. 57 is a schematic diagram of a working scenario of the
secondary positioning member of FIG. 55.
FIG. 58 is a schematic structural diagram of a mobile ranging
apparatus of FIG. 57.
FIG. 59 is a schematic diagram of a functional structure of a
mobile ranging apparatus of FIG. 57.
FIG. 60 is a schematic diagram of two-dimensional coordinate
calculation of a mobile ranging apparatus of the positioning system
of FIG. 57.
FIG. 61 is a flowchart of punching, by the secondary positioning
member and the mobile ranging apparatus of FIG. 48 and FIG. 57
under a human-assisted determining mode, a first hole by taking a
reference position as a benchmark and a second hole by taking a
first hole position as a benchmark.
FIG. 62 is a flowchart of punching a first hole and a second hole
by the secondary positioning member and a mobile ranging apparatus
of FIG. 48 and FIG. 57 under an intelligent determining mode by
receiving a preset working coordinate from a mobile phone.
FIG. 63 is a schematic diagram of a working scenario of a
positioning apparatus in an eighth embodiment of the present
invention.
FIG. 64 is a working schematic diagram of the positioning apparatus
of FIG. 63 being in communication with an intelligent
apparatus.
FIG. 65 is a schematic structural diagram of a laser galvanometer
display device of FIG. 64.
FIG. 66 is a schematic diagram of communication information and
control between the positioning apparatus of FIG. 63 and an
intelligent apparatus.
FIG. 67 is a schematic flow of performing working predetermined
positioning in a working area with the positioning apparatus of
FIG. 63 cooperated with an intelligent apparatus so as to assist in
picture hanging.
FIG. 68 is a schematic diagram of a working scenario of a
positioning apparatus in a ninth embodiment of the present
invention.
FIG. 69 is a schematic diagram of a position comparison of a
virtual picture frame projected onto a working plane by using the
positioning apparatus of FIG. 68 with a physical picture frame.
FIG. 70 is a schematic diagram of communication information and
control between the positioning apparatus and an intelligent
apparatus.
FIG. 71 is a schematic flow of performing working predetermined
positioning in a working plane by using the intelligent positioning
apparatus of FIG. 68, so as to assist in picture hanging.
DETAILED DESCRIPTION
A First Embodiment
A positioning apparatus and a hand-held tool system equipped with
the positioning apparatus of the present invention will be
described below in detail in combination with specific
embodiments.
In the hand-held tool system involved in the present invention, the
hand-held tool is preferably a drilling tool; a hand-held tool for
positioning, such as an electric drill, a screwdriver, an impact
wrench; and an electric hammer, or a hand-held for cutting a
workpiece, such as an electric circular saw, a reciprocating saw,
and a chain saw.
FIG. 1 is a schematic structural diagram of an electric drill. The
electric drill includes: a horizontally arranged main body portion;
a holding portion arranged at an angle to the main body portion,
that is, a handle 12; and a battery pack 14 detachably connected to
the handle at the bottom of the handle. A housing 10 of the main
body portion is provided with a motor (not shown) and an output
shaft (not shown) that is driven to rotate by the motor, and a
chuck 20 is provided at a front end of the housing 10 for mounting
a working head on the output shaft in a fixed manner. The power
generated by the motor is transferred to the chuck 20 through the
output shaft, which in turn drives the working head to work. There
may also be a transmission mechanism for driving the working head
to rotate and/or reciprocate between the motor and the chuck, such
as a gear and an air cylinder. An axis X of the output shaft is
arranged parallel with or coaxial with a direction of a working
rotation axis of the working head. A switch trigger 18 is arranged
on the handle 12. A user may initiate the electric drill by
pressing the switch trigger 18, so that the working head rotates in
a forward or reverse direction. Certainly, the electric drill can
also be driven by an alternating current power supply instead of
the battery pack, or by pneumatic pressure or hydraulic pressure,
etc.
The positioning apparatus involved in this embodiment is a ranging
and positioning apparatus. The ranging and positioning apparatus
may be mounted on the housing of the electric drill in a detachable
manner or may be integrated with the electric drill in a
non-detachable manner. The positioning apparatus may also be a
wearable inertial detection apparatus that can be detached from a
machine, which is advantageous for being easily used for ranging by
different tools.
In this embodiment, preferably, description is made to the ranging
and positioning apparatus being integrated with the electric
drill.
The ranging and positioning apparatus includes a
detecting/measuring module, an output module, and a control module
connecting the detecting module to the output module. The detecting
module is configured to detect continuous position feature values
and/or movement feature values of the housing. The detecting module
is disposed within the housing. Certainly, the detecting module may
also be provided outside the housing and integrated with or
arranged separately from the output module. In addition, the
detecting module may be fixed on the housing of the electric drill
in the form of a fitting, that is, a fixed interface is left on the
electric drill. Connection to a display device may be implemented
as long as the detecting module is mounted on the housing.
Preferably, the detecting module has a preset distance from the
motor and the battery pack 14 so as to prevent the detecting module
from interference. The detecting module includes an inertial sensor
42, such as a displacement detecting sensor and an orientation
detecting sensor. The displacement detecting sensor includes an
acceleration sensor and the orientation detecting sensor includes
an angular velocity sensor and/or an angle sensor, and are
respectively configured to detect displacements of the electric
drill in at least two directions of space and orientations of the
electric drill. For either the acceleration sensor or the angular
velocity sensor, its mounting position relative to the electric
drill needs to be parallel with or perpendicular to the axis X of
the output shaft. The parallelism or the perpendicularity here does
not mean a complete 0.degree. or 90.degree., but being
substantially parallel or perpendicular, that is, a range of plus
or minus 15.degree. can be considered to be substantially parallel
or substantially perpendicular, preferably a range of plus or minus
5.degree.. It is possible to be not parallel and perpendicular, but
an included angle of mounting must be known, or a software
correction may be performed so as to acquire the included angle of
the sensor, and the included angle may be taken into account in a
final calculation. The acceleration sensor is preferably configured
as a three-axis acceleration sensor, which reflects linear
displacement features of the electric drill in three directions of
space comprehensively and accurately by detecting the spatial
acceleration. The angular velocity sensor is preferably configured
as a three-axis gyroscope, especially an MEMS gyroscope, which
accurately reflects tilted angle features of the electric drill in
three directions of space by detecting rotational angular velocity
during deflection and tilting and is not affected by a magnetic
field. Certainly, the orientation detecting sensor may also be an
electronic compass or other sensors configured to detect
orientations.
The output module of this embodiment relates to a display device
arranged outside the housing. Preferably, the display device is
arranged on a tail portion of the housing of the electric drill
away from the chuck or the working head, preferably on an end face
of the tail portion, so that the user may observe the display
device whenever and wherever possible, that is, the user may see
the display device in real time no matter it is a horizontal
operation or a vertical punching operation. The display device is
configured to display detection position information about the
electric drill. The control module includes a processing module.
The processing module may process and analyze a displacement
feature and an orientation feature detected by the detecting module
so as to convert the displacement feature and the orientation
feature into numerical values and send the numerical values to the
display device, that is, the processing module receives signals
indicative of a position feature and/or a movement feature detected
by the detecting module, performs data processing and analysis
calculation and the like on the signals, and acquires a relative
coordinate or a relative distance of a current position relative to
a reference position and/or azimuth angle data on the current
position. The control module is preferably an MCU controller 44,
and the control module may also be integrated with the detecting
module, for example, the sensor itself is provided with a
controller. The position information about the electric drill
displayed by the display device includes a moving distance or a
three-dimensional coordinate relative to a benchmark position in
three directions. An azimuth angle of the electric drill, that is,
a horizontal/tilted angle, may be configured to be displayed or not
displayed as needed. The preferred display device in this
embodiment includes a display screen 46. The display screen 46 may
be an LED or LCD liquid crystal display and may also be a digital
tube display, which displays the distance or the coordinate
digitally, so that the user may learn a real-time position of the
electric drill intuitively. As other optional solutions, the output
module may also include a projection apparatus, which projects the
coordinate or values of the coordinate onto a working plane through
projection display, so that the user may observe more clearly and
conveniently.
The ranging and positioning apparatus further includes an actuating
unit for actuating to record information of a determined reference
position. The actuating unit of this embodiment is configured to be
a positioning mode key 48. The positioning mode key 48 is mounted
on the housing, preferably in a position adjacent to the display
screen. Another preferred manner is to be arranged adjacent to the
switch trigger 18 on the handle 12 so as to facilitate operations
of an operator when the handle 12 is held. The actuating of the
positioning mode key 48 may be used at least for recording a
determined origin coordinate, that is, a reference position, or
clearing the origin coordinate and recording the zero coordinate,
thereby eliminating accumulated errors. The actuating of the
positioning mode key 48 may also be used for initiating the ranging
and positioning apparatus to supply power, that is to say,
coordinate clearing may occur when or after the ranging and
positioning apparatus is powered on, which means that the ranging
and positioning apparatus may be always in a power-on state.
Considering energy saving, the ranging and positioning apparatus
may be powered off after the electric drill reaches a predetermined
position. In addition, in order to eliminate an influence of the
vibration when the electric drill is initiated on the inertial
sensor, when the positioning mode key 48 is pressed, the electric
drill motor is not powered on, that is, the motor does not work.
Certainly, the influence on the inertial sensor may also be
eliminated by reducing the vibration, for example, providing a
vibration reduction apparatus between the inertial sensor and the
housing, such as a rubber pad and a vibration reduction spring.
It is necessary to determine a reference position and/or an
orientation of the electric drill before the ranging and
positioning apparatus starts detecting. The reference position here
may be a starting position or an finishing position of a first
working process, such as hole drilling. The reference position may
be a position in which a drill bit abuts against the workpiece and
is ready to initiate the trigger to start working or a working
ending position in which the drill bit remains in a hole after a
hole drilling is completed and the trigger is released. The
difference therebetween is whether data on a next working position
detected includes depth data on punching. This difference has no
influence on determining a distance and angle between holes during
continuous punching. Therefore, the starting position of working
and the finishing position of working are collectively referred to
as a working position here. The reference position may be fixed as
a first working position, which needs accumulating data during
continuous punching. A previous working position for each operation
may also be defined as the reference position, so that if
continuous punching is an isometric operation, merely one set of
data needs to be recorded. Since the ranging and positioning
apparatus of this embodiment may detect the displacements in three
directions of space, that is to say, the ranging and positioning
apparatus may also detect the depth of punching in addition to
confirming a position of punching, continuous punching of a given
distance and depth may be implemented.
In this embodiment, preferably, a reference position or a benchmark
position of the electric drill is determined by detecting the
positioning mode key 48, that is, the position where the electric
drill is located when the positioning mode key 48 is actuated.
Under a normal working condition, the reference position is an
origin position of the electric drill, and then, in a process that
the electric drill is moved, the detecting module starts detecting
a real-time position of the electric drill, and the position may be
displayed by the display device in real time. Certainly, the
positioning mode key may also be in other forms, such as a separate
button for the user to trigger, a trigger of the electric drill or
an actuating member, and is mounted on the housing in a position
convenient for operation, or perform actuating detection in other
manners, such as voice control and gesture recognition. In other
optional solutions, the positioning mode key is combined with the
trigger of the electric drill into one, and the actuating detection
and the initiating of the power supplying to the electric drill are
implemented by pressing with different depths; or the trigger is
divided into two portions, with one configured to implement the
function of the positioning mode key and the other configured to
implement the function of the trigger, and both preventing
misoperation by providing an interlock, that is to say, detection
of the detecting module and operation of the motor may be performed
alternatively. Moreover, there is a certain distance between the
positioning mode key and the trigger so as to allow the user to
actuate the positioning mode key while holding the handle by one
hand to operate the trigger.
After triggering the positioning mode key 48, the user may move the
electric drill to a position in which the electric drill needs to
work, observe data on a current position of the electric drill
displayed on the display screen in real time, and confirms, based
on the data, whether the electric drill reaches a working position,
and the electric drill may start working after the electric drill
reaches the working position. In order to prevent error
accumulation caused by continuous detection of the detecting
module, the detection may be stopped while starting working, or a
detecting system may be powered off. There are many implementations
of stopping detection, for example, in a case that the positioning
mode key and the trigger are arranged separately, an initiating
circuit of the positioning mode key and an initiating circuit of
the trigger switch may be configured to be interlock circuits, that
is, the detection starts when the positioning mode key is actuated,
and the detection stops when a trigger switch is actuated, or the
detecting module stops detecting when the positioning mode key is
actuated again. The display screen displays distances between a
current position and a previous triggering position in three
directions in a fixed manner, and the data may be stored, that is
to say, the control module of the ranging and positioning apparatus
includes a storage module for storing data such as a distance and
an azimuth angle of the working position relative to the reference
position. After one operation is completed, for example, one hole
drilling is completed, the positioning mode key is actuated again,
that is, the current position is the reference position, the
displayed data is all cleared, and the electric drill is moved to a
next required working position again, so that the position in which
the electric drill is located every time the positioning mode key
is actuated may be a reference position next time. Therefore,
merely one set of data needs to be recorded when isometric punching
on a same straight line is performed, which is simpler and more
convenient compared with the configuration of merely setting an
actuating position for the first time, no matter the set of data is
determined by the user or stored in a storage unit and displayed
through the display device.
Certainly, if the user desires to merely set one reference
position, the user may actuate the positioning mode key in the
selected reference position every time, and then, displace to a
position to be operated, so that a moving distance needs to be
determined by the user or calculated through the ranging and
positioning apparatus. In addition, coordinates of a plurality of
punching points relative to an initial position or a previous
punching point may be input at one time and stored. Therefore, it
is not necessary to re-input a punching coordinate every time a
hole is punched, and the system automatically sets a predetermined
coordinate to be a coordinate value that is stored in the storage
module previously.
A Second Embodiment
FIG. 2 is a schematic diagram of another electric drill. The
ranging and positioning apparatus includes an input unit for
setting a position parameter relative to the reference position,
that is, predetermined position information, and inputting a
predetermined position via a keyboard, a touch screen, or a button,
preferably a keyboard. The user may input the moving distance as
needed. Then, the user may actuate the positioning mode key at the
reference position and move the electric drill. When the electric
drill reaches a specified position, the user may be prompted
correspondingly in a sensible manner, for example, by blinking of
an LED lamp of the display screen, or by sound production of a
buzzer 43 as long as the ranging and positioning apparatus further
includes the buzzer 43, or by vibration or other ways that can be
perceived in visual sense, auditory sense, or tactile sense. The
sensible manner includes but not limited to optical and/or acoustic
and/or electrical manners.
Certainly, the way of inputting data by the user may also be
replaced by other ways, for example, establishing communication
connection with an intelligent apparatus so as to receive preset
position or coordinate information from the intelligent apparatus.
The ranging and positioning apparatus may further include a
communication module, configured to implement wired or wireless
communication connection, for example, a USB interface, Wi-Fi, a
cellular mobile network, etc., with the ranging and positioning
apparatus through, for example, an intelligent apparatus, such as a
mobile phone, a tablet computer, and other mobile apparatus. In
this embodiment, the communication module is preferably a Bluetooth
module 45, which inputs data into the mobile apparatus and
transmits data and information to the ranging and positioning
apparatus via Bluetooth.
When the ranging and positioning apparatus performs position
detection, since the inertial sensor is mounted in the housing and
the defined coordinate origin is located on an end portion of the
drill bit, coordinate correction is needed. Methods for coordinate
correction will be described below in detail for different
situations.
FIG. 3 is a schematic diagram of a method of coordinate correction
for the drill bit relative to the inertial sensor when the electric
drill is in a horizontal position. Assuming coordinates of the
sensor are (x0, y0, z0), coordinates of the drill bit are corrected
to be (x0, y0-L, z0+H).
FIG. 4 is a schematic diagram of a method of coordinate correction
for the drill bit relative to the inertial sensor when the electric
drill tilts. At this point, the coordinates of the drill bit are
(x0, y0-L1, z0-H1).
Moreover, L1= {square root over ((L.sup.2+H.sup.2))} cos .theta.
H1= {square root over ((L.sup.2+H.sup.2))}sin .theta.
where .theta. may be acquired by the sensor, and L and H are
mounting data on the sensor itself and are unchanged by default.
However, drill bits with different lengths may need to be changed
in actual use. In order to better correct the coordinates of the
drill bit, a ranging module may also be mounted on the electric
drill.
As shown in FIG. 5, FIG. 5 is a schematic diagram of coordinate
correction for the electric drill by providing a ranging module. A
required parameter L is detected by, for example, laser ranging,
ultrasonic ranging, infrared ranging, etc. In addition, the
parameter L may also be input manually or may be acquired
automatically by selecting one of standard working heads set
through the system.
Based on the difference in hardware constitution of the ranging and
positioning apparatus, work flows of continuously punching by the
electric drill through the ranging and positioning apparatus are
also different and will be described below in detail. A first
ranging and positioning apparatus includes an inertial sensor, a
controller, a positioning mode key, and a display screen, and
determines a punching position under a human-assisted determining
mode.
As shown in FIG. 6, FIG. 6 is a flowchart of punching a first hole
and a second hole by the electric drill under the human-assisted
determining mode by taking a reference position as a benchmark,
specifically including: step S110, the user holding the electric
drill and moving the electric drill to an initial position, that
is, a reference position. The position in which a tail end of the
drill bit contacts the working plane is defined as the reference
position, that is, the origin coordinate of the working plane, and
at this point, the drill bit needs to abut against the working
plane (such as a wall). Step S120, pressing a positioning mode key
so as to record the reference position; if the positioning mode key
simultaneously triggers the powering on and coordinate clearing for
the detecting system, powering on and initiating the detecting
module, clearing coordinates, and recording an attitude of the
electric drill; and if the detecting system has been in a power-on
state, merely clearing the coordinates and recording the attitude
of the electric drill. Step S130, next, the user moving the
electric drill, the display screen displaying a real-time position,
which is relative to the origin coordinate of the reference
position, and calculating a real-time relative position of the
electric drill bit via an algorithm by using sensor data. Step
S140, observing coordinate display. Step S150, the user
determining, based on ranging coordinate values on the display
screen, whether the electric drill is moved to a predetermined
punching point. Step S160, if the electric drill reaches the
predetermined point, the electric drill stopping moving and
remaining stationary within a preset time for zero speed
correction. Performing error control through zero speed correction
is low-cost and effective and may also achieve a more accurate
detection effect. Here, remaining the electric drill stationary is
merely one of the ways to trigger zero speed correction. Other ways
may also be used, for example, triggering the positioning mode key
again, which indicates that the electric drill is considered to
have reached the predetermined position. Or, by detecting the
contact or force of the top of the drill bit on the working plane
so as to indicate that the electric drill reaches the predetermined
position, these conditions may also achieved, and zero speed
correction starts. Step S170, the user punching a first hole after
the electric drill reaches a predetermined position. Certainly, the
detection may also be stopped, that is, the ranging and positioning
apparatus is powered off, which is not necessarily considering
energy saving and detection error reduction. When a next punching
operation is to be implemented, an optional way relates to
performing step S110 again, of moving the electric drill to the
original reference position; performing step S120 of pressing a
positioning mode key so as to record the reference position;
performing step S130 of moving the electric drill; performing step
S140 of observing coordinate display; performing step S152 of the
user determining, based on observed ranging coordinate values on
the display screen, whether the electric drill is moved to a second
preset coordinate, that is, a second predetermined punching point,
and if the electric drill reaches the predetermined point,
performing step S160 of the electric drill stopping moving and
remaining stationary within a preset time for zero speed
correction; and then, performing step S172 of punching a second
hole in a second hole position.
Referring to FIG. 7, FIG. 7 is another alternative punching
operation mode. It differs from the previous flow of punching a
first hole and a second hole by the electric drill under the
human-assisted determining mode by taking a reference position as a
benchmark in: taking the first punching position as the reference
position, that is to say, after step S170, namely, after completing
punching the first hole, performing step S120 of pressing a
positioning mode key in this hole position so as to record the
reference position, and then, repeating operation steps of S130 to
S172 in the previous flow. The positioning and punching steps may
be repeated, so that a plurality of holes may be punched
efficiently and continuously on the working plane.
Referring to FIG. 8, a work flow of performing positioning
detection by the ranging and positioning apparatus includes the
following steps: when the user presses the positioning mode key,
the controller of the ranging and positioning apparatus performing
the following operations: step P110, recording a coordinate of a
reference position; and when the user moves the electric drill, the
inertial sensor performing the following operations respectively:
step P120, measure a movement feature of the positioning apparatus
in real time, and step P130, outputting a movement parameter;
simultaneously performing step P122 of measure a position feature
of the positioning apparatus in real time, and step P132 of
outputting a position parameter; performing step P140, the
controller acquiring a coordinate or distance of the electric drill
bit relative to the reference position by calculation via an
algorithm based on the recorded coordinate of the reference
position, the detected position and movement parameters, and a
preset distance between the electric drill bit and the positioning
apparatus, that is, correcting the coordinate of the positioning
apparatus to be the coordinate or distance of the electric drill
bit; and finally, performing step P160 of outputting the coordinate
or distance on the display screen, which is a current coordinate or
distance of the electric drill bit after correction.
Another alternative ranging and positioning apparatus includes an
inertial sensor, a controller, a positioning mode key, a display
screen, an input unit, and a prompt module. If the input unit here
is an input panel arranged on the housing for the user to input
coordinates, for example, a built-in keyboard of the electric
drill, data is input directly. The user may identify the punching
position by using an intelligent determining mode.
Referring to FIG. 9, FIG. 9 shows a flow of punching a first hole
and a second hole by the electric drill under the intelligent
determining mode by inputting a preset working coordinate,
specifically including: step S110, the user holding the electric
drill and moving the electric drill to a reference position; step
S120, pressing a positioning mode key so as to record an attitude
of the electric drill and perform coordinate clearing; and step
S122, inputting data on a first punching point relative to the
origin coordinate through the input module, that is, inputting a
first preset coordinate, for example, inputting information such as
15 centimeters right and 10 centimeters upward, so that
predetermined position information M (15, 10, 0, angle) may be
generated. Next, performing step S130: the user moving the electric
drill; the processor acquiring a real-time position m of the drill
bit by using inertial device data; displaying a real-time
coordinate on the display screen; the controller comparing the
real-time coordinate with the input coordinate of the drill bit;
and when the real-time coordinate is equal to the input coordinate,
the user being indicated with a signal through lighting of an LED
lamp of the display screen or sound production of a buzzer. Step
S154, determining whether a preset prompt signal is received. If it
is observed that the LED lamp is lit up or it is heard that the
buzzer produces a sound, it indicates that the electric drill has
been moved to a predetermined punching position. Step S160, the
electric drill stopping moving and remaining stationary within a
preset time for zero speed correction. Step S170, the user punching
a first hole. When a second hole needs to be punched, if the height
and distance of a next hole are equal to the height and distance of
the previous hole, there is no need to input the height and the
distance again, and if they are different, data may be re-input or
data of all predetermined points of punching may be input at one
time. Step S120, pressing the positioning mode key by taking the
first hole as a benchmark; step S130, moving the electric drill
again; repeating step S154 and step S160 again; and finally,
performing step S172 of punching a second hole in a second preset
predetermined position, and so on.
Referring to FIG. 10, FIG. 10 is a flowchart of punching a first
hole and a second hole by the electric drill under the intelligent
determining mode by receiving a preset working coordinate from a
mobile phone. The differences from the flow shown in FIG. 9 lie in:
establishing communication connection with the electric drill
through an external mobile apparatus, for example, a smart phone;
inputting a series of preset coordinates or data of a next punching
point relative to the origin coordinate into the mobile apparatus,
so that the ranging and positioning apparatus of the electric drill
receives a preset working coordinate from the mobile phone, and the
input module on the ranging and positioning apparatus being
preferably a Bluetooth communication module. Specific working steps
include: step S100, establishing Bluetooth connection with the
mobile phone; step S102, receiving a preset working coordinate from
the mobile phone, where the preset working coordinate may include a
series of coordinates, that is, coordinates of a plurality of
consecutive punching positions; step S110, moving an electric drill
to a reference position; step S120, pressing a positioning mode
key; step S130, moving the electric drill; step S154, determining
whether a preset prompt signal is received, where if it is observed
that the LED lamp is lit up or it is heard that the buzzer produces
a sound, it indicates that the electric drill has been moved to a
predetermined punching position; step S160, the electric drill
stopping moving and remaining stationary within a preset time for
zero speed correction; and step S170, the user punching a first
hole. If a second hole is to be punched, performing step S120 of
pressing the positioning mode key by taking the first hole as a
benchmark; performing step S130 of moving the electric drill again;
repeating step S154 and step S160 again; and finally, performing
step S172 of punching a second hole in a second preset
predetermined position, and so on.
Referring to FIG. 11, detail description is made blow to a work
flow of data processing by a controller of the ranging and
positioning apparatus in the process of punching holes by the
electric drill under the intelligent determining mode by receiving
a preset working coordinate from a mobile phone. Step P100, the
controller receiving a preset coordinate; when the electric drill
is moved to a reference position and the positioning mode key is
pressed, performing step P110 of recording a coordinate of a
reference position; when the user moves the electric drill, the
inertial sensor performing the following operations respectively:
step P120, measure a movement feature of the positioning apparatus
in real time; step P130, outputting a movement parameter;
simultaneously performing step P122 of measure a position feature
of the positioning apparatus in real time and step P132 of
outputting a position parameter; performing step P140 of the
controller acquiring a coordinate or distance of the electric drill
bit relative to the reference position by calculation via an
algorithm based on the recorded coordinate of the reference
position, the detected position and movement parameters, and a
preset distance between the electric drill bit and the positioning
apparatus, that is, correcting the coordinate of the positioning
apparatus to be the coordinate or distance of the electric drill
bit; performing step P150 of the controller determining whether a
current coordinate is equal to the preset coordinate; and when it
is determined that the current coordinate is equal to the preset
coordinate, performing step P162 of emitting a preset prompt signal
which indicates that the electric drill has been moved in
place.
Referring to FIG. 12, once the positioning mode key is actuated,
the controller receives an initiating signal and starts performing
sensor data processing, that is, starts performing temperature
compensation, gravity elimination, data fusion, Kalman filtering,
etc.; next, coordinate correction is performed based on a position
of the inertial sensor, that is, an actual coordinate of the sensor
is corrected to a coordinate of the end portion of the drill bit;
then, integral detection starts via an integral algorithm and/or a
zero speed correction algorithm, which may effectively suppress
positioning errors of the inertial navigation accumulated over
time; and finally, a real-time coordinate is displayed through the
display screen, and the ranging and positioning apparatus is
powered off or the positioning mode key is actuated again.
Considering that the electric drills produced by manufacturers will
be sold all over the world and the acceleration of gravity varies
from place to place around the world, it is necessary to perform
gravity elimination. The method of gravity elimination may be local
latitude and longitude correction, or a gravity acceleration value
in the inertial sensor may also be intelligently corrected based on
position information in a mobile phone when the mobile phone
communicates with the electric drill through Bluetooth.
In the process of data processing of the inertial sensor, in
addition to gravity elimination, other processing is also needed,
such as temperature compensation, data fusion, and Kalman
filtering, thereby eliminating the influence of external factors on
the inertial sensor as well as random interference, so that the
detection of the inertial sensor is more precise.
In actual punching operations, in addition to a plurality of
isometric holes on the same straight line, the user also needs to
punch some holes with particular shapes for lines connecting the
holes, such as a triangle, a quadrangle, and a pentagram.
Therefore, all these particular shapes may be pre-stored in the
ranging and positioning apparatus. In use, the user only needs to
select a required shape, input numerical values of determining the
size of the shape, such as the radius of a circumcircle, the length
of side, and the angle of an inner angle, and determine a reference
position. There are two ways to confirm whether the electric drill
reaches a predetermined position. One way is similar to the
above-mentioned determining a punching position with human
assistance, that is, when the reference position is determined, the
system may automatically generate coordinate positions of various
predetermined points for the user to view, and the user only needs
to determine whether real-time coordinate display is the same as a
coordinate value of the predetermined point. The other way is
similar to the above-mentioned determining the punching position in
an intelligent manner, where the controller compares the real-time
coordinate of the drill bit with a preset coordinate point
generated by the system, and when the real-time coordinate of the
drill bit and the preset coordinate point generated by the system
are equal, the user is indicated, via the display screen, the
buzzer, the LED lamp or the like, of having moved to the
predetermined punching position.
A person skilled in the art would envisage that if the ranging and
positioning apparatus is separated from the electric drill, the
positioning apparatus may perform positioning on the working plane
first independently, and then perform punching in a predetermined
position by the electric drill. The ranging and positioning
apparatus includes a positioning portion. The function of the
positioning portion is equivalent to that of the electric drill
bit. The positioning portion is used as a basis for ranging
coordinate correction. The positioning portion is preferably
arranged between the detecting module and the control module. The
processing module displays a final coordinate of the positioning
portion on the display screen in real time based on a preset
distance between the detecting module and the positioning portion,
or the coordinate of the positioning portion is used as a basis for
the prompt device to send out prompt information. The positioning
portion may preferably mark in a determined predetermined position
so as to facilitate punching a hole in the predetermined position
accurately by the electric drill.
Various technical features of the above embodiments may be combined
arbitrarily. For brevity of description, description is not made to
all possible combinations of the various technical features of the
above embodiments are described. However, all the combinations of
these technical features should be considered to fall within the
scope of disclosure contained in the specification as long as there
is no contradiction between the combinations of those technical
features.
A Third Embodiment
Referring to FIG. 13, the ranging and positioning apparatus 30 of
this embodiment is combined with the electric drill 100a into one.
The electric drill 100a includes a body 11. The body 11 includes a
main body portion and a handle 12 at an angle to the main body
portion and providing a holding operation. The ranging and
positioning apparatus 30 is mounted on the main body portion of the
body 11. A power motor (not shown) is arranged on the body 11. The
handle 12 includes a switch trigger 13 configured to control the
motor. A tail end, extending along an axis, of the handle 12 is
connected to a battery pack 14. The ranging and positioning
apparatus 30 of the embodiments of the present invention is
configured to be integrated into the body 11. A person skilled in
the art would envisage that the ranging and positioning apparatus
30 may also be designed individually as a module, and then,
detachably mounted on the body 11 in the form of an accessory.
The ranging and positioning apparatus 30 includes a detecting
module, a control module, an input unit, and an output module. The
detecting module includes a laser ranging unit 310. The ranging and
positioning apparatus 30 of the embodiments of the present
invention includes two laser ranging units 310, 320 arranged at a
fixed angle. A first laser unit 310 and a second laser unit 320 are
arranged at 90 degrees to each other. The laser ranging units 310,
320 each include a laser transmitter and a laser sensor that are
connected to each other.
Referring to FIG. 14, for the convenience of expression, in this
embodiment, merely the first laser unit 310 is used as an example
for description. The first laser unit 310 includes a first laser
transmitter 310a and a first laser sensor 310b that are disposed in
parallel and in close proximity to each other. The first laser
transmitter 310a is configured to transmit a laser, and the first
laser sensor 310b is configured to detect a linear distance between
a transmission point of the first laser transmitter 310a and a
reflection point of the laser transmitted therefrom on a reference
plane D. The principle of ranging of the first laser sensor 310b is
shown as follows: the laser transmitted from the first laser
transmitter 310a and projected onto the reference plane D is
sensible and received by the first laser sensor 310b after
reflection, and the first laser sensor 310b acquires, by
calculation, the total stroke S of the laser based on the velocity
V at which the laser propagates in the air and the time T taken
from the time when the laser starts transmitting to the time when
the reflected laser is received. As different components of the
same laser ranging unit, an included angle between the transmitted
light of the laser transmitter and the reflected light received by
the laser sensor is negligibly small, that is to say, a half of the
total stroke S is the linear distance between the laser transmitted
from the first laser transmitted 310a to the reflection point on
the reference plane D, which may be detected by the first laser
sensor 310a. The principle of detecting the structure of the second
laser unit 320 is the same as that of the first laser unit 310.
Since the first laser unit 310 and the second laser unit 320 are at
90 degrees, the first laser sensor 310b and a second laser sensor
are also arranged at 90 degrees. An axis of the first laser unit
310 and an axis of the second laser unit 320 are located within a
same plane, the axis of the output shaft of the electric drill 100a
is perpendicular to the plane, and an intersection point of the
axis of the first laser unit 310 and the axis of the second laser
unit 320 is located on the axis of the output shaft of the electric
drill.
The laser transmitted from the laser transmitter of this embodiment
is a visible laser, and the laser may produce a visible reflection
point after the laser reaches the reference plane, which is
advantageous for the operator to determine the reference plane. In
some other optional solutions, a laser for ranging may be selected
as a non-visible laser however, in order to enable the operator to
identify the reference plane, an assisted visible laser also needs
to be provided.
A working plane W is configured to be a working object of the
electric drill 100a. If the electric drill 100a needs to position
and punch a row of horizontal holes on the working plane W, a top
surface of the working plane W, for example, the ceiling or the
canopy, may be selected as the reference plane D. Certainly, a
bottom surface of the working plane W, for example, a flat ground,
may also be selected as a reference plane. If the electric drill
100a needs to position and punch a row of vertical holes on the
working plane W, a side surface of the working plane W may be
selected as a reference plane C. During ranging and positioning,
the first laser unit 310 is enabled to correspond to a first
reference plane D and the second laser unit 320 is enabled to
correspond to a second reference plane C. The first laser
transmitter 310a transmits a laser towards the reference plane D,
and a second laser transmitter 320a transmits a laser towards the
reference plane C.
Since positions of the first laser unit 310 and the second laser
unit 320 are relatively fixed, the first laser transmitter 310a and
the second laser transmitter 320a simultaneously change deflection
or rotation directions with the electric drill when the electric
drill 100a is angularly deflected or rotated. In another optional
way, the first laser unit 310 and the second laser unit 320 are
arranged into a whole and may be rotatable around an axis relative
to the body 11. With such arrangements, the two laser ranging units
310, 320 may rotate together relative to the body 11 so as to
facilitate determining the reference plane.
When the laser transmitted from the first laser transmitter 310a is
projected onto the reference plane D, a reflection point may be
formed on the reference plane D, and the first laser sensor 310b is
configured to detect a linear distance between the first laser
transmitter 310a and the reflection point of the laser transmitted
therefrom to the reference plane D. Correspondingly, when a laser
transmitted from the second laser transmitter 320a is projected
onto the reference plane C, a reflection point may be formed on the
reference plane C, and the second laser sensor 320b is configured
to detect a linear distance between the laser transmitted from the
second laser transmitter 320a to the reflection point on the
reference plane C.
Referring to FIG. 15, the detecting module further includes an
inertial detection unit 350 for detecting an attitude angle of the
electric drill 100a. The inertial detection unit 350 is arranged
and mounted parallel with or perpendicular to the output axis of
the electric drill 100a. Since being closely related, the laser
ranging units 310, 320 and the inertial detection unit 350 may be
arranged, as a whole, at a front end of the body 11 near the
electric drill chuck or away from a rear end of the electric drill
chuck of the body 11. With such arrangements, a mounting position
of the ranging and positioning apparatus 30 on the body 11 may not
overlap with the projection of the battery pack 14 at an end of the
handle 12 onto the body 11, that is, they are staggered with each
other in an axial direction, thereby preventing the lasers
transmitted from the laser transmitter 310a, 320a towards the
reference planes from the interference of the battery pack 14 or
interference of the hand of the operator holding the handle 12.
The output module of this embodiment includes a display device 340.
The ranging and positioning apparatus 30 further includes a mode
selection unit configured to select a working mode. The working
mode includes but not limited to horizontally isometric
positioning, vertically isometric positioning, obliquely isometric
positioning, triangularly isometric positioning, and non-isometric
positioning. In a case of horizontally or vertically isometric
positioning, inputting of a predetermined spacing value may be
indicated on an operation interface of the user, without
considering other parameters such as a moving direction. The mode
selection unit of this embodiment is a mode selection key 330. The
actuating unit is a positioning mode key 15. The ranging and
positioning apparatus 30 is integrally arranged at the rear end of
the body 11. The display device 340 is preferably arranged on a
rear end face of the body 11 so as to facilitate the observation of
the operator. The display device 340 of this embodiment of the
present invention is a liquid crystal display screen, and
parameters such as the attitude angle detected by the inertial
detection unit 350 may be displayed on the liquid crystal display
screen in the manner of digital display. The control module 360
includes a microprocessor (MCU).
Referring to FIG. 16, the control module 360 is electrically
connected to the inertial detection unit 350 and the laser ranging
unit 300 respectively. The control module 360 acquires, by
calculation, a normal distance of the electric drill 100a from a
corresponding reference plane based on the linear distance detected
by the laser ranging unit 300 and the attitude angle detected by
the inertial detection unit 350. The display device 340 is used
configured to selectively display the attitude angle, the linear
distance, the normal distance, and a preset normal distance. The
mode selection key 330 is configured to select at least one working
mode, and different working modes correspond to different working
scenarios and resolve different technical problems correspondingly.
Specifically, each working mode includes a method of processing the
acquired normal distance by the control module 360 and a manner of
prompting or displaying a comparison result of data obtained based
on the processing method, and finally the prompting or the
displaying is used as an operational guidance for adjusting a
moving direction of the electric drill 100a. The mode selection key
330 is a key or a touch screen. The prompting manner may be a sound
producing manner or an illuminating manner. The sound may be a
voice and may also be a sound produced with a specific frequency.
The illuminating may be lighting of an LED lamp or blinking with
light. The displaying may be displayed on a display by means of a
number or a symbol.
The inertial detection unit 350 of this embodiment includes an
acceleration sensor 351 and an angular velocity sensor 352, where
the acceleration sensor 351 is configured as a three-axis
accelerometer and the angular velocity sensor 352 is configured as
a three-axis gyroscope. The three-axis accelerometer is configured
to detect the acceleration of a moving carrier in three directions,
the three-axis gyroscope is configured to detect angular velocities
of the moving carrier in three axial directions, and with the
detected data processed via data fusion, two upper included angles
of the electric drill 100a relative to a horizontal plane, that is,
a roll angle and a pitch angle, as well as a rotation angle on the
horizontal plane, that is, a heading angle, may be detected
precisely, so that a horizontal benchmark may be provided based on
tilted angles so as to calculate an included angle of a horizontal
or vertical component on the working plane. The roll angle, the
pitch angle, and the heading angle of the embodiments of the
present invention all belong to attitude angles.
A power supply 380 may provide electric energy for electricity
utilization components of the ranging and positioning apparatus 30.
The power supply 380 may supply power to these working components
and maintain for a certain working time when the ranging and
positioning apparatus 30 may be separated from the electric drill
100a as an accessory. Certainly, a person skilled in the art would
envisage that the battery pack 14 may serve as a power supply to
supply power to the above electricity utilization components
without providing a power supply additionally when various
functional components of the ranging and positioning apparatus 30
are assembled into the electric drill 100a.
Referring to FIG. 13 and FIG. 17, FIG. 13 and FIG. 17 show a first
working scenario in which the electric drill 100a punches holes on
the working plane W. When the operator needs to punch, on the
vertical working plane W, a plurality of holes located on the same
horizontal line, a first working mode is selected firstly by
operating the mode selection key 330. Under this working mode, a
top surface D of the working plane W is selected as the reference
plane, and the first laser unit 310 is involved in the ranging.
Before punching, a reference point is set on the working plane W
firstly. Specifically, the reference point may be selected on the
working plane W based on the experience of the operator or a
position of the reference point may be found and confirmed by using
a normal distance from a free end of a drill bit 17 to the
reference plane D, which is detected by using the first laser unit
310 and acquired by calculation by the control module 360, that is
to say, the acquired normal distance is compared with a preset
normal distance, and the position of the reference point is
determined when the acquired normal distance is equal to the preset
normal distance. Once the reference point has been selected or
determined, the reference point needs to be recorded. Specifically,
the drill bit 17 of the electric drill 100a is aligned with the
reference point, and the positioning mode key is operated to record
the reference point position.
The positioning mode key 15 of this embodiment is equivalent to a
learning unit and is arranged adjacent to the trigger 13 of the
handle 12. The operator may operate the positioning mode key 15
simultaneously with the hand holding the electric drill handle 12,
so that the detected normal distance may be stored or recorded
conveniently. The normal distance of the reference point from the
reference plane D may be displayed on the display device 340
selectively as a parameter.
After the reference point is set, the electric drill 100a is moved
in a horizontal direction. If the roll angle of the hand-held tool
100a is set to be 0 degree, the first laser transmitter 310a of the
first laser unit 310 projects a laser towards the reference plane
D, and the first laser sensor 310b is configured to detect a linear
distance d1 between the first laser transmitter 310a and a
reflection point of the laser transmitted therefrom on the
reference plane D. The attitude angle of the electric drill 100a
relative to a vertical plane in this position, that is, a pitch
angle .theta.1, is detected and acquired by the three-axis
accelerometer and the three-axis gyroscope. The control module 360
calculates and acquires a normal distance from the laser
transmitter 310a to the reference plane D based on a set procedure
based on the linear distance d1 and the corresponding attitude
angle .theta.1, that is, d2=d1* cos .theta.1. At this point, the
tilted electric drill 100a also has a tilted angle .theta.2
relative to the horizontal plane, and the tilted angle .theta.2 and
the attitude angle .theta.1 are corresponding angles. Therefore,
the attitude angle .theta.1 is equal to the inclination angle
.theta.2 in values. Since the distance L1 between the first laser
transmitter 310a and the electric drill bit 17 is set or preset
based on the specification of the drill bit, a distance may be
acquired, by calculation, based on the tilted angle .theta.2 and
the distance L1, that is, h=sin 01*L1, where the distance h is a
normal distance between a horizontal projection point of the first
laser transmitter 310a on the working plane W and a punching point
of the electric drill bit on the working plane W.
Thus, the control module 360 acquires, by calculation, the normal
distance from the free end of the drill bit 17 of the electric
drill 100a to the top face D, that is, H=d2-sin .theta.1*L1. The
operator determines a first hole position on the working plane W
after comparing the normal distance H with a preset normal
distance, that is to say, when the normal distance H reaches the
value of the preset normal distance, the position in which the free
end, which abuts against the working plane, of the drill bit 17 is
aligned with the working plane W is a first predetermined punching
position, and the first predetermined position remains on the same
horizontal line as the reference point.
During operation, the operation step of having to adjust the
electric drill 100a to a horizontal position prior to a detection
operation is omitted compared with the prior art. Determining the
predetermined position is based on three calculations of the
control module 360, that is, precise values corresponding to a
detection result are acquired after data correction. A first
calculation: acquiring, by calculation, the normal distance d2
based on the linear distance d1 from the laser ranging unit 310 to
the reference plane D, which is detected by the first laser unit
310, and the attitude angle .theta.1 detected by the inertial
detection unit 350; a second calculation: acquiring, by
calculation, by the control module 360, the linear distance h from
a point in which the laser ranging unit 310 projects onto the
working plane W to the free end of the drill bit based on the
linear distance L1 from the laser ranging unit 310 to the free end
of the drill bit and the attitude angle .theta.1; and a third
calculation: acquiring the normal distance from the free end of the
drill bit to the reference plane D after calculating and comparing
the normal distance d2 with the linear distance h, so that a
coordinate position of the free end of the drill bit is
acquired.
Thus, a first hole is punched in the first predetermined punching
position. The electric drill 100a is then moved along the
horizontal direction to find the second hole position. Without
considering distances between various holes, as long as a current
normal distance displayed by the display device 340 is equal to the
recorded preset normal distance H, the position where the free end
of the drill bit 17 is aligned with the working plane W is a second
horizontal hole position, and a second hole is punched in the
second hole position, and by analogy, a third hole, a fourth hole
and the like may be punched. Under the first working mode, the
reference plane D is selected, so that a row of horizontal holes
that are parallel with the reference plane and having the normal
distance H from the reference plane may be punched. Thus, real-time
positioning is implemented through real-time detection by the laser
ranging unit and the inertial detection unit, calculation and
control by the control module, and display by the display
device.
The ranging and positioning apparatus 30 of this embodiment further
includes a reminding device (not shown). When the control module
360 determines that the current normal distance and the present
normal distance H meet a preset condition, for example, the preset
condition is that the current normal distance is equal to the
preset normal distance H, the reminding device is controlled to
emit a prompt signal. The prompt signal is a sound or light. If a
sound is used as a prompt, it may be a sound or voice of a
particular frequency. If light is used, it may be lighting up an
LED lamp or blinking at a particular frequency of light. The prompt
signal may assist the operator in determining whether the electric
drill 100a is moved in place, thereby quickly determining a
punching position. The current normal distance being equal to the
preset normal distance H noted in this embodiment refers to that
the absolute value of the difference between the current normal
distance and the preset normal distance is less than or equal to a
preset value. The preset value is an allowable precision error
value. That is to say, when the electric drill 100a is moved to a
certain position, the reminding device emits a prompt signal, which
indicates that the operator has found the punching position. The
precision error value in a corresponding working mode may be
preset.
Certainly, the preset condition may also be set as the absolute
value of the difference between the current normal distance and the
preset normal distance H being greater than a preset value. The
preset value here also refers to an allowable precision error
value. That is to say, when the electric drill 100a does not reach
or approach the punching position, the reminding device emits a
prompt signal, so that the operator further moves the electric
drill 100a. For example, when the electric drill 100a is farther
from the punching position, the reminding device emits a
high-frequency sound; when the electric drill is closer to the
punching position, the reminding device emits a low-frequency
sound; and when the electric drill reaches the punching position,
the reminding device does not produce a sound. In this way, the
operator may be guided to move the electric drill 100a in a certain
direction, so that a second hole position, a third hole position, a
fourth hole position and the like may be determined accurately and
quickly. The prompt signal noted here is not limited to sounds with
a different frequencies and may also be a prompt signal of a voice
or the like.
The arrangement of the reminding device prevents the operator from
acquiring information by observing numbers on the display
constantly, thereby making operations more convenient and
labor-saving. Certainly, for the first working mode, in fact, there
is no need for the operator to know values of the preset normal
distance and the current normal distance. Therefore, a parameter
displayed by the display device 340 at this point is not necessary
and may be selected to be ignored or closed. The operator only
needs to know whether the position of the current electric drill
100a reaches a preset horizontal position relative to a preset
reference punching position. Therefore, punching may be completed
only if the reminding device emits a prompt signal.
In a second working scenario, the electric drill 100a is utilized
to punch, on the working plane W, a plurality of holes located on
the same vertical line. A second working mode may be set through
the mode selection key, and a side surface C of the working plane W
may be selected as a reference plane, in cooperation with the
second laser unit 320. Under the second working mode, working
manners of the second laser unit 320 and the inertial detection
unit 350 as well as a calculation method of the control module 360
are the same as those under the first working mode. In specific
operations, a preset reference point is determined on the working
plane W firstly, that is, a first hole is punched in a preset
punching position; the drill bit 17 of the electric drill 100a is
positioned in the first hole, and at this point, the second laser
transmitter 320a of the second laserunit 320 projects a laser
towards the reference plane, and the second laser sensor 320b is
configured to detect a linear distance between the second light
transmitter 320a and a reflection point of the laser transmitted
therefrom on the reference plane; and finally, a normal distance
between the drill bit 17 of the electric drill 100a and the second
reference plane C is acquired by the control module 360 by
calculation. The normal distance of the acquired preset reference
point is recorded as a preset normal distance of the electric drill
100a from the reference plane; the electric drill 100a is moved
along the vertical direction to find a second hole position, so
that when a normal distance of the second hole position from the
second reference plane C is equal to the preset normal distance,
the reminding device emits a prompt signal or, when the value of
the normal distance value displayed on the display device is equal
to the value of the preset normal distance, the second hole
position is determined, and punching may be performed; and by
analogy, a third hole position and a fourth hole position are
determined. Thus, it is guaranteed that holes punched in the
determined hole positions are located on the same vertical
line.
Referring to FIG. 18, in a third working scenario, the electric
drill 100a is utilized to punch, on the working plane W, a
plurality of holes that are located on the same vertical line and
equally spaced. A third operating mode is selected through the mode
selection key. Under the third working mode, the top surface D of
the working plane W is selected as a first reference plane and the
side surface C of the working plane W is selected as a second
reference plane respectively, and the first laser unit 310 is
utilized to correspond to the first reference plane and the second
laser unit 320 is utilized to correspond to the second reference
plane respectively. The first laser unit 310, the inertial
detection unit 350, and the control module 360 working
cooperatively so as to acquire a normal distance Y of the preset
reference point from the first reference plane. The second laser
unit 320, the inertial detection unit 350, and the control module
360 work cooperatively so as to acquire a normal distance X of the
preset reference point from the second reference plane. Coordinate
values (X, Y) of the preset reference point on the working plane W
is recorded by operating the key. In order to punch, on the working
plane W, a plurality of holes that are located on the same
horizontal line and are equally spaced, as long as the value of the
normal distance Y acquired by the drill bit 17 in a corresponding
hole position keeps constant, the hole position may be guaranteed
to be located on the same horizontal line as the preset reference
point. During specific operations, the spacing between a second
hole position and the first hole position is set firstly, that is,
an increased preset distance n from the second hole position to a
horizontal coordinate of the preset reference point is set, so that
the preset normal distance may be X+n by manual input via the key;
then, the electric drill 100a is moved along the horizontal
direction, the control device 360 may compare the normal distance
detected in real time and acquired by calculation thereby, and when
the absolute value of the difference between the real-time detected
normal distance and the preset normal distance X+n reaches a preset
condition, the reminding device emits a prompt signal so as to
assist the operator in finding the position where the distance from
the first hole position is n; and then, the electric drill 100a is
moved along an up-down direction, and the position where the normal
distance from the first reference plane is Y is found based on the
prompt signal emitted by the reminding device; and therefore, the
second hole position is determined. With respect to finding a third
hole position on the working plane W, the preset normal distance is
X+n+n by manual input via the key, and then the third hole position
is determined with reference to the above method. By analogy, a
fourth hole position, a fifth hole position and the like are
determined on the working plane W.
For the third working mode, another optional operation method is
shown as follows: using a previous hole position as a benchmark
before each hole is punched, and setting the real-time detected
normal distance in the position, that is, the normal distance X
from the second reference plane W, to be zero, so that coordinates
of a benchmark hole position are (0, Y), that is to say, aligning
the drill bit 17 of the electric drill 100a with a previous hole
position, recording normal distances from two reference planes by
the positioning mode key 15, and then, setting the normal distance
X to be zero; inputting a preset normal distance n in the
horizontal direction manually via the key; moving the electric
drill 100a along the horizontal direction, and when the absolute
value of the difference between the real-time detected normal
distance and the preset normal distance n reaches a preset
condition, the reminding device emitting a prompt signal; moving
the electric drill 100a along an up-down direction, and finding,
based on the prompt signal emitted by the reminding device, the
position where a normal distance from the first reference plane is
n, so that the second hole position is determined; and By analogy,
a row of horizontally isometric holes are determined on the working
plane W.
In a fourth working scenario, the electric drill 100a is utilized
to punch, on the working plane W, a plurality of isometric holes
located on the same vertical line. The fourth working mode is
selected through the mode selection key. A specific operation
method is similar to that of the third working mode, that is, the
first laser unit 310 is utilized to correspond to the first
reference plane D and the second laser unit 320 is utilized to
correspond to the second reference plane C. The difference lies in
that after the coordinate values (X, Y) of the preset reference
point on the working plane W are recorded, the value of the normal
distance X acquired by the drill bit 17 in a corresponding hole
position is kept constant, so that the hole position may be
guaranteed to be located on the same vertical line as the preset
reference point and with regard to the setting of equal spacing
between various vertical holes, reference can be made to the method
in the third mode. In order to set a new hole position, the spacing
between holes is manually input firstly, that is, a preset normal
distance is set to be Y+n, then the electric drill 100a is moved to
determine a hole position, and the normal distance is increased
successively by Y+n+n and the like with the increase of the number
of hole positions. Another method is shown as follows: firstly
returning at least one coordinate in the coordinate values (X,Y) of
the preset reference point on the working plane W, that is, the
vertical coordinate, to zero; setting the coordinates of the preset
reference point are (X, 0); inputting a preset normal distance n in
the vertical direction manually through the key; moving the
electric drill 100a along the vertical direction; when the absolute
value of the difference between the real-time detected normal
distance and the preset normal distance n reaches a preset
condition, the reminding device emitting a prompt signal; and then,
moving the electric drill 100a along the horizontal direction, and
finding, based on the prompt signal emitted by the reminding
device, the position where a normal distance from the second
reference plane is X, so that the second hole position is
determined. By analogy, a row of vertically isometric holes are
determined on the working plane W.
Referring to FIG. 19, in a fifth working scenario, holes may be
punched on the working plane W by using the electric drill 100a, so
that lines connecting the holes are of particular geometric shapes,
such as a triangle, a quadrangle, and a pentagram. In this
embodiment, the event that lines connecting the holes are oblique
lines at certain angles to the horizontal line or the vertical line
is used as an example for description. A fifth working mode is
selected through the mode selection key. The first laser unit 310
is utilized to correspond to the first reference plane D and the
second laser unit 320 is utilized to correspond to the second
reference plane C. Firstly, a preset hole position K1 is
determined, and there are different operation methods based on
precision requirements for the preset hole position K1. If there
are certain spatial size requirements for the preset hole position
K1, the electric drill 100a can be moved, and normal distances
currently detected in real time from the first reference plane D
and the second reference plane C may be displayed by using the
display device 340 and compared with a corresponding preset normal
distance, so as to determine the preset hole position K1. If there
is no precise requirement for the preset hole position K1, the
first preset hole position K1 may be determined on the working
plane W based on the experience of the operator.
A second hole is then determined via the following operation steps
based on the determined first hole position K1. For example, in
order to enable the included angle .theta. between a line
connecting a second hole position K2 with the preset hole position
K1 and the horizontal line to be 30 degrees, the difference between
a normal distance Y2 of the second hole position K2 from the first
reference plane D and the normal distance from the preset hole
position K1 is +1 m. The operator firstly records a normal distance
of the preset hole position K1 from a corresponding reference plane
through the key, that is, coordinate values (X1, Y1), the electric
drill 100a to the second hole position K2, and the control module
360 acquires the real-time detected normal distance (X2, Y2) by
calculation, and thus acquires the value of the angle .theta. by
second calculation based on the formula tan 0=Y2-Y1/X2-X1, where
.theta. is the included angle between a line connecting the second
hole with the preset hole position and the horizontal line. The
operator may determine, based on the angle .theta. calculated
through the control module 360 in real time and displayed on the
display apparatus 340 in combination with the normal distance Y1+1
m displayed in real time, whether the electric drill has been moved
to a predetermined second hole position K2.
In another alternative solution, based on the determined first hole
position K1, the operator firstly records a normal distance of the
first hole position K1 from a corresponding reference plane through
the key, that is, coordinate values (X1, Y1), manually inputs the
angle .theta. relative to the horizontal line, which is equal to 30
degrees, and the difference between a normal distance Y2 of a
second hole position K2 and the normal distance of the preset hole
position K1, which is +1 m, moves the electric drill 100 and
determines that the drill bit 17 of the electric drill 100a reaches
the second hole position K2 when the control module determines that
the preset normal distance and a preset angle meet a preset
condition, and the reminding device emits a prompt signal.
In the same way, a third hole position K3 is determined on the
working plane W, the third hole position K3 and the second hole
position K2 are arranged symmetrically relative to the first hole
position K1, and when the three hole positions K1, K2, and K3 are
sequentially connected to form an equilateral triangle, the hole
positions determined on the working plane W under this working mode
are suitable for picture hanging and other purposes. Certainly, a
person skilled in the art would envisage that holes arranged in
different forms may be punched under the working mode so as to
suitable for other purposes.
Referring to FIG. 20, in a sixth working scenario, isometric holes
may be punched on the working plane W by using the electric drill
100, and lines connecting the holes are oblique lines at an angle
relative to the horizontal line. For determining the first hole
position K1 and the second hole position K2, reference can be made
to the method as described in FIG. 7. The included angles .theta.
between the lines connecting the holes in the first hole position
K1, the second hole position K2, and the third hole position K3 and
the horizontal line are equal. Therefore, the third hole position
K3 may be determined based on the second hole position K2 or the
first hole position K1. When the third hole position is determined
based on the second hole position K2, the normal distances (X2,Y2)
of the second hole position K2 relative to the reference planes
respectively are recorded, the electric drill 100 is moved, and the
operator may determine, based on the angle .theta. calculated
through the control module 360 in real time and displayed on the
display device 340 in combination with the normal distance Y2+1 m
displayed in real time, whether the electric drill has been moved
to the predetermined third hole position K3. When the third hole
position is determined based on the first hole position K1, the
normal distances (X1,Y1) of the first hole position K1 relative to
the reference planes respectively are recorded, the electric drill
100 is moved, and it is determined, based on the angle .theta.
calculated through the control module 360 in real time and
displayed on the display device 340 in combination with the normal
distance Y1+2 m displayed in real time, whether the electric drill
reaches the predetermined third hole position K3 (X3,Y4).
Certainly, a preset condition, that is, the angle .theta., and the
difference between relative displacements of various hole positions
relative to the first reference plane D may also be input manually,
the electric drill 100a is moved, and when the control module
determines that the preset normal distance and the preset angle
meet a preset condition, it is determined that the drill bit 17 of
the electric drill 100a reaches the third hole position K3, and the
reminding device emits a prompt signal.
The above different working scenarios correspond to different
working modes. For different operation interfaces, the operator may
select at least one working mode as needed. The selection of the
working mode means selection of a method of processing the acquired
normal distances by the control module as well as selection of the
prompting or displaying corresponding to the processing method.
During a punching process of the electric drill 100a of the present
invention, the ranging and positioning apparatus 30 is integrated
into the electric drill 100a. Since an inertial sensor is used, the
level of the electric drill 100a is not required to be corrected
manually during an positioning and punching operation, that is to
say, the ranging and positioning apparatus may automatically
correct the tilted degree of the electric drill 100a within the
range of an attitude angle of not greater than 30 degrees, so that
punching operations may be more convenient and rapid and punching
positions may be very precise.
During movement of the ranging and positioning apparatus, real-time
position information about the positioning portion or the working
head changes. The ranging and positioning apparatus is arranged on
an electric tool, and during the tool is moved, the distance
between the working head and a predetermined position may be
indicated through the output module. Once the working head is moved
to the predetermined position, holes may be punched directly by
using the tool, without additional positioning operations.
In some working scenarios, the positioning apparatus may be in
communication association with an intelligent apparatus so as to
assist in mounting a predetermined object in a predetermined area,
for example, performing positioning, punching, and picturing
hanging on a predetermined wall. The intelligent apparatus is
configured to be installed with APP typesetting software associated
with the positioning apparatus. The intelligent apparatus transmits
or exchanges information with the positioning apparatus via Wi-Fi,
Bluetooth, infrared, NFC or other wireless manners. The intelligent
apparatus may preset some information by using the APP typesetting
software, such as presetting a distance and direction of a
predetermined point from a reference point and a working mode
parameter, and then transmit the preset information to the
positioning apparatus. The positioning apparatus may be a ranging
and positioning apparatus, a visual identifying and positioning
apparatus, or a projecting and positioning apparatus, where the
information may be in the form of position information, size
information, image information, control instruction information,
state monitoring information, voice information, etc.
Referring to FIG. 21, a laser ranging and positioning apparatus
configured to in communication association with an intelligent
apparatus is also involved in the hand-held tool system. The laser
ranging and positioning apparatus is configured to perform punching
and positioning in combination with the hand-held tool, which has
been described above in detail. In order to perform positioning and
punching on a working plane and mount a picture by using the laser
ranging and positioning apparatus, there are further requirements
for the laser ranging and positioning apparatus. The laser ranging
and positioning apparatus includes a communication module, a
detecting module, and a processing module, where the communication
module includes a receiving module for receiving information sent
by an intelligent apparatus; the detecting module is configured to
acquire a position of a preset predetermined and/or movement
information about the positioning apparatus; and the processing
module is configured to process information from the receiving
module and/or the detecting module. The processing of the
processing module includes calculation of a normal distance of the
positioning apparatus from a reference plane, calculation of a
horizontal and/or vertical angle, coordinate transformation and/or
correction, etc. The control instruction information includes a
horizontal deflection angle tolerance. The state monitoring
information includes a monitored current working attitude angle.
The state monitoring information includes a battery level and the
remaining working time.
The communication module further includes a sending module for
sending, to the intelligent apparatus, the information processed by
the processing module or obtained by the detecting module. The size
information in this embodiment includes the length and width of a
picture frame of each picture to be hung and the horizontal and
vertical spacing between adjacent picture frames. The position
information includes positions of hooks for the picture frames
relative to respective reference points. The control instruction
information includes a working mode and a ranging precision
tolerance. The working mode includes an independent detection mode
and a picture hanging mode. In the independent detection mode,
there are horizontal ranging, vertical ranging, linear ranging at a
set angle, horizontally equal spacing, vertically equal spacing,
linear ranging at a set angle, etc. The state monitoring
information includes a battery level, a continuous working time of
the apparatus, the remaining working time, the number of currently
identifiable feature points, data acquired by detection or
calculation, etc.
The ranging and positioning apparatus may send its current state
monitoring information, such as monitoring information about the
distance from the wall, to the intelligent apparatus through the
sending module.
The positioning apparatus includes an input unit. The input unit is
electrically connected to the processing module. The input unit may
be in the form of a key or a touch screen. At least one working
mode may be selected for the positioning apparatus through the
input unit, that is, mode switching processing. The processing
module under a corresponding working mode includes at least one
information processing method corresponding to the working mode.
The positioning apparatus may also be configured to perform
functions such as man-machine interaction and battery level
monitoring, through the input unit.
The detecting module includes a laser ranging sensor and an
inertial sensor and is configured to detect a movement and/or state
parameter of the laser ranging and positioning apparatus. The
processing of the processing module includes calculation of a
moving distance of the positioning apparatus, calculation of a
horizontal and/or vertical angle, coordinate transformation and/or
correction, etc.
The positioning apparatus further includes an output module for
outputting, in a sensible manner, the information processed by the
processing module. The output module of this embodiment may be a
reminding device for emitting a prompt signal based on a processing
result of the processing module. The reminding apparatus includes
at least one indication unit and/or a display unit. The display
unit emits an optical signal, and the indication unit emits a sound
signal. The display unit may be an LED or a display, and the
indication unit may be a buzzer or a loudspeaker.
As shown in FIG. 22, a processing flow of punching a first hole and
a second hole by the electric drill under the human-assist
determining mode by taking a reference position as a benchmark is
shown as follows and specifically includes: step S110, the user
holding the electric drill 100a and moving the electric drill to a
reference position. The position where the tail end of the drill
bit contacts the working plane is defined as the reference
position, that is, the origin coordinate of the working plane, and
at this point, the drill bit needs to abut against the working
plane (such as a wall). Step S120, pressing a positioning mode key
so as to record the reference position; if the positioning mode key
simultaneously controls the powering on and coordinate clearing for
the detecting system, powering on and initiating the detecting
module, clearing coordinates, and recording an attitude of the
electric drill; and if the detecting system has been in a power-on
state, merely clearing the coordinates and recording the attitude
of the electric drill. Step S130, next, the user moving the
electric drill, and the display screen displaying a real-time
position, which is relative to the origin coordinate of the
reference position here, and calculating a real-time relative
position of the electric drill bit via an algorithm by using sensor
data. Step S140, observing coordinate display. Step S150, the user
determining, based on ranging coordinate values on the display
screen, whether the electric drill is moved to a predetermined
punching point. Step S170, the user punching a first hole after the
electric drill reaches a predetermined location. Certainly, the
detection may also be stopped, that is, the ranging and positioning
apparatus is powered off, which is not necessarily considering
energy saving and detection error reduction. When a next hole needs
to be punched, an optional manner is shown as follows: performing,
again, step S110 of moving the electric drill to the original
reference position; then performing step S120 of pressing the
positioning mode key so as to record the reference position; then
performing step S130 of moving the electric drill; performing step
S140 of observing coordinate display; performing step S152, the
user determining, based on ranging coordinate values observed on
the display screen, whether the electric drill is moved to a second
preset coordinate, that is, a second predetermined punching point;
and if the electric drill reaches a predetermined point, performing
step S172 of punching a second hole in the second hole
position.
Referring to FIG. 23, FIG. 23 is a flowchart of punching, by the
electric drill 100a under the human-assisted determining mode, a
first hole by taking a reference position as a benchmark and a
second hole by taking a first hole position as a benchmark. The
differences from the previous flow of punching a first hole and a
second hole by the electric drill by taking a reference position as
a benchmark under the human-assisted determining mode lies in:
using the first punching position as the reference position, that
is to say, after step S170, namely, after the completion of the
first hole punching, performing step S120 of pressing the
positioning mode key in this hole position so as to record the
reference position, and then repeating operation steps of S130 to
S172 in the previous flow. The positioning and punching steps may
be repeated, so that a plurality of holes may be punched
efficiently and continuously on the working plane.
Referring to FIG. 24, FIG. 24 is a flowchart of punching a first
hole and a second hole by the electric drill 100a under the
intelligent determining mode by inputting a preset working
coordinate. The operation flow specifically includes: step S110,
the user holding the electric drill and moving the electric drill
to a reference position; step S120, pressing a positioning mode key
so as to record an attitude of the electric drill and clear a
coordinate; step S122, inputting data on a first punching point
relative to the origin coordinate through the input module, that
is, inputting a first preset coordinate, for example, inputting 15
centimeters right and 10 centimeters upward, so that predetermined
position information M (15, 10, 0, angle) is generated. Next,
performing step S130: the user moving the electric drill; the
processor acquiring a real-time position m of the drill bit by
using inertial device data; displaying a real-time coordinate on
the display screen; the controller comparing the real-time
coordinate with the input coordinate of the drill bit; and when the
real-time coordinate is equal to the input coordinate, the user
being indicated with a signal through lighting of an LED lamp of
the display screen or sound production of a buzzer. Step S154,
determining whether a preset prompt signal is received. If it is
observed that the LED lamp is lit up or it is heard that the buzzer
produces a sound, it indicates that the electric drill has been
moved to a predetermined punching position. Step S170, punching a
first hole in the predetermined position. When a second hole needs
to be punched, the following steps are performed: step S120,
pressing the positioning mode key by taking the first hole as a
benchmark; step S124, inputting a second preset working coordinate;
step S130, moving the electric drill again; step S154, determining
whether the preset prompt signal is received; and finally, step
S172, punching a second hole in a second preset predetermined
position, and so on.
The user inputs the coordinate data on a next punching point
relative to the origin through the input module. If the input
module here is an input panel arranged on the housing for the user
to input coordinates, for example, a built-in keyboard of the
electric drill, the data is input directly.
Referring to FIG. 25, FIG. 25 is a flowchart of punching a first
hole and a second hole by the electric drill under the intelligent
determining mode by receiving a preset working coordinate from a
mobile phone. The differences from the flow shown in FIG. 23 lie
in: establishing communication connection with the electric drill
through an external mobile apparatus, for example, a smart phone;
inputting a series of preset coordinates or the data of a next
punching point relative to the origin coordinate on the mobile
apparatus, so that the ranging and positioning apparatus of the
electric drill receives a preset working coordinate from the mobile
phone; and arranging a Bluetooth communication module on the
ranging and positioning apparatus. Specific working steps include:
step S100, establishing Bluetooth connection with a mobile phone;
step S102, receiving a preset working coordinate from the mobile
phone, where the preset working coordinate may include a series of
coordinates, that is, coordinates of a plurality of consecutive
punching positions; step S110, moving the electric drill to a
reference position; step S120, pressing a positioning mode key;
step S130, moving the electric drill; step S154, determining
whether a preset prompt signal is received, where if it is observed
that the LED lamp is lit up or it is heard that the buzzer produces
a sound, it indicates that the electric drill has been moved to a
predetermined punching position; and step S170, the user punching a
first hole. If a second hole is to be punched, the following steps
are performed: step S120, pressing the positioning mode key by
taking the first hole as a benchmark; step S130, moving the
electric drill again; step S154, determining whether the preset
prompt signal is received; and finally, step S172, punching a
second hole in a second preset predetermined position, and so
on.
Referring to FIG. 26, before the electric drill 100a is moved to a
reference position, the reference position needs to be set firstly,
and then, a working predetermined at a certain distance from the
reference position may be preset. A normal practice is shown as
follows: during setting a reference position, selecting a reference
position on a working plane arbitrarily based on step S104, or
confirming, based on the reference plane, a reference position
where the working plane is at a particular distance from a known
reference plane. If it is determined that the reference position is
selected on the working plane based on working experience, step
S108 of marking the reference position is performed. Instead of
selecting the reference position by experience, if there is a clear
precision requirement for the reference position, step S105 of
determining whether the reference position may be set based on the
preset reference plane may be performed; and if so, the following
operation steps are performed: step S106, controlling the ranging
and positioning apparatus to enable the laser ranging unit to
project a laser onto the preset reference plane; step S130, moving
the electric drill; step S140, observing a coordinate displayed on
the display device 340 to find a point in which a distance from the
preset reference plane is a preset normal distance; step S150, when
it is determined that the coordinate displayed on the display
device 340 is equal to the preset working predetermined coordinate,
stopping moving the electric drill and determining a reference
point; and step S108, recording the reference position,
specifically, pressing a positioning mode key in the reference
position so as to record a coordinate of the reference point.
The hand-held tool of the embodiments of the present invention is
not limited to the electric drill 100a, and the principle of the
ranging and positioning apparatus of the present invention may be
applicable to any hand-held tool configured to detect and position
a working position of a processed workpiece on a working plane, for
example, a multi-functional machine configured to realize swing
cutting, a polishing machine for polishing a workpiece, an electric
circular saw for cutting, etc.
A Fourth Embodiment
Referring to FIG. 27, a positioning system includes a ranging and
positioning apparatus 40 that moves and works on the working plane
W. The ranging and positioning apparatus 40 of this embodiment is
in the form of a circular body approximately. The circular body has
a top portion and a bottom portion and is similar to an optical
mouse that moves on the working plane W. Therefore, positioning a
predetermined position on the working plane W by using the ranging
and positioning apparatus 40 is also referred to as optical mouse
positioning.
Referring to FIG. 28, in another alternative manner, the ranging
and positioning apparatus 40 may be used in combination with the
hand-held tool and may achieve data association with the hand-held
tool in a wireless manner. The hand-held tool is preferably an
electric drill 100b. The ranging and positioning apparatus 40 of
this embodiment is combined onto a positioning support rod 16 of
the electric drill 100b. The positioning support rod 16 is scalable
relative to the body of the electric drill 100b. The ranging and
positioning apparatus 40 may contact and move on the working plane
W so as to implement ranging and positioning. A positioning mode
key 440 of the ranging and positioning apparatus 40 may be
partially or completely arranged on the body in a position
convenient for operation. For example, a key 442 for coordinate
clearing may be disposed in a position, which is closed to a switch
trigger, of a handle of the electric drill 100b, and is similar to
the key 13 of the third embodiment; and a key for working mode
selection, coordinate displaying and the like may be arranged on an
end face, which is close to the operator during operation, of the
body, which is similar to the third embodiment.
Referring to FIG. 27 and FIG. 29, the ranging and positioning
apparatus 40 includes a power supply 380, an image sensing unit
410, an inertial detection unit 420, and a control module 430. The
image sensing unit 410 is arranged close to the bottom portion of
the circular body and includes at least one laser camera 412 and at
least one laser transmitter 414. The laser transmitter 414 is
configured to project a laser onto the working plane W, and the
laser camera 412 is configured to sense the laser in real time and
photograph a projection image of the laser on the working plane W.
The inertial detection unit 420 is configured to detect an attitude
angle of the ranging and positioning apparatus 40 in real time. The
inertial detection unit 420 of this embodiment includes an
acceleration sensor and an angular velocity sensor. The control
module 450 is configured to calculate, based on a difference value
between pixels with same feature information identified in two
adjacent frames of images photographed through the laser camera
412, a displacement generated within a period of time of
photographing the two frames of images, and calculates based on the
detected attitude angles and displacements. Calculation results
include a horizontal displacement and a vertical displacement (X0,
Y0) generated by the movement of the ranging and positioning
apparatus 40.
The ranging and positioning apparatus 40 further includes an output
module 400 arranged on a top surface, a positioning mode key 440,
and a positioning unit 22. The output module 400 may be a display
device for observing, which is preferably a display screen, or may
also be configured to be a reminding device for emitting a prompt
signal, for example, for providing an observable optical signal in
an illuminating manner. When the output module 400 is a display
device, the positioning mode key 440 is configured to selectively
control a detection parameter that the positioning mode key may
display as well as the calculation results of the control module
450 or for performing a clearing operation on the parameter. The
positioning mode key 440 may be a touch screen or an operation key.
The positioning mode key 440 of this embodiment includes a
plurality of keys 442 configured to be operated manually. Each of
the keys 442 corresponds to a particular function and may be used
for working mode selection, learning recording or clearing, etc.
The display device 400 of this embodiment is a liquid crystal
display for displaying the parameters displayed in the manner of
digital display. The positioning unit 22 is configured to mark or
position the reference point or the working predetermined
determined by the ranging and positioning apparatus 40 on the
working plane W. The positioning unit of this embodiment is a
positioning hole. The positioning hole is substantially a through
hole penetrating through the ranging and positioning apparatus
40.
The control module 450 (MCU) is electrically connected to the
inertial detection unit 420 and the image sensing unit 410
respectively. Specifically, the three-axis accelerometer of the
inertial detection unit 420 detects an acceleration of a moving
carrier in 3 directions, the three-axis gyroscope detects angular
velocities of the moving carrier in 3 axial directions, and after
fusion processing, two upper included angles to a horizontal plane,
that is, a roll angle and a pitch angle, as well as a rotation
angle on the horizontal plane, that is, a heading angle, may be
detected precisely. The roll angle, the pitch angle, and the
heading angle of the embodiments of the present invention all
belong to attitude angles. The laser transmitter 414 of the image
sensing unit 410 is an infrared laser transmitter, and the laser
camera 412 is an infrared laser camera. The control module 450 is
configured to calculate, based on a difference value between pixels
with the same feature information identified in two adjacent frames
of images photographed through the laser camera 412, a displacement
generated within a period of time of photographing the two frames
of images, and calculates based on the attitude angles and the
displacements. The display unit is configured to display detected
attitude angles and calculation results of the control module 450.
The calculation results include a horizontal displacement and a
vertical displacement generated by the movement of the ranging and
positioning apparatus. The selection unit 330 is configured to
display records and the calculation results on the display unit
selectively. The power supply 380 provides electric energy for
various electricity utilization components and can meet working
requirements for a certain period of time.
Referring to FIG. 30, FIG. 30 shows a simple variation of the
positioning hole. A positioning unit 22' includes a positioning
column 23 arranged flexibly relative to the working plane W. An
end, which is close to the working plane W, of the positioning
column 23 is provided with a marker 25. The marker 25 is configured
to be similar to a shape of a nib. At the bottom of the ranging and
positioning apparatus 40, a hole for the marker 25 to pass through
(not shown) is provided. Under a normal state, the positioning
column 23 is supported by an elastic member 24, there is a gap
maintained between the marker 25 and the working plane W, and when
the operator applies an external force indicated by the arrow P to
the positioning column 23, the positioning column 23 overcomes the
force applied by the elastic member 24 and moves towards the
direction of the working plane W, so that the marker 25 abuts
against the working plane W and leaves a working mark on the
working plane W. The positioning column 23 is preferably made of a
transparent material, so that the operator may see a contact
position or a working mark of the marker 25 on the working plane W
clearly. When the operator determines a reference position on the
working plane W, the ranging and positioning apparatus 40 may be
moved until the marker 25 of the positioning column 23 is aligned
with the reference position for zero position setting. Then, the
ranging and positioning apparatus 40 is moved on the working plane
W until both the horizontal displacement and the vertical
displacement displayed by the display device reach preset values.
At this point, the position of the ranging and positioning
apparatus 40 is marked by pressing the positioning column 23, and
the marked position is a working position.
Referring to FIG. 31, during detection, the ranging and positioning
apparatus 40 may have an angular deflection when moved on the
working plane W for detection, and the center of the positioning
hole 22 has a certain distance from the image sensing unit 410.
Therefore, the horizontal displacement and the vertical
displacement (X0, Y0) generated by the movement of the ranging and
positioning apparatus 40 do not represent the position of the
center of the positioning hole 22. Therefore, the control module
450 is required to perform calculation correction, a displacement
value after the correction represents the central position of the
positioning hole 22, and the parameter displayed by the display
unit is also a corrected parameter representing the central
position of the positioning hole 22.
In a two-dimensional coordinate system, a specific manner of
calculation correction is shown as follows: positioning coordinates
(X0, Y0) of the image sensing unit 410, a distance L from the image
sensing unit 410 to the center of the positioning hole 22, and an
angle at which the ranging and positioning apparatus 40 rotates,
that is, the roll angle .theta., are known; therefore, a
calculation formula of coordinates of the center of the positioning
hole 22 is: X=X0+L* cos .theta.; and Y=Y0+L* sin .theta..
When the display unit of the ranging and positioning apparatus 40
displays a parameter that indicates a preset reference point or a
working predetermined is reached, the position corresponding to the
center of the positioning hole 22 is used as a reference position
or a predetermined working position, and the operator may mark at
the center of the through hole, or the operator may mark in the
center of a through hole or directly pass through the electric
drill bit 17 by using the through hole so as to perform punching
operations.
A switch of the power supply is turned on so as to initiate the
ranging and positioning apparatus 40 to work. At this point, the
image sensing unit 410 is initiated, the laser transmitter 414
projects a laser, the laser camera 412 senses the laser and
photographs, in real time, images projected by the laser onto the
working plane, and the control module 450 detects dynamic images
photographed by the laser camera 412 and processes the images by an
optical flow method based on a difference value between pixels with
the same feature information identified in two adjacent frames of
images, thereby acquiring a linear displacement generated by the
ranging and positioning apparatus 40 within a period of time of
photographing the two frames of images.
The inertial detection unit 420 initiates working at the same time.
The three-axis accelerometer detects an acceleration parameter of
the ranging and positioning apparatus 40 in real time, the
three-axis gyroscope detects an angular velocity parameter of the
ranging and positioning apparatus 40 in real time, and attitude
angles of the ranging and positioning apparatus 40 are acquired by
a filtering fusion algorithm. In the filtering and fusing
algorithm, Kalman filtering is used preferably. Certainly, a person
skilled in the art would use other filtering methods for
substitution. The control module 450 performs calculation based on
the attitude angles and linear displacements acquired above so as
to acquire the generated horizontal displacement and vertical
displacement (X, Y) of the ranging and positioning apparatus
40.
Referring to FIG. 32, an optical mouse ranging and positioning
apparatus configured to communicate with an intelligent apparatus
is also involved in the hand-held tool. A control module of the
optical mouse ranging and positioning apparatus of this embodiment
also includes a communication module, a detecting/measuring module,
and a processing module, where the communication module includes a
receiving module for receiving information sent by an intelligent
apparatus; the detecting module is configured to obtain a position
of a preset predetermined and/or movement information about the
positioning apparatus; and the processing module processes
information from the receiving module and/or the detecting
module.
The communication module further includes a sending module for
sending, to the intelligent apparatus, the information processed by
the processing module or obtained by the detecting module. The size
information involved in information transmission in this embodiment
includes the length and width of a picture frame of each picture to
be hung and the horizontal and vertical spacing between adjacent
picture frames. The position information involved includes
positions of hooks of the picture frames relative to respective
reference points. Control instruction information includes a
working mode and a ranging precision tolerance. The working mode
includes an independent detection mode and a picture hanging mode.
In the independent detection mode, there are horizontal ranging,
vertical ranging, linear ranging at a set angle, horizontally equal
spacing, vertically equal spacing, linear ranging at a set angle,
etc. The state monitoring information includes a battery level, a
continuous working time of the apparatus, the remaining working
time, the number of currently identifiable feature points, data
acquired by detection or calculation, etc.
The optical mouse ranging and positioning apparatus may send its
current state monitoring information, such as monitoring
information on the distance from the wall, to the intelligent
apparatus through the sending module.
The optical mouse ranging and positioning apparatus further
includes an input module. The input module is electrically
connected to the processing module. The input module may be in the
form of a key or a touch screen. At least one working mode may be
selected for the positioning apparatus through the input module,
that is, mode switching processing. The processing module under a
corresponding working mode includes at least one information
processing method corresponding to the working mode. The
positioning apparatus may also be configured to perform functions
such as man-machine interaction and battery level monitoring
through the input module.
The detecting module includes an image sensor and an inertial
sensor and is configured to detect a movement and/or state
parameter of the optical mouse ranging and positioning apparatus.
The processing of the processing module includes calculation of a
moving distance of the positioning apparatus, calculation of a
horizontal and/or vertical angle, coordinate transformation and/or
correction, etc.
The optical mouse ranging and positioning apparatus further
includes an output module for outputting, in a sensible manner, the
information processed by the processing module. The output module
of this embodiment may be a reminding device for emitting a prompt
signal based on a processing result of the processing module. The
reminding apparatus includes at least one indication unit and/or a
display device. The display device emits an optical signal, and the
indication unit emits a sound signal. The display device may be an
LED or a display, and the indication unit may be a buzzer and a
loudspeaker.
Referring to FIG. 27 and FIG. 28 to FIG. 31, a flow of determining
and marking, by the ranging and positioning apparatus 40, a first
predetermined hole position and a second predetermined hole
position on a working plane under the human-assisted mode by taking
a reference position as a benchmark, independently from the
hand-held tool, will be described below. If the operator desires to
punch, on the working plane W, a row of holes located on a same
horizontal line or vertical line, it is necessary to set a
reference position on the working plane W firstly. Specific
operation steps include: step S110a, moving the ranging and
positioning apparatus 40 on the working plane to the center of the
positioning hole 22 so as to reach the selected reference position;
step S120, pressing a positioning mode key, that is, pressing the
key 442, so as to record a coordinate of the reference position,
including coordinate clearing of the reference position; step
S130a, moving the ranging and positioning apparatus 40; step S140,
observing coordinate display; step S150, determining whether a
displayed real-time coordinate is equal to a first preset
coordinate, where if the real-time coordinate is equal to the first
preset coordinate, the position is a first predetermined position;
and step S170a, marking the first predetermined position by the
positioning hole or the positioning column of the positioning unit,
where the first predetermined position is a first punching
position; and if it is observed and determined that the real-time
coordinate is not equal to the first preset coordinate, further
moving the ranging and positioning apparatus 40. If a second hole
is to be punched, a second predetermined position must be
positioned. The operation steps include: step S120, pressing the
positioning mode key so as to clear a display result of the display
unit; step S130a, moving the ranging and positioning apparatus 40;
step S140, observing coordinate display; step S152, determining
whether a displayed coordinate is equal to a second preset
coordinate; and step S172a, marking the second predetermined
position by the positioning hole or the positioning column of the
positioning unit. If it is determined that the displayed coordinate
is not equal to the second preset coordinate, the ranging and
positioning apparatus 40 is required to be further moved until it
is observed and determined that the displayed coordinate is equal
to the second preset coordinate, that is, the electric drill
reaches the second predetermined position, namely, the second hole
punching position; the second predetermined position is marked by
the positioning hole or the positioning column of the positioning
unit; and by analogy, a third predetermined and a fourth
predetermined are positioned and marked. Once the first and second
predetermined punching positions are determined, holes may be
punched in the predetermined positions by using the electric
drill.
Referring to FIG. 34, a flow of determining and marking, by the
ranging and positioning apparatus 40, a first predetermined hole
position and a second predetermined hole position under the
intelligent determining mode by receiving a preset working
coordinate from a mobile phone, independently from the hand-held
tool, will be described below. Specific working steps include: step
S100, establishing Bluetooth connection with a mobile phone; step
S102, receiving a preset working coordinate from the mobile phone,
which may include a series of coordinates, that is, coordinates of
a plurality of consecutive punching positions; step S110a, moving
the ranging and positioning apparatus to a reference position; step
S120, pressing a positioning mode key; step S130a, moving the
ranging and positioning apparatus; step S154, determining whether a
preset prompt signal is received, where if it is observed that an
LED lamp is lit up or it is heard a buzzer produces a sound, it
indicates that the ranging and positioning apparatus has been moved
to a predetermined punching position; and step S170a, marking a
first hole position in the predetermined position. If a second hole
is to be punched, the following steps are performed: step S120,
pressing the positioning mode key by taking the first hole as a
benchmark; step S130a, moving the ranging and positioning apparatus
again; step S154, determining whether the preset prompt signal is
received; and step S172a, marking a second hole position in a
second preset predetermined position, and so on.
Referring to FIG. 28, when the ranging and positioning apparatus 40
is combined into the electric drill 100b, for a work flow of
ranging and positioning as well as punching by the electric drill,
reference can be made to FIG. 23 and FIG. 24 in the third
embodiment and will not be further described in this
embodiment.
Referring to FIG. 32 and FIG. 35, the ranging and positioning
apparatus 40 is combined into the electric drill 100b and may be in
data communication with an external intelligent apparatus, for
example, a smart phone, in a wireless manner. The output module 400
is specifically a reminding device. The work flow of performing
positioning detection by the ranging and positioning apparatus 40
is shown as follows: step P010, establishing Bluetooth connection
with a smart phone; step P100, receiving a preset coordinates
transmitted from the mobile phone; step P110, when the electric
drill is moved to a reference position and the operator presses a
positioning mode key, detecting a coordinate of the reference
position, which is recorded by the ranging and positioning
apparatus 40; step P124 and step P126, initiating the inertial
detection unit and the image sensing unit of the ranging and
positioning apparatus 40 respectively; step P127, the inertial
detection unit measuring an angular velocity and the acceleration
of the electric drill; step P128, the image sensing unit measuring
dynamic images; step P134, the inertial detection unit performing
filtering fusion; step P136, the image sensing unit processing the
images; step P137, the inertial detection unit outputting a
position parameter of the ranging and positioning apparatus; step
P138, the image sensing unit outputting a movement parameter of the
ranging and positioning apparatus; step P148, based on the above
parameters and coordinates, the control module acquiring, by
calculation, a real-time coordinate or distance of the positioning
hole or the positioning column of the ranging and positioning
apparatus relative to the reference position, where reference is
made to FIG. 27, that is to say, when the ranging and positioning
apparatus is combined into a free end of the positioning support
rod of the electric drill, the position of the center of the
positioning hole thereof is the position where the electric drill
bit is aligned with the working plane; step P150, the control
module comparing and determining the real-time coordinate acquired
by calculation with the received preset coordinate; if it is
determined that the real-time coordinate is equal to the preset
coordinate, performing step P162 of the reminding device emitting a
prompt signal so as to indicate that the electric drill has been
moved to a predetermined position; and if the control module
determines that the real-time coordinate is not equal to the preset
coordinate, not emitting a prompt signal to prompt the operator,
and the operator continuing to move the electric drill.
The key 442 of this embodiment may be arranged on the handle of the
electric drill and adjacent to the trigger. The key 442 is
connected to the control module 430 of the ranging and positioning
apparatus 40 in a wireless manner, so that the control module 430
may receive a clearing signal and perform a coordinate clearing
operation as long as the key 442 is actuated. The advantage is that
the operator may control the moving ranging and positioning
apparatus 40 by one hand on the working plane W, while controlling
and performing punching by the other hand holding the electric
drill.
After the clearing operation, a predetermined value is input. The
predetermined value may be a horizontal coordinate value, a
vertical coordinate value, or both a horizontal coordinate value
and a vertical coordinate value, which may be set based on working
scenarios. For the ranging and positioning apparatus 40, when the
ranging and positioning apparatus 40 does not reach the
predetermined position, the reminding device emits an indication
signal so as to prompt the operator of adjusting a moving
orientation, and when the ranging and positioning apparatus 40
reaches a predetermined displacement, the ranging and positioning
apparatus 40 stops emitting the indication signal.
Another alternative solution is: moving the ranging and positioning
apparatus 40, until a horizontal displacement or a vertical
displacement displayed by the display device 400 reaches a preset
predetermined value, which indicates that a current central
position of the positioning hole of the ranging and positioning
apparatus 40 has been consistent with a predetermined position,
that is, the ranging and positioning apparatus has reached a first
hole position; punching in the first hole position again by the
drill bit of the electric drill through the positioning hole; by
analogy, continuing to move the ranging and positioning apparatus
40 on the working plane W so as to determine a second hole
position, a third hole position, and more hole positions; and
punching holes by using the electric drill.
During the specific operations, a person skilled in the art would
take a first reference position or a previous hole position as a
benchmark. When a reference position is selected, the clearing
operation needs to be performed on the position, and subsequent
hole positions are kept horizontal or vertical by taking the
reference position as a benchmark.
Since an optional manner of the ranging and positioning apparatus
40 of the present invention is to move on the working plane W
independently and freely, a roller or a guide wheel convenient for
movement may be arranged on the ranging and positioning apparatus
40, so that the movement on the working plane W becomes sliding
contact, which reduces friction between the ranging and positioning
apparatus 40 and the working plane W and makes the sliding more
labor-saving. The ranging and positioning apparatus 40 of the
present invention may be connected to the electric drill as an
accessory in a detachable manner, or may be completely combined
with or integrally provided with the electric drill. When the
ranging and positioning apparatus 40 works independently from the
working plane after separated from the electric drill as an
accessory, detecting operations and positioning and marking
operations are performed firstly by using the ranging and
positioning apparatus 40, and then, punching operations are
performed by using a hand-held tool such as the electric drill.
After the punching operations are completed, the accessory may be
assembled with the electric drill again, so that the ranging and
positioning apparatus 40 is easy to carry and may not be lost
easily.
Certainly, a person skilled in the art would envisage that the
ranging and positioning apparatus 40 is combined into the hand-held
tool and may be movable relative to the hand-held tool, for
example, the image sensing unit 410 of the ranging and positioning
apparatus 40 may be arranged on an end portion of a support rod
scalable relative to the body, and the center of the positioning
hole or the positioning column is located on a same axis as the
center of the output shaft of the electric drill all the time. In
this way, punching operations may be implemented once the electric
drill bit coaxial with the output shaft determines the reference
position or the predetermined position, which is convenient and
precise and avoids marking separately. After the punching
operations are completed, the support rod may be retracted to a
non-ranging position relative to the body without affecting the
punching operations of the electric drill. Other elements of the
ranging and positioning apparatus 40, such as a micro control
module 450, the inertial detection unit 420, the display device
400, and a mode selection key 440, may be arranged on the body of
the electric drill; particularly, the display device 400 and the
positioning mode key of the mode selection key 440 may be arranged
on a portion of the body of the electric drill, which is suitable
for observation and convenient for operation, for example, an end
face of a tail portion of the electric drill body; and the inertial
sensor 420 remains parallel with or perpendicular to the axis of
the output shaft of the electric drill 100a when mounted on the
body. Therefore, the ranging and positioning apparatus 40 and the
electric drill work independently from each other without
influencing each other. When the ranging and positioning apparatus
40 matches a hand-held DC electric tool for use, a battery pack of
the electric tool may serve as a power supply to supply power to
the above-mentioned electricity utilization components, without an
additional power supply.
A Fifth Embodiment
Referring to FIG. 36, the ranging and positioning apparatus
includes a mobile ranging apparatus 70 used with the hand-held tool
100a and a secondary positioning member 62 separated from the
hand-held tool. The secondary positioning member of this embodiment
is a light tower 62. The mobile ranging apparatus 70 is combined
with the hand-held tool. The light tower 62 may be suspended, spun
or supported on a working area. Initiating the light tower 62
relates to positioning and establishing a coordinate benchmark. A
scanning area of the light tower 62 may cover the whole working
plane W. There is no need for an arrangement of the light tower 62
to meet a requirement of a horizontal or vertical direction, that
is to say, the precision of detection of the ranging and
positioning apparatus may not be affected even if the light tower
62 is arranged in a tilted manner in an actual working situation.
The hand-held tool is the electric drill 100a, and the mobile
ranging apparatus 70 is moved along with the electric drill 100a by
combining with the electric drill.
Referring to FIG. 37, the light tower 62 is an important secondary
positioning member for performing positioning and ranging in a
specific space and is mainly configured to provide three types of
laser signals, including a synchronization signal from synchronous
laser 620, an X-axis rotatory scanning signal from X-axis rotatory
laser beam 622, and a Y-axis rotatory scanning signal from Y-axis
rotatory laser beam 624. The center of the light tower 62 is used
as the origin O of an X axis and a Y axis.
Referring to FIG. 38, the mobile ranging apparatus 70 includes a
main body 72, a plurality of photoelectric sensors 74 distributed
on the main body 72, an inertial detection unit 76 disposed in the
main body 72, and a control module 79 (MCU). The main body 72 is an
annular body approximately and has an end face 72a. The end face
72a has operation keys 78. A plurality of operation keys 78 are
arranged on a lower side of a display screen 77. Each of the
operation keys 78 corresponds to different functions and may be
used for working mode selection, learning recording or clearing.
There are at least three photoelectric sensors 74. The
photoelectric sensor 74 generates an electric signal once scanned
by a laser signal of the light tower 62. Based on the electric
signal, the control module 79 acquires, by calculation an angle of
departure from the X axis of the light tower and an angle of
departure from the Y axis of the light tower in the scanning area
for each photoelectric sensor 74 that uses the light tower 62 as
the center. The inertial detection unit 76 includes a three-axis
accelerometer and a three-axis gyroscope. The accelerometer is
configured to detect the acceleration of a moving carrier, that is,
the electric drill 100a, in 3 directions. The gyroscope is
configured to detect the angular velocity of the hand-held tool in
3 axial directions. After fusion processing, attitude angles of the
hand-held tool 100a may be detected precisely, including a roll
angle, a pitch angle, and a heading angle. The inertial detection
unit 76 is to be arranged parallel with or perpendicular to the
axis of the output shaft of the electric drill 100a when
mounted.
Referring to FIG. 39, each photoelectric sensor 74 may change in
level over time under the laser irradiation of the light tower 62,
and the control module 79 acquires an angle of departure from the X
axis of the light tower and an angle of departure from the Y axis
of the light tower based on the change in level, that is, electric
signal processing. In a schematic diagram of taking a horizontal
coordinate as the time T and a vertical coordinate as the voltage
V, when a synchronization laser 620 of the light tower 62 starts
scanning the working area, the timing of generating a high-level
signal is zero, and the scanning ends after the time t1 is past.
Then, the Y-axis rotatory laser beam 624 starts scanning, for
example, when the photoelectric sensor 74 is scanned at the time
point t2, that is, 4.3 milliseconds, the photoelectric sensor 74
generates a high-level signal, the control module 79 acquires,
based on the electric signal processing, an angle of departure Ox
from the X axis which is equal to 30.2 degrees, and the Y-axis
rotatory laser beam 624 ends scanning after the time t3 is past.
Then, the X-axis rotatory laser beam 622 starts scanning, for
example, when the photoelectric sensor 74 is scanned at the time
point t4, that is, 8.1 milliseconds, the photoelectric sensor 74
generates another high-level signal, the control module 79
acquires, based on the electric signal processing, an angle of
departure Oy from the Y axis which is equal to 53.9 degrees, and
the X-axis rotatory laser beam 622 finishes scanning after the time
t5 is past.
Referring to FIG. 40, the mobile ranging apparatus 70 is provided
with at least three photoelectric sensors 74 thereon, positions of
which are defined as A, B, and C respectively. In the scanning area
of the light tower 62, each photoelectric sensor 74 may be scanned.
An angle of departure .theta..sub.Y from the Y axis of the light
tower and an angle of departure Ox from the X axis of the light
tower are generated by the control module 79 respectively based on
the electric signals fed back by each photoelectric sensor 74. The
photoelectric sensors 74 of this embodiment are distributed in a
plurality of planar surfaces or curved surfaces of the housing of
the electric drill, which is advantageous for improving the
precision of positioning. Although the mobile ranging apparatus 70
is moved along with the electric drill, since relative positions of
the three photoelectric sensors 74 are fixed, distances between
every two photoelectric sensors 74 are known, that is, distances
P1, P2, and P3 are known. After scanning for a period, the light
tower 62 may detect a direction of each photoelectric sensor 74 in
a light tower coordinate system, that is, may detect, directly, an
included angle of straight lines OA, OB, and OC to a plane formed
by any two coordinate axes (X, Y, and Z) in a stereoscopic
coordinate system, and may also acquire included angles .theta.1,
.theta.2, and .theta.3 between axes of OA, OB, and OC by
calculation directly. A linear distance L1 for OA, a linear
distance L2 for OB, and a linear distance L3 for OC are acquired
respectively based on the following formulas. f(L1,L2,.theta.1)=P1
f(L1,L3,.theta.2)=P2 f(L2,L3,.theta.3)=P3
In addition, based on the attitude angles of the hand-held tool
100a detected by the inertial detection unit 76 and the angle of
departure .theta..sub.Y from the Y axis of the light tower and the
angle of departure .theta..sub.X from the X axis of the light tower
finally acquired respectively after at least three photoelectric
sensors 74 are scanned by the light tower, after data correction
processing, the control module 79 calculates coordinates of each
photoelectric sensor 74 in a spatial coordinate system that uses
the center O of the light tower 62 as the origin. The photoelectric
sensors 74 are uniformly distributed on the mobile ranging
apparatus 70 and thus may determine a central point of the mobile
ranging apparatus 70.
Referring to FIG. 36 and FIG. 41, the position of the mobile
ranging apparatus 70 relative to the electric drill 100a is fixed,
there is a linear distance L from the central point of the mobile
ranging apparatus 70 to the drill bit 17, and the linear distance L
may be set based on the specification or length of the drill bit.
Therefore, coordinates of the central point of the mobile ranging
apparatus 70 do not represent coordinates of the drill bit 17, so
that correction calculation needs to be performed on
three-dimensional spatial coordinates of the drill bit 17 of the
hand-held tool.
Specifically, the inertial detection unit 76 detects that
deflection angles of axes of the electric drill 100a, that is, the
drill bit 17, to the positioning central point of the mobile
ranging apparatus 70 are .theta..sub.X, .theta..sub.Y, and
.theta..sub.Z respectively, so that coordinate calculation formulas
for the drill bit 17 are: X=X.sub.0+L* cos .theta.x* sin .theta.y
Y=Y.sub.0+L* cos .theta..sub.Y* sin .theta..sub.Z Z=Z.sub.0+L*
.theta..sub.Z*sin .theta..sub.X
Therefore, spatial coordinates of the drill bit 17 of the electric
drill 100a may be acquired based on the coordinates of the central
point of the mobile ranging apparatus 70, that is to say, the drill
bit 17 of the electric drill 100a may be positioned quickly and
accurately, thereby performing punching operations on the working
plane W.
In the process that the light tower 62 of this embodiment works in
the working area in cooperation with the mobile ranging apparatus
70, the light tower 62 is initiated so as to perform laser
scanning, the control module calculates angles of departure from
the X axis and the Y axis .theta..sub.X and .theta..sub.Y for
various photoelectric sensors respectively, and then, the linear
distances L1, L2, and L3 of various photoelectric sensors from the
coordinate origin are acquired by calculation based on the
formulas. The inertial detection unit 76 initiates working and
detects attitude angles of the electric drill 100a. The control
module 79 performs correction processing based on the attitude
angles and the angles of departure from the X axis and the Y axis
.theta..sub.X and .theta..sub.Y and acquires an angle to the
horizontal plane .theta..sub.Y' and an angle to the vertical plane
Ox respectively. Finally, positioning is performed after the
spatial coordinates of the central point of the mobile ranging
apparatus 70 in a horizontal coordinate system are acquired by
calculation based on the acquired linear distances L1, L2, and L3
of various photoelectric sensors from the coordinate origin and the
angles .theta..sub.Y' and .theta..sub.X', and correction
calculation is performed on the three-dimensional spatial
coordinates of the drill bit 17.
Referring to FIG. 42, a light tower ranging and positioning
apparatus which may be in communication association with an
intelligent apparatus is also involved in the hand-held tool
system. The light tower ranging and positioning apparatus of this
embodiment has a similar structure to that of the above laser
ranging and positioning apparatus and optical mouse positioning
apparatus configured to be in communication association with an
intelligent apparatus. For ease of description, the same structure
will not be described further. The difference shows in that the
measuring module of the light tower ranging and positioning
apparatus includes a photoelectric sensor and an inertial sensor
and is configured to detect movement and/or state parameters of the
mobile ranging apparatus. The processing of the processing module
includes calculation of three-dimensional coordinates of the
sensors, calculation of a horizontal and/or vertical angle,
coordinate transformation and/or correction, etc. The position
information includes three-dimensional coordinates of a picture
frame hook. The control instruction information includes a
tolerance of the number of active sensors. The state monitoring
information includes a battery level, the remaining working time, a
current working attitude angle of the mobile ranging apparatus, the
number of current active sensors, and determining whether the
active sensors are within the scanning area of the light tower.
Referring to FIG. 43, ranging and positioning as well as punching
may be performed on the working plane W by using the electric drill
with the mobile ranging apparatus 70 as well as the light tower 62
that is used as a secondary positioning member, and the positioning
may be observed in real time through the display screen. An
operation flow of punching a first hole by taking a reference
position as a benchmark and a second hole by taking a first hole
position as a benchmark under the human-assisted mode is introduced
below: step S020, building and initiating a light tower; step S110,
moving an electric drill to a reference position; step S120,
pressing a positioning mode key so as to record a coordinate of a
reference point with the positioning mode key; step S130, moving
the electric drill so as to move a mobile ranging apparatus
together; step S140, observing coordinate display on a display
screen; step S150, determining whether the coordinate display is
consistent with a preset predetermined coordinate, if so,
indicating that the electric drill has been moved to a
predetermined position, and if not, continuing to move the electric
drill until the coordinate display is consistent with the preset
predetermined coordinate; and step S170, punching a first hole in
the predetermined position. If a second hole needs to be punched,
the following operation steps are performed: S120, pressing the
positioning mode key in a first hole position; step S130, moving
the electric drill; step S140, observing coordinate display on the
display screen; step 152, determining whether the coordinate
display is consistent with a preset second predetermined
coordinate, if so, indicating that the electric drill has been
moved to the predetermined position, and if not, continuing to move
the electric drill until the coordinate display is consistent with
the preset second predetermined coordinate; and step S172, punching
a second hole in the predetermined position. If more holes need to
be punched, for example, a third hole, a fourth hole, and so on,
operations may be performed based on the above method.
Referring to FIG. 44, FIG. 44 shows an operation flow of punching a
first hole and a second hole by the electric drill under the
intelligent determining mode by inputting a preset working
coordinate. The difference from the human-assisted mode mainly lies
in that working coordinates are determined by inputting the working
coordinate, and when the electric drill is moved to a real-time
coordinate consistent with the preset working coordinate, the
operator may be reminded in an intelligent reminding manner.
Specifically, the operation flow includes the following steps: step
S020, building and initiating a light tower; step S110, the user
holding an electric drill by hand and moving the electric drill to
a reference position; step S120, pressing a positioning mode key;
step S122, inputting a first preset coordinate; step S130, moving
the electric drill; step S154, determining whether a preset prompt
signal is received, where if it is observed that an LED lamp is lit
up or it is heard that a buzzer produces a sound, it indicates that
the electric drill has been moved to a predetermined punching
position; and step S170, punching a first hole in the predetermined
position. When a second hole needs to be punched, the following
steps are performed: step S120, pressing the positioning mode key
by taking the first hole as a benchmark; step S124, inputting a
second preset working coordinate; step S130, moving the electric
drill again; step S154, determining whether the preset prompt
signal is received; and finally, step S172, punching a second hole
in a second preset predetermined position, and so on.
Referring to FIG. 45, FIG. 45 shows an operation flow of punching a
first hole and a second hole by the electric drill under the
intelligent determining mode by receiving a preset working
coordinate from a mobile phone. The differences from the flow shown
in FIG. 40 lie in: establishing communication connection with the
electric drill through an external mobile apparatus, for example, a
smart phone; and inputting a series of preset coordinates or
coordinate data of a next punching point relative to the origin
into the mobile apparatus, so that the ranging and positioning
apparatus of the electric drill receives the preset working
coordinate from the mobile phone. The operation flow includes: step
S020, building and initiating a light tower; step S100,
establishing Bluetooth connection with a mobile phone; step S102,
receiving a preset working coordinate from the mobile phone, where
the preset working coordinate may include a series of coordinates,
that is, coordinates of a plurality of consecutive punching
positions; step S110, moving an electric drill to a reference
position; step S120, pressing a positioning mode key; step S130,
moving the electric drill; step S154, determining whether the
preset prompt signal is received, where if it is observed that an
LED lamp is lit up or it is heard that a buzzer produces a sound,
it indicates that the electric drill has been moved to a
predetermined punching position; and step S170, a user punching a
first hole. If a second hole is to be punched, the following steps
are performed: step S120, pressing the positioning mode key by
taking the first hole as a benchmark; step S130, moving the
electric drill again; step S154, determining whether the preset
prompt signal is received; and finally, step S172, punching a
second hole in a second preset predetermined position, and so
on.
Referring to FIG. 46, an operation flow for the secondary
positioning member of the ranging and positioning apparatus and the
mobile ranging apparatus combined into the electric drill under the
human-assisted determining mode includes: step P020, establishing a
coordinate benchmark, that is to say, the coordinate benchmark is
established once the secondary positioning member, that is, a light
tower, built on the working area is initiated; step P110, a control
module (MCU) recording a coordinate of a reference position when an
operator performs the step of "pressing a positioning mode key" in
the reference position; when a user moves the electric drill,
performing step P120a of measure a movement feature of the mobile
ranging apparatus in real time, and step P130a of outputting a
movement parameter; simultaneously performing step P122a of measure
a position feature of the mobile ranging apparatus in real time,
and step P132a of outputting a position parameter; then, performing
step P140 of a controller acquiring a coordinate or distance of the
electric drill bit relative to the reference position by
calculation via an algorithm based on the recorded coordinate of
the reference position, the detected position and movement
parameters, and a preset distance between the electric drill bit
and the positioning apparatus, that is, correcting the coordinate
of the positioning apparatus to be the coordinate or distance of
the electric drill bit; and finally, performing step P160 of
outputting the coordinate or distance on a display screen, which is
the current coordinate or distance of the electric drill bit after
correction.
Referring to FIG. 47, an operation flow of the secondary
positioning member of the ranging and positioning apparatus and the
mobile ranging apparatus combined into the electric drill being
associated with an intelligent apparatus under the human
determining mode includes: step P020, establishing a coordinate
benchmark; step P010, establishing Bluetooth connection with a
smart phone; step P100, receiving a preset coordinate transmitted
from the smart phone; and step P110, when the electric drill is
moved to a reference position, an operator pressing a positioning
mode key, and when a user moves the electric drill, an inertial
sensor performing the following operations respectively: step
P120a, measure a movement feature of the mobile ranging apparatus
in real time, and step P130a, outputting a movement parameter;
simultaneously performing step P122a of measure a position feature
of the mobile ranging apparatus in real time, and step P132a of
outputting a position parameter; then, performing step P140 of a
controller acquiring a coordinate or distance of the electric drill
bit relative to the reference position by calculation via an
algorithm based on the recorded coordinate of the reference
position, the detected position and movement parameters, and a
preset distance between the electric drill bit and the positioning
apparatus, that is, correcting the coordinate of the positioning
apparatus to be the coordinate or distance of the electric drill
bit; step 150, a control module performing comparison and
determining on a real-time coordinate acquired by calculation and a
preset coordinate received; if it is determined that the real-time
coordinate is equal to the preset coordinate, performing step P162
of a reminding device emitting a prompt signal so as to indicate
that the electric drill has been moved to a predetermined position;
and if the control module determines that the real-time coordinate
is not equal to the preset coordinate, not emitting a prompt signal
to prompt the operator, and the operator continuing to move the
electric drill.
A Sixth Embodiment
Referring to FIG. 48 to FIG. 50, the ranging and positioning
apparatus includes a secondary positioning member 50 movably
positioned on a vertical wall, that is, the working plane W, and a
mobile ranging apparatus 30a. The mobile ranging apparatus 30a is
combined into a body 11 of the electric drill 100a. The mobile
ranging apparatus 30a includes at least one laser ranging unit 300,
an infrared receiving unit 302, a display device 340, a positioning
mode key 330, a control module 360, and a power supply 380a. The
laser ranging unit 300 and the infrared receiving unit 302 of the
mobile ranging apparatus 30a are connected in positions on the body
of the electric drill close to the top of the electric drill, where
the laser ranging unit 300 is arranged perpendicular to the
electric drill bit axis; and the infrared receiving unit 302 is
arranged parallel with the laser ranging unit 300. The positioning
mode key 330 and the display device 340 are arranged at a tail end
portion of the electric drill so as to facilitate the observation
and operation of the operator. The display device 340 of the
embodiments of the present invention is a liquid crystal display,
and the control module is a microprocessor (MCU).
Referring to FIG. 48 and FIG. 51, the secondary positioning member
50 defines a positioning benchmark. The secondary positioning
member of this embodiment includes a base 51 in the form of an
equilateral triangle approximately and light guide posts 53 that
are arranged on three vertexes of the equilateral triangle
respectively and is configured to detect a laser signal emitted by
the laser ranging unit 300. The secondary positioning member 50
includes a level gauge bubble or an inertial sensor for providing a
horizontal benchmark of the secondary positioning member 50, that
is to say, the light guide posts 53 distributed in the form of a
triangle are guaranteed to be located in the same horizontal plane.
A level gauge bubble 52 is shown in FIG. 51 for providing the
horizontal benchmark. An infrared transmitters 55 is arranged at a
central position of the base 51 and includes three infrared
transmitting tubes 55a uniformly distributed circumferentially. The
infrared transmitting tubes 55a may transmit infrared signals
towards all directions.
Referring to FIG. 52 and FIG. 53, the light guide posts 53 extend
perpendicular to the base 51 respectively. End portions, which are
close to the base 51, of the light guide post 53 are provided with
optical detection sensors 54 respectively. The light guide post 53
may guide light rays perpendicular to a cylindrical surface of the
light guide post to the optical detection sensor 54. The secondary
positioning member 50 further includes a suction device for
suctioning the secondary positioning member 50 onto the working
plane W, for example, a suctioning disc or a mini vacuum air pump.
The control module 360 is a microprocessor (MCU) and is
electrically connected to an inertial sensor 42, an optical
detection sensor 54, an infrared transmitter 55, and a mini vacuum
pump respectively. The power supply 380 provides electric energy
for these electronic devices. The power supply 380 is a
rechargeable battery. The level gauge bubble 52 is replaced with
the inertial sensor 42 and is configured to provide the horizontal
benchmark of the secondary positioning member 50.
The laser ranging unit 300 transmits a laser of a fixed wavelength
and performs ranging based on the time interval detected between
transmitting and returning of the laser. The infrared receiving
unit 302 is configured to receive the infrared signal transmitted
from the infrared transmitter 55. When the laser transmitted from
the laser ranging unit 300 irradiates onto the laser guide post 53
and the optical detection sensor 54 detects the fixed wavelength of
the laser transmitted from the laser ranging unit, an infrared
signal is transmitted from the infrared transmitter 55. The
infrared signal includes a marked signal of the light guide post
53, such that the mobile ranging apparatus 30a may identify a
position of a corresponding light guide post and detect the
distance from the light guide post 53.
Referring to FIG. 54, in the process of detecting and positioning,
the secondary positioning member 50 is positioned on the working
plane W, so as to confirm an X and Y two-dimensional axis
coordinate benchmark O in the working plane. For the hand-held
electric drill 100a, a front end face of the chuck of the electric
drill 100a is enabled to fit the working plane W. The body 11 is
rotated relative to the chuck, such that the laser ranging unit 300
is perpendicular to the light guide post 53, that is, the laser
transmitted from the laser ranging unit 300 scans the three light
guide posts 53 in a perpendicular manner. When the optical
detection sensor 54 detects the fixed wavelength of laser ranging,
an infrared signal is transmitted by the infrared transmitter 55.
The infrared receiving unit 302 receives the infrared signal
transmitted by the infrared transmitter 55. The control module of
the mobile ranging apparatus 30a automatically calculates and
displays two-dimensional coordinate values of the three guide posts
53 that use the coordinate benchmark O as a reference and are (x1,
y1), (x2, y2), and (x3, y3) respectively.
In this embodiment, the chuck is configured to clamp the working
head, for example, a drill bit, a screwdriver bit, etc. A central
line of the chuck is in line with a central line of the working
head. When the body 11 rotates relative to the chuck around the
central line, the mobile ranging apparatus 30a also rotates around
the central line, thereby ensuring that the working head and the
mobile ranging apparatus 30a have the same coordinate values in a
two-dimensional coordinate system of the working plane W. In some
other working planes, for example, a horizontal plane, the user may
adjust X and the Y axes as needed in an XOY two-dimensional
coordinate system provided by a coordinate base. Since the
coordinate base is stable in structure, if coordinates of the three
guide posts 53 are known to be (x1, y1), (x2, y2), and (x3, y3),
the distances L1, L2, and L3 of the guide posts 53 each from the
mobile ranging apparatus 30a may be detected in the operation
process, that is, may be calculated based on the following
formulas: (x-x1)2+(y-y1)2=L12 (x-x2)2+(y-y2)2=L22
(x-x3)2+(y-y3)2=L32
Therefore, coordinate values (x, y) of the mobile ranging apparatus
30a within the working plane W are acquired. By using such a
ranging manner, the user may perform working, for example,
punching, cutting, and the like, on a plane such as a vertical wall
and a wood plate, may implement two-dimensional positioning within
the working plane and may be assisted in completing operations such
as linear cutting, isometric punching, and positioning and
drilling, which is convenient, efficient, and easy to use, with
high precision.
A Seventh Embodiment
Referring to FIG. 55 and FIG. 57, a simple variation of the
secondary positioning member 50 in the sixth embodiment is shown
and has a similar structure. The difference lies in that the
secondary positioning member 50a in this embodiment has a single
light guide post 53. A base 51 of the secondary positioning member
50a is also disc-shaped approximately. The single light guide post
53 is located in the center of the base 51 and extends
perpendicular to the base 51. An infrared transmitter 55 is
arranged on the base 51. In this embodiment, the infrared
transmitter 55 includes a plurality of infrared transmitting tubes
55a and may transmit infrared signals towards all directions. An
optoelectronic detection sensor 58 is disposed within the base 51
and is configured to detect a laser signal. The light guide post 53
may guide light rays perpendicular to a cylindrical surface to the
optical detection sensor 58 that is located on an end portion of
the light guide post 53. The secondary positioning member 50a also
includes a suction device (not shown) that suctions the secondary
positioning member 50a onto the working plane W, for example, a
suctioning disc or a mini vacuum air pump. The control module 360
is a microprocessor (MCU) and is electrically connected to an
optical detection sensor 54, an infrared transmitter 55, and a mini
vacuum pump 56 respectively. The power supply 380 provides electric
energy for these electronic devices. The power supply 380 is a
rechargeable battery.
Referring to FIG. 57 to FIG. 59, the mobile ranging apparatus 30a
is combined into the body 11 of the electric drill 100a. The mobile
ranging apparatus 30a includes at least one laser ranging unit 300,
an infrared receiving unit 302, a display device 340, a mode
selection key, an inertial detection unit 350, a control module
360, and a power supply 380. Similar to the sixth embodiment, the
laser ranging unit 300 is arranged perpendicular to an electric
drill bit axis, and the infrared receiving unit 302 is arranged
parallel with the laser ranging unit 300. The inertial detection
unit 350 is arranged within the body and remains parallel with or
perpendicular to the axis of the output shaft of the electric
drill. The mode selection key 330 and the display device 340 are
arranged at a tail end portion of the electric drill so as to
facilitate the observation and operation of the operator. The
display device 340 of the embodiments of the present invention is a
liquid crystal display, the control module is a microprocessor
(MCU), the mode selection key 330 includes a plurality of control
keys, and the inertial detection unit 350 is configured to be an
inertial sensor. The mobile ranging apparatus 30a is provided with
an independent power supply 380a for supplying electric energy for
the above electricity utilization units. The laser ranging unit 300
is configured to transmit a laser of a fixed wavelength and perform
ranging based on the time interval detected between reflecting and
returning of the laser. The infrared receiving unit 302 is
configured to receive an infrared signal transmitted from the
infrared transmitting tube 55a on the base 51. When the laser
transmitted from the laser ranging unit 300 irradiates onto the
light guide post 53 and the optoelectronic detection sensor 58
detects the laser of the fixed wavelength, an infrared signal is
transmitted by the infrared transmitting tube 55a. When the
infrared receiving unit 302 of the mobile ranging apparatus 30a
receives the infrared signal, the laser ranging unit 300 records a
ranging value, that is, the distance between the mobile ranging
apparatus 30a and the light guide post 53.
Referring to FIG. 60, in the process of ranging and positioning,
the secondary positioning member 50a, that is the coordinate base,
is fixed within the working plane W, and a ranging function of the
hand-held electric drill with the mobile ranging apparatus 30a is
enabled. The electric drill rotates within the working plane W, so
that the laser transmitted from the laser ranging unit 300 scans
the light guide post 53 on the coordinate base, the laser ranging
unit 300 of the mobile ranging apparatus 30a automatically detects
the distance from the light guide post 53, and the inertial
detection unit 350 automatically detects an included angle to a
horizontal plane and calculates and displays two-dimensional
coordinate values that use the coordinate base as a reference.
The coordinate base provides two-dimensional coordinate values that
use the center of the light guide post as the origin O. The
two-dimensional coordinate values are used as XOY two-dimensional
coordinates of a horizontal or vertical coordinate axis on the
working plane W. The mobile ranging apparatus 30a detects a linear
distance L from the origin O through the laser ranging unit 300,
detects an included angle .theta. to a connecting line with the
origin O through the inertial detection unit 350, and then may
acquires coordinates (X, Y), where X=L* sin .theta.; and Y=L* cos
.theta.. By using such a ranging manner, the user may perform
working for example, punching, cutting, and the like, on a plane
such as a vertical wall and a wood plate, may implement
two-dimensional positioning within the working plane and may be
assisted in completing operations such as linear cutting, isometric
punching, and positioning and drilling, which is convenient,
efficient, and easy to use, with high precision. Reference can be
made to the sixth embodiment for an operation flow of ranging and
positioning as well as punching under human assistance as well as
an operation flow of determining a punching position in an
intelligent manner, which will not be described repeatedly in this
embodiment.
Referring to FIG. 61, the mobile ranging apparatus of the sixth
embodiment and the seventh embodiment is integrated into the
electric drill, ranging and positioning as well as punching may be
implemented on the working plane W, and the positioning may be
observed through the display screen in real time. An operation flow
of punching a first hole by taking a reference position as a
benchmark and a second hole by taking a first hole position as a
benchmark under the human-assisted mode is shown as follows: step
S020a, building and initiating a light tower on a working plane;
step S110a, moving an electric drill to a reference position and
rotating the electric drill, so that a ranging laser scans a light
guide post; step S120, pressing a positioning mode key so as to
record a coordinate of a reference point with the positioning mode
key; step S130a, moving the electric drill and rotating the
electric drill; step S140, observing coordinate display on a
display screen; step S150, determining whether the coordinate
display is consistent with a preset first predetermined coordinate,
if so, indicating that the electric drill has been moved to a
predetermined position, and if not, continuing to move and rotate
the electric drill until the coordinate display is consistent with
the preset first predetermined coordinate; and step S170, punching
a first hole in the predetermined position. If a second hole needs
to be punched, the following operation step are performed: S120,
pressing the positioning mode key in a first hole position; step
S130a, moving the electric drill and rotating the electric drill,
so that the ranging laser scans the light guide post; step S140,
observing coordinate display on the display screen; step 152,
determining whether the coordinate display is consistent with a
preset second predetermined coordinate, if so, indicating that the
electric drill has been moved to the predetermined position, and if
not, continuing to move and rotate the electric drill until the
coordinate display is consistent with the preset second
predetermined coordinate; and step S172, punching a second hole in
the predetermined position. If more holes need to be punched, for
example, a third hole, a fourth hole, and so on, operations may be
performed based on the above method.
Referring to FIG. 62, an operation flow of punching a first hole
and a second hole by the electric drill under the intelligent
determining mode by receiving a preset working coordinate from a
mobile phone includes: step S020a, building and initiating a
secondary positioning member; step S100, establishing Bluetooth
connection with a mobile phone; step S102, receiving a preset
working coordinate from the mobile phone, where the preset working
coordinate may include a series of coordinates, that is,
coordinates of a plurality of consecutive punching positions; step
S110, moving an electric drill to a reference position; step S120,
pressing a positioning mode key; step S130a, moving the electric
drill and rotating the electric drill; step S154, determining
whether a preset prompt signal is received, where if it is observed
that an LED lamp is lit up or it is heard that a buzzer produces a
sound, it indicates that the electric drill has been moved to a
predetermined punching position; and step S170, a user punching a
first hole. In addition, if a second hole is to be punched, the
following steps are performed: step S120, pressing the positioning
mode key by taking the first hole as a benchmark; step S130a,
moving the electric drill again and rotating the electric drill;
step S154, determining whether the preset prompt signal is
received; finally, step S172, punching a second hole in a second
preset predetermined position, and so on.
Reference can be made to FIG. 44 for operation flows of punching a
first hole and a second hole by the secondary positioning members
50, 50a of the ranging and positioning apparatus and the mobile
ranging apparatus 30a combined into the electric drill 100a by
inputting a preset coordinate. The differences lie in that it is
required to rotate the electric drill around a drill bit when the
electric drill is moved to the reference position, and that it is
required to rotate the electric drill around the drill bit and
observe whether a reminding device emits a prompt signal when the
electric drill is moved, which will not be described repeatedly in
this embodiment.
An Eighth Embodiment
Referring to FIG. 63 and FIG. 64, the present invention relates to
a positioning apparatus 81 suitable for assisting in hanging a
picture and having communication association with an intelligent
apparatus 80. The positioning apparatus 81 includes a laser
galvanometer projection apparatus 850. The laser galvanometer
projection apparatus 850 is used as a display device for projection
onto a wall W configured to be hung with a picture. The electric
drill, as a punching tool, may perform a punching operation
independently after positioned on the working plane accurately.
Specifically, the positioning apparatus 81 includes: a
communication module, specifically, a Bluetooth module 810; a
detecting module, including an inertial sensor unit 830; a control
module, including a controller 820 that connects the Bluetooth
module 810 with the inertial sensor unit 830 and a driving circuit
840 for receiving a control signal of the controller; and an output
module, including a laser galvanometer projection apparatus 850
that is controlled by the driving circuit 840 to perform
operations. The positioning apparatus 81 further includes an input
module, and specifically, the input module is configured to be a
key or a touch screen.
The positioning apparatus 81 receives, through the Bluetooth module
810, picture frame size data generated after typeset by an
intelligent apparatus APP, inputs an instruction by operating a key
860 so as to notify the controller 820 to receive the picture frame
size sent from an intelligent apparatus, and controls, through the
key 860, the laser galvanometer projection apparatus 850 to correct
a projection proportion so as to project onto the picture hanging
wall W by means of a picture of equal proportion.
Referring to FIG. 64 and FIG. 65, the laser galvanometer projection
apparatus 850 includes a laser transmitter 852 and two scanning
reflection units, that is, an X-axis scanning reflection unit and a
Y-axis scanning reflection unit. The X-axis scanning reflection
unit includes an X-axis scanning motor 854 and an X-axis scanning
reflection mirror 858 that is controlled by the X-axis scanning
motor 854. The Y-axis scanning reflection unit includes a Y-axis
scanning motor 856 and a Y-axis scanning reflection mirror 859 that
is controlled by the Y-axis scanning motor 856. The X-axis scanning
motor 854 and the Y-axis scanning motor 856 are high-speed motors
respectively. The laser transmitter is a dotted laser transmitter.
A dotted laser transmitted from the dotted laser transmitter scans
through the X-axis scanning reflection mirror 858 and the Y-axis
scanning reflection mirror 859 respectively in high speed. The
dotted laser scans a particular picture trajectory on the wall, and
a particular graphic image may be formed on the picture hanging
wall W due to a pause in human vision.
The Bluetooth module 810 is configured to perform communication and
transmission with an intelligent apparatus, for example, a smart
phone, a computer, an IPD or other apparatuses. The intelligent
apparatus may typeset, by installing corresponding APP typesetting
software, picture frames of a plurality of pictures after
photographing and may transmit, in a wireless manner, image size
data generated by typesetting with the Bluetooth module 810 of the
positioning apparatus 81. The Bluetooth module 810 may not only be
used for transmitting the image size data, but also be used for
transmitting control information, for example, scanning speeds of
the laser galvanometer projection apparatus 850, image brightness,
etc., or transmitting sate information about the positioning
apparatus 81, for example, battery levels, temperatures, scanning
speeds, image brightness, etc.
The controller 820 is a microcontroller (MCU), used for receiving
the image size data, and may convert the data into movement control
data on the X-/Y-axis scanning motor and control data on the laser
transmitter 852 and send the control data to the driving circuit
840. The image size data received by the controller 820 includes
outer frame size for typesetting and editing each picture frame,
numbers of the picture frames, positions of hooks of the picture
frames relative to respective picture frames, relative position
relationships between the picture frames, etc.
The inertial sensor unit 830 includes a three-axis accelerometer
and a three-axis gyroscope, and is configured to detect attitude
angles of the positioning apparatus 81 in real time and
automatically correct and adjust a projected image and a pitch
distortion angle parameter in real time based on the detected
attitude angles, so as to ensure that the projected image is
horizontal on the wall W. The projected image may also be projected
onto the picture hanging wall W at a perpendicular or preset angle
based on scenario requirements.
The driving circuit 840 is configured to receive control
information or data, controlling an on/off state of the laser
transmitter 852, and controlling a movement angle of the X-axis
scanning motor 854.
Referring to FIG. 63, information projected by the laser
galvanometer projection apparatus 850 onto the picture hanging wall
W includes outer frame size for typesetting and editing each
picture frame, numbers of the picture frames, positions of hooks of
the picture frames relative to respective picture frames, and
relative position relationships between the picture frames. The
user needs to punch a hole or mount a hook at a cross-shaped aiming
mark position of the picture frame, place a picture frame of a
corresponding number into a corresponding projection picture frame,
and enable borders overlap with image boundaries.
Referring to FIG. 66, the laser galvanometer projection apparatus
configured to be in communication association with the intelligent
apparatus includes a communication module, a detecting module, a
processing module and an output module, where the communication
module includes a receiving module for receiving information sent
by the intelligent apparatus, the detecting module is configured to
obtain a position of a preset predetermined and/or movement
information about the positioning apparatus, and the processing
module processes the information from the receiving module and/or
the detecting module.
The communication module further includes a sending module for
sending, to the intelligent apparatus, the information processed by
the processing module or obtained by the detecting module.
Communication information in this embodiment includes image
information, control instruction information, and state monitoring
information. The image information includes typeset picture frame
images. The control instruction information includes working modes,
projection proportion adjustment coefficients, projection pitch
distortion adjustment coefficients, projection oblique distortion
adjustment coefficients, projection brightness adjustment and
settings, and scanning frequency settings. The working modes
include a gradienter mode, a projector mode, and a picture hanging
mode. The state monitoring information includes a battery level, a
continuous working time of the apparatus, the remaining working
time, a current working attitude, etc.
A projecting and positioning apparatus may send its current state
monitoring information to the intelligent apparatus through the
sending module.
The projecting and positioning apparatus includes an input unit.
The input unit is electrically connected to the processing module.
The input unit may be in the form of a key or a touch screen. At
least one working mode may be selected for the projecting and
positioning apparatus through the input module, that is, mode
switching processing. The processing module in a corresponding
working mode includes at least one information processing method
corresponding to the working mode. The positioning apparatus may
also be configured to perform functions such as man-machine
interaction and battery level monitoring, through the input
unit.
The detecting module includes an inertial sensor and is configured
to detect a movement and/or state parameter of the projecting and
positioning apparatus. The processing of the processing module
includes driving of galvanometer motor scanning, distortion
correction of the projected images, horizontal correction of the
projected images, proportional adjustment of the projected images,
etc.
The projecting and positioning apparatus further includes an output
module for outputting, in a sensible manner, the information
processed by the processing module. The output module of this
embodiment may be a reminding device for emitting a prompt signal
based on a processing result of the processing module. The
reminding apparatus includes at least one indication unit and/or a
display device. The display device emits an optical signal, and the
indication unit emits a sound signal. The display device of this
embodiment may employ laser galvanometer projection and may also be
other means such as an LED and a display, and the indication unit
may be a buzzer, a loudspeaker, etc.
Referring to FIG. 67, an operation flow of positioning, punching,
and picture hanging on the working plane W is shown as follows:
building a laser galvanometer projection apparatus in a working
space and initiating the laser galvanometer projection apparatus to
operate, so that the laser galvanometer projection apparatus
establishes communication connection with an intelligent apparatus
through the Bluetooth module 810; receiving information sent from
the intelligent apparatus; projecting the information onto a
predetermined area in an image projection manner, so that the laser
galvanometer projection apparatus projects a picture frame and a
cross-shaped aiming mark onto a picture hanging wall W; adjusting
and correcting an image projection proportion and a pitch
distortion angle parameter, so that a physical picture frame may
overlap with a projected picture frame image in the predetermined
area so as to determine an aiming mark position, and if the
physical picture frame is inconsistent with the size of a projected
picture frame, repeating the above adjusting and correcting an
image projection proportion and a pitch distortion angle parameter
again; punching a hole and mounting a peg in the aiming mark
position directly, or marking an aiming mark position in the
projected image first, and then, punching a hole in the aiming mark
position; and then, hanging a picture frame at the peg and aligning
the physical picture frame with the projected picture frame along
borders, so that one picture hanging is completed.
The following steps are also included: verifying whether the size
of a real picture frame is consistent with the size of the
projected picture frame; adjusting the projection proportion and
the pitch distortion angle parameter through a key of the input
module, or adjusting the projection proportion and the pitch
distortion angle parameter by operating the intelligent apparatus,
until the size of the real picture frame is consistent with the
size of the projected picture frame; punching a hole and mounting a
peg in the aiming mark position; and hanging a picture and
adjusting a position of a frame of the picture so as to align the
picture frame with edges of the projected picture frame, so that
hanging of a piece of picture is completed. If a plurality of
pictures need to be hung, the above operation flow may be
repeated.
A Ninth Embodiment
Referring to FIG. 68 and FIG. 69, the positioning apparatus of the
present invention is implemented by the intelligent apparatus
itself. Based on real-time visual identification and detection
technology, a user hanging a picture is reminded, in real time, of
a correct position and a departure direction of placing the picture
frame on the wall W, so as to provide convenience for picture
hanging on the wall during assisting a single person in
working.
In this embodiment, an intelligent apparatus 900 is configured to
enter image information about the hung picture, for example, a
photographed physical picture frame, an actual picture-hanging wall
and surrounding reference substances. Position data is designed to
be generated through a typesetting APP installed in the intelligent
apparatus 900. In the process of picture hanging, a camera of the
intelligent apparatus identifies the wall and images of moving
pictures in real time, and emits a voice prompt or other sound
signals after comparing borders of the picture frame with a picture
frame in a virtual position in terms of position and direction, so
as to assist a picture-hanging operator in adjusting the position
of the picture frame.
Specifically, three picture frame design diagrams as indicated by
dashed boxes in FIG. 69 are virtual picture frame positions that
are generated through the typesetting APP after entering size and
image information about the picture frame through the intelligent
apparatus 900 and correspond to an actual wall.
Referring to FIG. 70, a positioning apparatus configured to be in
communication association with an intelligent apparatus and have a
visual identification function includes a communication module, a
detecting module, a processing module, and an output module. The
communication module performs data communication based on software
inside the intelligent apparatus. Communication information
includes size information, image information, control instruction
information, and state monitoring information. The measure module
is a camera and configured to obtain position information about a
preset predetermined. The processing module is responsible for
processing data from the camera or the software inside the
intelligent apparatus. The processing of the processing module
includes visual identification, visual ranging, etc.
A visual identifying and positioning apparatus further includes an
input unit. The input unit is electrically connected to the
processing module. The input unit may be in the form of a key or a
touch screen, the visual identifying and positioning apparatus may
be configured, through the input unit, to perform state control
such as man-machine interaction and battery level monitoring. State
control information is fed back to the intelligent apparatus
through the data communication inside the intelligent
apparatus.
The output module is configured to output, in a sensible manner,
information processed by the processing module or captured by the
camera. The output module of this embodiment is a reminding device
for emitting a prompt signal based on a processing result of the
processing module. The prompt signal may be an optical signal
and/or a sound signal. The optical signal may be indicated by using
a display. The sound signal may be indicated by using a
loudspeaker.
The image information includes a picture frame front-face image and
a typeset picture frame image. The control instruction information
includes a visual ranging ambiguity tolerance. The state monitoring
information includes a battery level and the remaining working
time.
Referring to FIG. 71, an operation flow of assisting in picture
hanging on a wall by using an intelligent apparatus is shown as
follows: building an intelligent apparatus 900 and fixing the
intelligent apparatus in a position by using a tripod or other
fixing devices so as to align a field of view of a camera of the
intelligent apparatus to a picture hanging wall W; initiating a
typesetting APP that assists in picture hanging, projecting based
on a virtual picture hanging position generated by the typesetting
APP on the wall, initiating the camera to capture an image of the
wall, identifying feature points on the wall by the intelligent
apparatus 900, for example, an artificially placed reference
substance, an identifiable lamp, a hung picture frame, etc., and
matching typesetting position data coordinates with the wall W
automatically; moving one of physical picture frames for
typesetting into the field of view for photographing via the
camera, capturing an image of the picture frame by the camera, and
determining, by identification, a position corresponding to the
physical picture frame; capturing a picture frame image by the
camera, identifying edges of the picture frame automatically,
comparing the edges with boundaries of the picture frame in a
corresponding position, and determining a relative position;
prompting a picture-hanging operator, by voice, of moving left,
moving right, moving upward, moving downward, rotating left,
rotating right, position being correct, and other information so as
to assist the picture-hanging operator in picture hanging; and
marking a current position if the prompting is received, punching a
hole, mounting a peg, and finally completing the picture hanging.
If more than one picture is to be hung, the following steps may be
repeated again: moving a physical picture frame for typesetting
into a field of view for photographing via the camera; moving the
picture frame based on an indication of voice, until it is
indicated that the moving is enough; and marking a current
position, punching a hole, mounting a peg, and hanging a
picture.
By using the intelligent apparatus 900 as the positioning apparatus
to assist in picture hanging, use functions of the intelligent
apparatus 900 are utilized and developed sufficiently, so that the
intelligent apparatus 900 indicates the operator of correct
operation steps like a real assistant, which is obviously very
humanized and makes picture hanging of a single person more
intelligent and rapid. With the machine vision technology, the
precision of picture hanging is higher.
The above embodiments merely illustrate several implementations of
the present invention and are not to be construed as a limitation
to the patent scope of the present invention. It should be noted
that a person of ordinary skill in the art may make several
variations and improvements without departing from the concept of
the present invention, and all these variations and improvements
shall fall within the protection scope of the present invention.
The patent protection scope of the present invention shall be
subject to the appended claims.
* * * * *