A data processing method and corresponding device in laser communication

Abstract

The application discloses a data processing method in laser communication, which is applied to a processing device of a laser emitting device, the laser emitting device further comprising a laser deflection device, a position detector and a camera, the method comprising: obtaining position information and shape information of a marker of a laser receiving device and deflection data of the laser deflection device in the process that the position detector tracks the laser receiving device; obtaining a second conversion relationship based on a first conversion relationship between the position and shape of the marker and the deflection data of the laser deflection device and the obtained data, wherein the second conversion relationship updates at least one parameter associated with the position of the marker and / or the shape of the marker relative to the first conversion relationship, and the second conversion relationship is used in the laser alignment process when the laser emitting device and the laser receiving device start or reconnect. The scheme is used for improving the accuracy of coarse alignment in laser communication, so as to quickly enter fine alignment.

Description

Technical Field

[0001] This application relates to the field of communication technology, specifically to a data processing method and corresponding equipment in laser communication. Background Technology

[0002] Space optical communication systems refer to optical communication systems that use laser light waves as the carrier and the atmosphere as the transmission medium. Since the laser spot is very small, to achieve communication, the laser transmitting equipment needs to capture, track, and point (ATP) the laser receiving equipment, ensuring the laser hits the receiving device. A camera is typically mounted on the laser transmitting equipment to photograph the laser receiving device. Laser deflection devices (such as galvanometers and rotating stages) are also installed on the laser transmitting equipment to deflect the laser and aim it at the receiving device.

[0003] Generally, alignment includes coarse alignment and fine alignment. Coarse alignment must be completed before fine alignment can proceed. In coarse alignment, the camera locates the laser receiver using markers (usually LEDs) on the laser receiving device and takes a picture of it. The laser emitting device then determines the position of the laser receiver based on the image captured by the camera and generates a position command for the laser deflector, ensuring the laser beam hits the receiver. The more accurate the coarse alignment, the faster the fine alignment can proceed.

[0004] Currently, the low alignment accuracy of the laser coarse alignment process prevents it from quickly progressing to fine alignment, and this problem urgently needs to be solved. Summary of the Invention

[0005] This application provides a data processing method for laser communication, used to dynamically update the conversion relationship for laser coarse alignment, thereby enabling rapid and high-quality coarse alignment when the laser transmitting device and the laser receiving device are started or reconnected. This application also provides corresponding processing apparatus, devices, systems, computer-readable storage media, and computer program products.

[0006] The first aspect of this application provides a data processing method in laser communication. This method is applied to a processing apparatus of a laser emitting device, which further includes a laser deflection device, a position detector, and a camera. The method includes: acquiring at least two sets of data during the tracking of a laser receiving device by the position detector; the laser receiving device includes a marker; each set of data includes position and shape information of the marker obtained from an image captured by the camera, and deflection data of the laser deflection device when the camera captures the image; the image capture time is different in each set of data; and obtaining a second conversion relationship based on a first conversion relationship embodying the position and shape of the marker and the deflection data of the laser deflection device, and the at least two sets of data. The second conversion relationship updates at least one parameter among parameters associated with the position and / or shape of the marker relative to the first conversion relationship. The second conversion relationship is used for laser alignment during startup or reconnection of the laser emitting device and the laser receiving device.

[0007] In the first aspect mentioned above, the laser emitting device refers to a device with a laser source capable of emitting laser light. The laser deflecting device can be a galvanometer or a reflector, the position detector can be a position-sensitive device (PSD) or a quadrant position device (QPD), and the camera is typically a charge-coupled device (CCD) camera. The process of the position detector tracking the laser receiving device can include laser precision alignment or laser communication. The laser receiving device can be various types of terminal devices, such as displays, robots, robotic arms, and mobile phones, all of which have laser communication capabilities. The marker is typically an LED light. The marker's position information indicates its location, such as its center coordinates or other coordinates, such as the coordinates of its 2 / 3 position. The marker's shape information indicates its shape, such as its size, area, or distribution. The deflection data of the laser deflecting device can include its coordinates or angles. The first conversion relationship, maintained by the parameter update preprocessing device, reflects the conversion between the position and shape of the marker and the deflection data of the laser deflection device. This first conversion relationship can be obtained from the previous dynamic parameter update. The second conversion relationship is obtained by updating parameters based on the first conversion relationship. If, after obtaining the second conversion relationship, the laser emitting device restarts or a communication interruption occurs between it and the laser receiving device, and a reconnection is performed, the second conversion relationship can be used to complete the laser coarse alignment process during the restart or reconnection. Because at least one parameter in the second conversion relationship used in the laser coarse alignment process, which is associated with the position and / or shape of the marker, is dynamically updated, and not dynamically fixed with the factory settings of the laser emitting or receiving device, even if the laser receiving device moves, or if changes in temperature and humidity in the environment affect the position or shape of the marker, the conversion relationship can be updated in a timely manner to adapt to the current laser communication environment of the laser receiving and emitting devices. Therefore, the second conversion relationship can ensure high-quality laser coarse alignment during the laser alignment process, which is conducive to quickly entering fine alignment, thereby improving the startup or reconnection speed of the laser emitting and receiving devices.

[0008] In one possible implementation of the first aspect, the above steps: obtaining a second conversion relationship based on a first conversion relationship embodying the position and shape of the marker and the deflection data of the laser deflection device, and at least two sets of data, include: after acquiring one set of data from at least two sets of data, inputting the position and shape information of the marker in the set of data into the first conversion relationship to determine the deflection data of the laser deflection device; if the difference between the determined deflection data of the laser deflection device and the deflection data of the laser deflection device in the set of data is greater than a preset threshold, then obtaining the second conversion relationship based on the first conversion relationship embodying the position and shape of the marker and the deflection data of the laser deflection device, and at least two sets of data.

[0009] In this possible implementation, the update from the first conversion relationship to the second conversion relationship can be triggered based on an update condition. This update condition can be a comparison of whether the difference between the deflection data of the laser deflector calculated based on the first conversion relationship and the actual acquired deflection data of the laser deflector is greater than a preset threshold. If it is greater than the preset threshold, the update from the first conversion relationship to the second conversion relationship is triggered. If it is not greater than the preset threshold, it indicates that the parameters in the first conversion relationship related to the position and / or shape of the marker have not changed significantly and do not need to be updated temporarily. Therefore, in this possible implementation, the conversion relationship can be updated according to actual changes, which can meet the alignment requirements in laser communication while avoiding the computational overhead caused by frequent updates.

[0010] In one possible implementation of the first aspect, the above steps: obtaining a second conversion relationship based on a first conversion relationship embodying the position and shape of the marker and the deflection data of the laser deflection device, and at least two sets of data, include: when the cumulative time since the first conversion relationship was obtained meets a preset update time, then obtaining the second conversion relationship based on the first conversion relationship embodying the position and shape of the marker and the deflection data of the laser deflection device, and at least two sets of data.

[0011] In this possible implementation, the update from the first transformation relationship to the second transformation relationship can be a timed update, with the relationship being converted periodically according to the update duration. Of course, the update duration can be adjusted. In this way, the accuracy of laser coarse alignment can be ensured by updating the transformation relationship timed by time.

[0012] In one possible implementation of the first aspect, the location information includes the center coordinates of the marker, and the shape information includes the pixel size of the target array of the marker.

[0013] In one possible implementation of the first aspect, the parameters related to the position and shape of the marker include a first parameter related to the position of the marker and a second parameter related to the shape of the marker, wherein the first parameter is a coefficient of the center coordinates of the marker and the second parameter is a coefficient of the pixel size of the target array.

[0014] In one possible implementation of the first aspect, the first parameter represents the rotation compression matrix between the laser deflection device and the marker, the second parameter represents the translation vector between the laser deflection device and the marker, and the deflection data represents the coordinates of the laser deflection device.

[0015] In one possible implementation of the first aspect, the above steps, based on a first transformation relationship embodying the position and shape of the marker and the deflection data of the laser deflection device, and at least two sets of data, to obtain a second transformation relationship, include: inputting the coordinates of the laser deflection device, the center coordinates of the marker, and the pixel size of the target array of the marker in each set of data into the relational expression represented by the first transformation relationship, to obtain at least two relational expressions corresponding one-to-one with the at least two sets of data, with the first parameter and the second parameter as unknowns; calculating the at least two relational expressions using a least squares fitting algorithm to determine the values ​​of the first parameter and the second parameter; and updating the first transformation relationship according to the values ​​of the first parameter and the second parameter to obtain the second transformation relationship.

[0016] In this possible implementation, the coordinates of the laser deflector, the center coordinates of the marker, and the pixel size of the target array of the marker are all input into a first transformation relation from a set of data. This yields a relation with a first parameter and a second parameter as unknowns. Inputting each set of data into this first transformation relation yields a relation corresponding to at least two sets of data. Then, by using a least-squares fitting algorithm to calculate these at least two relations, the values ​​of the first and second parameters can be obtained. This updates the first and second parameters in the first transformation relation, resulting in a second transformation relation. This method allows for accurate updates to the transformation relation, thereby improving the precision of laser coarse alignment.

[0017] In one possible implementation of the first aspect, the position information in each set of data includes the center coordinates of the marker, the shape information includes the pixel size of the target array of the marker, and the deflection data of the laser deflector includes the coordinates of the laser deflector; the above steps: based on the first transformation relationship that embodies the position and shape of the marker and the deflection data of the laser deflector, and at least two sets of data, to obtain a second transformation relationship, including: inputting the coordinates of the laser deflector in each set of data, as well as the center coordinates of the marker and the pixel size of the target array of the marker, into the neural network model represented by the first transformation relationship, training the neural network model to obtain a new neural model as the second transformation relationship.

[0018] In this possible implementation, the transformation relationship can be updated by training a neural network model. The laser coarse alignment can be achieved through the neural network model, which can improve the accuracy of the coarse alignment.

[0019] A second aspect of this application provides a processing apparatus applied to a laser emitting device, the laser emitting device further comprising a laser deflector, a position detector, and a camera. The processing apparatus includes a processor. The processor is configured to: acquire at least two sets of data during the process of the position detector tracking a laser receiving device, the laser receiving device including a marker, each of the at least two sets of data including position and shape information of the marker acquired from an image captured by the camera, and deflection data of the laser deflector when the camera captures the image, the image capture time being different in each set of data; and obtain a second conversion relationship based on a first conversion relationship embodying the position and shape of the marker and the deflection data of the laser deflector, and the at least two sets of data, wherein the second conversion relationship updates at least one parameter among the parameters associated with the position and / or shape of the marker relative to the first conversion relationship, the second conversion relationship being used for laser alignment processes during startup or reconnection of the laser emitting device and the laser receiving device.

[0020] In one possible implementation of the second aspect, the processor is configured to: after acquiring one set of data from at least two sets of data, input the position and shape information of the marker in one set of data into a first conversion relationship to determine the deflection data of the laser deflection device; if the difference between the determined deflection data of the laser deflection device and the deflection data of the laser deflection device in one set of data is greater than a preset threshold, then based on the first conversion relationship reflecting the position and shape of the marker and the deflection data of the laser deflection device, and at least two sets of data, obtain a second conversion relationship.

[0021] In one possible implementation of the second aspect, the processor is configured to: when the cumulative duration since the first conversion relationship was obtained satisfies a preset update duration, obtain a second conversion relationship based on the first conversion relationship, which embodies the position and shape of the marker and the deflection data of the laser deflection device, and at least two sets of data.

[0022] In one possible implementation of the second aspect, the location information includes the center coordinates of the marker, and the shape information includes the pixel size of the target array of the marker.

[0023] In one possible implementation of the second aspect, the parameters related to the position and shape of the marker include a first parameter related to the position of the marker and a second parameter related to the shape of the marker, wherein the first parameter is a coefficient of the center coordinates of the marker and the second parameter is a coefficient of the pixel size of the target array.

[0024] In one possible implementation of the second aspect, the first parameter represents the rotation compression matrix between the laser deflection device and the marker, the second parameter represents the translation vector between the laser deflection device and the marker, and the deflection data represents the coordinates of the laser deflection device.

[0025] In one possible implementation of the second aspect, the processor is configured to: input the coordinates of the laser deflection device in each set of data, as well as the center coordinates of the marker and the pixel size of the target array of the marker, into the relational expression represented by the first transformation relation, to obtain at least two relational expressions corresponding one-to-one with at least two sets of data, with the first parameter and the second parameter as unknowns; calculate the at least two relational expressions using a least squares fitting algorithm to determine the values ​​of the first parameter and the second parameter; and update the first transformation relation according to the values ​​of the first parameter and the second parameter to obtain the second transformation relation.

[0026] In one possible implementation of the second aspect, the positional information in each set of data includes the center coordinates of the marker, the shape information includes the pixel size of the target array of the marker, and the deflection data of the laser deflector includes the coordinates of the laser deflector; the processor is used to: input the coordinates of the laser deflector in each set of data, as well as the center coordinates of the marker and the pixel size of the target array of the marker, into the neural network model represented by the first transformation relationship, train the neural network model to obtain a new neural model as the second transformation relationship.

[0027] A third aspect of this application provides a processing apparatus that has the function of implementing the method of the first aspect or any possible implementation of the first aspect. This function can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described function, such as an acquisition unit and a processing unit.

[0028] The fourth aspect of this application provides a laser emitting device, comprising: a processing device, a laser deflection device, a position detector, and a camera; the processing device is the processing device described in the second aspect or any possible implementation thereof.

[0029] The fifth aspect of this application provides a laser alignment system, comprising: a laser emitting device and a laser receiving device, wherein the laser emitting device is the laser emitting device described in the fourth aspect above.

[0030] The sixth aspect of this application provides a computer-readable storage medium storing one or more computer-executable instructions, wherein when the computer-executable instructions are executed by a processor, the processor performs a method as described in the first aspect or any possible implementation thereof.

[0031] The seventh aspect of this application provides a computer program product that stores one or more computer-executable instructions, wherein when the computer-executable instructions are executed by a processor, the processor executes a method as described in the first aspect or any possible implementation thereof.

[0032] An eighth aspect of this application provides a chip system including at least one processor for supporting processing devices in implementing the functions involved in the first aspect or any possible implementation thereof. In one possible design, the chip system may further include a memory for storing program instructions and data necessary for memory management. This chip system may be composed of chips or may include chips and other discrete devices.

[0033] The technical effects of the second to eighth aspects or any of their possible implementations can be found in the first aspect or the technical effects of different possible implementations of the first aspect, and will not be repeated here.

[0034] The solution provided in this application dynamically updates the conversion relationship used in the laser coarse alignment process during the tracking of the laser receiving device by the position detector. This ensures that even if the laser receiving device moves or changes in temperature and humidity in the environment affect the position or shape of the marker, the updated conversion relationship can adapt to the current laser communication environment of the laser receiving and laser transmitting devices in a timely manner. Therefore, the dynamic update scheme of the conversion relationship provided in this application can ensure high-quality laser coarse alignment and facilitate rapid transition to fine alignment, thereby improving the startup or reconnection speed of the laser transmitting and laser receiving devices. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of an embodiment of an indoor space optical communication system;

[0036] Figure 2 This is a schematic diagram of a laser communication architecture provided in an embodiment of this application;

[0037] Figure 3 This is a schematic diagram of an embodiment of the data processing method in laser communication provided in this application;

[0038] Figure 4 This is a schematic diagram of another embodiment of the data processing method in laser communication provided in this application;

[0039] Figure 5A This is a schematic diagram of an application scenario provided in an embodiment of this application;

[0040] Figure 5B This is a schematic diagram of another application scenario provided by an embodiment of this application;

[0041] Figure 5C This is a schematic diagram of another application scenario provided by an embodiment of this application;

[0042] Figure 6A This is a schematic diagram of a scenario provided in an embodiment of this application;

[0043] Figure 6B This is a schematic diagram of a scenario provided in an embodiment of this application;

[0044] Figure 7 This is a schematic diagram of an embodiment of the laser alignment method provided in this application;

[0045] Figure 8 This is a schematic diagram of the processing device provided in an embodiment of this application;

[0046] Figure 9 This is another schematic diagram of the processing device provided in the embodiments of this application. Detailed Implementation

[0047] The embodiments of this application are described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. As those skilled in the art will understand, with the development of technology and the emergence of new scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0048] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0049] This application provides a data processing method for laser communication, used to dynamically update the conversion relationship for laser coarse alignment, thereby enabling rapid and high-quality coarse alignment when the laser transmitting device and the laser receiving device are started or reconnected. This application also provides corresponding processing apparatus, devices, systems, computer-readable storage media, and computer program products, etc., which will be described in detail below.

[0050] The solutions provided in this application are typically used in indoor optical communication systems. For example... Figure 1 As shown, an indoor space optical communication system typically includes a control device 10, a laser emitting device 20, and a laser receiving device 30. The control device 10 is communicatively connected to the laser emitting device 20, and the laser emitting device 20 communicates with the laser receiving device 30 via laser. Figure 1 The control device 10 shown is separate from the laser emitting device 20. In some scenarios, the control device 10 can also be integrated into the laser emitting device 20.

[0051] The control device 10 can be a standalone physical machine, or a virtual machine (VM) or container in the cloud.

[0052] Laser emitting device 20 refers to a device that has laser emitting function and can communicate with laser receiving device 30 via laser.

[0053] Laser receiving device 30 refers to a device with laser receiving capabilities, capable of laser communication with laser emitting device 20. This laser receiving device 30 can be various types of terminal devices, such as displays, robots, robotic arms, and mobile phones.

[0054] In the above Figure 1 In the indoor space optical communication system shown, the control device 10 loads the data to be transmitted onto the laser emitted by the laser emitting device 20, and then transmits the data to be transmitted to the laser receiving device 30 through the laser. The laser receiving device 30 then performs corresponding operations based on the received data.

[0055] Before transmitting data, the laser emitting device 20 and the laser receiving device 30 typically perform acquisition, tracking, and pointing (ATP). Alignment usually includes coarse alignment and fine alignment; fine alignment only begins after coarse alignment is completed. After fine alignment, the laser emitting device 20 and the laser receiving device 30 will begin transmitting data onto the laser.

[0056] In this application, the coarse alignment process is the process by which the laser emitting device 20 aligns with the laser receiving device 30 through a marker on the laser receiving device 30.

[0057] In this application, the precision alignment process is the process by which the laser emitting device 20 achieves precise alignment with the laser receiving device 30 through a position detector.

[0058] For information on coarse and fine alignment processes in laser communication, please refer to [reference needed]. Figure 2 The diagram shown illustrates a laser communication architecture for your understanding. Figure 2 As shown, the laser emitting device includes a laser, a laser deflector, a position detector, a camera, and a processing unit. The laser emits laser light, the laser deflector changes the laser's optical path, the position detector tracks the laser receiving device, the camera captures images of the laser receiving device, and the processing unit controls the position of the laser deflector. The laser emitting device may also include a beam splitter, which directs the light returning from the laser receiving device onto the position detector. In this application, the camera is typically a charge-coupled device (CCD) camera, the laser deflector can be a galvanometer or a reflector, and the processing unit can be a processor, a chip system including one or more processors, or a device including one or more processors and other devices. The position detector can be a position-sensitive device (PSD) or a quadrant-position device (QPD).

[0059] The laser receiver includes a marker, which is typically a light-emitting diode (LED). The laser receiver may also include a lens and a cornerstone prism; the lens refracts the incident laser light towards the cornerstone prism, and the cornerstone prism reflects the laser light.

[0060] The following is combined with Figure 2 The optical path shown illustrates the processes of coarse alignment and fine alignment.

[0061] The coarse alignment process includes: a camera capturing an image of the laser receiving device, which is then sent to a processing unit. The processing unit generates deflection data for the laser deflector based on information from markers in the image and transmits this deflection data to the laser deflector. The laser deflector deflects the laser beam according to this data, thereby altering the laser's optical path and enabling it to be aligned with the laser receiving device to a certain extent.

[0062] The precise alignment process includes: the position detector sends the location where the laser should hit the position detector to the processing device; the processing device generates a position command with the goal of the laser hitting the center of the position detector as the target, and transmits the position command to the laser deflector. The laser deflector deflects according to the position command, thereby changing the optical path of the laser so that the returning laser hits the center of the position detector.

[0063] In the coarse alignment process between the laser emitting and receiving devices, the conversion of the relationship between the camera and the laser deflecting device involves determining the deflection data of the laser deflecting device during processing. Currently, this conversion involves camera parameters, laser deflecting device parameters, and their relative positions. Since these parameters are typically factory-configured, changes in the environment (temperature, humidity, etc.) during laser emitting device operation can affect these inherent parameters and thus the accuracy of coarse alignment. Furthermore, the laser receiving device may move during operation, altering the markers captured by the camera on the laser emitting device. Therefore, the current conversion method is not conducive to rapid coarse alignment. Based on this, this application provides a data processing method for laser communication that not only offers a new conversion relationship for laser coarse alignment but also dynamically updates this relationship during the tracking of the laser receiving device by the position detector. This improves the accuracy of coarse alignment when using this conversion relationship, thereby increasing the startup or reconnection speed of the laser emitting and receiving devices.

[0064] Based on the above Figure 2 The architecture shown below, combined with Figure 3 This application introduces a data processing method for laser communication provided in its embodiments.

[0065] like Figure 3 As shown, one embodiment of the data processing method in laser communication provided in this application includes:

[0066] 401. The processing device acquires at least two sets of data during the process of the position detector tracking the laser receiving device.

[0067] The laser receiving device includes a marker, and each of at least two sets of data includes position and shape information of the marker obtained from images captured by the camera, as well as deflection data of a laser deflector device when the camera captures the image, with the images being captured at different times in each set of data.

[0068] The position information of the marker indicates its location, such as the center coordinates or other coordinates, such as the coordinates of the 2 / 3 position. The shape information of the marker indicates its shape, such as its size, area, or distribution. The deflection data of the laser deflector can include the coordinates or angles of the laser deflector.

[0069] In this step, acquiring at least two sets of data can be achieved by receiving an image captured by the camera each time it takes a picture, extracting the position and shape information of the marker from that image, and simultaneously acquiring deflection data from the laser deflector device while the camera is capturing the image. This results in one of at least two sets of data. By acquiring images captured by the camera at different times and acquiring the corresponding deflection data from the laser deflector device at different times, two or more sets of data can be obtained.

[0070] 402. The processing device obtains a second conversion relationship based on a first conversion relationship that reflects the position and shape of the marker and the deflection data of the laser deflection device, and at least two sets of data.

[0071] The second transformation relationship updates at least one of the parameters associated with the position and / or shape of the marker relative to the first transformation relationship. The second transformation relationship is used for the laser alignment process when the laser emitting device and the laser receiving device are started or reconnected.

[0072] The first conversion relationship is maintained by the parameter update preprocessing device, reflecting the conversion between the position and shape of the marker and the deflection data of the laser deflection device. This first conversion relationship can be obtained from the previous dynamic parameter update. The second conversion relationship is obtained by updating the parameters based on the first conversion relationship. If the laser emitting device restarts or a communication interruption occurs between the laser emitting device and the laser receiving device after obtaining the second conversion relationship, the second conversion relationship can be used to complete the laser coarse alignment process during the restart or reconnection.

[0073] The solution provided in this application dynamically updates the conversion relationship used in the laser coarse alignment process during the tracking of the laser receiving device by the position detector. This ensures that even if the laser receiving device moves or changes in temperature and humidity in the environment affect the position or shape of the marker, the updated conversion relationship can adapt to the current laser communication environment of the laser receiving and laser transmitting devices in a timely manner. Therefore, the dynamic update scheme of the conversion relationship provided in this application can ensure high-quality laser coarse alignment and facilitate rapid transition to fine alignment, thereby improving the startup or reconnection speed of the laser transmitting and laser receiving devices.

[0074] In step 402 above, the update from the first transformation relationship to the second transformation relationship can be triggered based on the update condition or based on the update duration, which will be described below.

[0075] I. Update the transformation relationship based on the update conditions.

[0076] After acquiring one set of data from at least two sets of data, the position and shape information of the markers in one set of data are input into the first conversion relationship to determine the deflection data of the laser deflection device.

[0077] If the difference between the determined deflection data of the laser deflection device and the deflection data of the laser deflection device in a set of data is greater than a preset threshold, then a second conversion relationship is obtained based on the first conversion relationship that reflects the position and shape of the marker and the deflection data of the laser deflection device, and at least two sets of data.

[0078] In this update scheme, the update condition can be a comparison of whether the difference between the deflection data of the laser deflector calculated based on the first conversion relationship and the actual acquired deflection data of the laser deflector is greater than a preset threshold. If it is greater than the preset threshold, an update from the first conversion relationship to the second conversion relationship is triggered. If it is not greater than the preset threshold, it indicates that the parameters in the first conversion relationship related to the position and / or shape of the marker have not changed significantly and do not need to be updated temporarily. This update scheme allows the conversion relationship to be updated according to actual changes, which can meet the alignment requirements in laser communication while avoiding the computational overhead caused by frequent updates.

[0079] 2. Update the transformation relationship based on the update duration.

[0080] When the cumulative time since the first conversion relationship is obtained meets the preset update time, the second conversion relationship is obtained based on the first conversion relationship, which reflects the position and shape of the marker and the deflection data of the laser deflection device, and at least two sets of data.

[0081] In this update scheme, the update from the first conversion relationship to the second conversion relationship can be a timed update, periodically changing the relationship according to the update duration. Of course, the update duration can be adjusted. In this way, the accuracy of laser coarse alignment can be ensured by updating the conversion relationship timed by time.

[0082] In the above embodiments, the position information of the marker includes the center coordinates of the marker, and the shape information of the marker includes the pixel size of the target array of the marker. Parameters related to the position and shape of the marker include a first parameter related to the position of the marker and a second parameter related to the shape of the marker. The first parameter is a coefficient for the center coordinates of the marker, and the second parameter is a coefficient for the pixel size of the target array. These parameters can be: the first parameter represents the rotation compression matrix between the laser deflection device and the marker, the second parameter represents the translation vector between the laser deflection device and the marker, and the deflection data of the laser deflection device represents the coordinates of the laser deflection device.

[0083] Optionally, the first transformation relation described above can be expressed in relational form as follows:

[0084]

[0085] in, Represents the coordinates of the laser deflection device. p represents the center coordinates of the marker. marker A represents the pixel size of the target array of markers. gc t represents the rotation compression matrix between the laser deflection device and the marker. gc This represents the translation vector between the laser deflector and the marker. A gc Indicates the first parameter, t gc This indicates the second parameter.

[0086] In this application, the first parameter and the second parameter in the aforementioned first transformation relationship, namely A gc With t gc It is dynamically updated as the position detector tracks the laser receiving device. This update process can be triggered by meeting the update conditions or update duration described above.

[0087] Optionally, based on the above relationship, step 402 may include: inputting the coordinates of the laser deflection device in each set of data, as well as the center coordinates of the marker and the pixel size of the target array of the marker, into the relationship represented by the first transformation relationship to obtain at least two relationships corresponding one-to-one with at least two sets of data, with the first parameter and the second parameter as unknowns; calculating the at least two relationships using a least squares fitting algorithm to determine the values ​​of the first parameter and the second parameter; and updating the first transformation relationship according to the values ​​of the first parameter and the second parameter to obtain the second transformation relationship.

[0088] This process can be understood as follows: If there are three sets of data, they can be represented in a table, as shown in Table 1 below.

[0089] Table 1: Three sets of data from the example

[0090]

[0091] In Table 1 above, each row contains a set of data. By inputting the data from each row into the above relational expressions, we can obtain the following three relational expressions:

[0092] Relation 1:

[0093] Relation 2:

[0094] Relationship 3:

[0095] The above relation 1, relation 2 and relation 3 are all based on A. gc and t gc For unknowns, A can be obtained by calculating relations 1, 2, and 3 using the least squares fitting algorithm. gc The value of t gc The value of A gc The value of t gc By inputting the value into the above relational expression, a new relational expression is obtained, which represents the second transformation relation. Thus, when the laser emitting device and the laser receiving device restart or reconnect, this new relational expression can be used for coarse alignment, thereby improving the accuracy of coarse alignment and speeding up the startup or reconnection process.

[0096] It should be noted that Table 1 above is just an example. In actual applications, when updating the conversion relationship, many sets of data from Table 1 above are usually obtained.

[0097] It should be noted that the conversion relationship provided in the embodiments of this application is not limited to the above-mentioned relationship. Other forms of expression that can reflect the conversion relationship between the position and shape of the marker and the deflection data of the laser deflection device can also be used as the conversion relationship of this application.

[0098] In addition, the transformation relationship provided in the embodiments of this application can also be represented in the form of a neural network model. In the neural network model, the parameters related to the position and shape of the marker can be two parameters, such as the first parameter and the second parameter, or one parameter, or two components of the same parameter. These parameters can all be called parameters in the neural network model. There can be multiple parameters in the neural network model, and each parameter can be related to the position and / or shape of the marker.

[0099] When the above transformation relationship is represented by a neural network model, the position information in each set of data includes the center coordinates of the marker, the shape information includes the pixel size of the target array of the marker, and the deflection data of the laser deflection device includes the coordinates of the laser deflection device. Step 402 may include: inputting the coordinates of the laser deflection device, the center coordinates of the marker, and the pixel size of the target array of the marker in each set of data into the neural network model represented by the first transformation relationship, training the neural network model to obtain a new neural model as the second transformation relationship.

[0100] When using neural network models to represent transformation relationships, such as Figure 4 As shown, the processing device can extract the center coordinates of the marker and the pixel size of the target array of the marker from the image captured by the camera. It can also extract other information from the image, such as the rotation angle and scaling ratio of the marker. In addition, it acquires the coordinates of the laser deflection device. When the transformation relationship is represented by a neural network model, the content of each of the at least two sets of data can be the same as the data content when the transformation relationship is represented by a relational expression as described above. Please refer to Table 1 for understanding.

[0101] By inputting multiple sets of data, such as those in Table 1, into a neural network model representing the first transformation relationship, and iteratively training this model, the neural network model can be updated to obtain a new neural network model as the second transformation relationship. Thus, when the laser transmitting device and the laser receiving device restart or reconnect, this new neural network model can be used for coarse alignment, thereby improving the accuracy of coarse alignment and speeding up the startup or reconnection process.

[0102] The data processing method in laser communication provided in the above embodiments of this application can be applied to various scenarios of indoor laser communication, such as operating rooms, logistics warehouses, and offices.

[0103] like Figure 5A As shown, in the operating room, the laser receiving device can be a robotic arm, and the laser emitting device can be installed in the operating room. The control device can be located in a remote doctor's office or a hospital in another location, enabling remote surgery. During the surgery, the laser emitting device sends operation control commands to the robotic arm via laser light, controlling the movement of the robotic arm to complete the surgical procedure. While the laser emitting device is tracking the robotic arm, the data processing process in laser communication described in the above embodiment can be executed, realizing the update from the first conversion relationship to the second conversion relationship. In this way, even if the optical path between the laser emitting device and the robotic arm is interrupted due to the movement of the doctor or nurse, a rapid reconnection can be achieved using the updated second conversion relationship.

[0104] like Figure 5B As shown, in a logistics warehouse, the laser receiving device can be a handling robot, and the laser emitting device can be installed in the warehouse. The control equipment can be located in a centralized control room, allowing the handling robot to be operated from there to complete the handling tasks. During the handling robot's task execution, the laser emitting device sends operation control commands to the robot via laser light, controlling its movement to complete the handling or placement of goods. While the laser emitting device is tracking the handling robot, it can execute the data processing process in laser communication described in the above embodiment, updating the relationship from the first to the second. This ensures that even if the optical path between the laser emitting device and the handling robot is interrupted due to worker movement, a rapid reconnection can be achieved using the updated second conversion relationship.

[0105] like Figure 5C As shown, in an office, the laser receiving device can be a monitor, and the laser emitting device can be installed in the office. The control device can be located in the cloud, and this control device can be equivalent to the user's host. The laser emitting device can transmit commands from the host to the monitor via laser light, which are then displayed on the monitor. During the process of the laser emitting device tracking the monitor, the data processing process in laser communication described in the above embodiment can be executed to update from the first conversion relationship to the second conversion relationship. In this way, even if the optical path between the laser emitting device and the monitor is interrupted due to the movement of office personnel, a fast reconnection can be achieved using the updated second conversion relationship.

[0106] As can be seen from the above, the updated second transformation relation is applied in situations such as... Figure 6A During the startup process of the laser emitting and receiving equipment shown, such as powering on or restarting, in... Figure 6ADuring the startup process shown, the laser emitting device will capture the laser receiving device in the state it was in before shutdown or restart. However, the laser receiving device may have moved while it was disconnected from the laser emitting device. The laser emitting device can use the aforementioned second conversion relationship to perform a laser alignment process with the laser receiving device and re-establish a communication connection. This updated second conversion relationship can also be applied to, for example... Figure 6B This refers to situations where the laser receiving device moves too quickly, causing it to lose track of the target, or where the optical communication link is interrupted and needs to be reconnected due to a person or object briefly obstructing the view. For example... Figure 6B As shown, during laser communication between the laser emitting device and the laser receiving device, the communication link is temporarily blocked due to personnel movement. After the personnel leave, the laser emitting device can use the above-mentioned second conversion relationship to perform the laser alignment process with the laser receiving device and re-establish the communication connection with the laser receiving device.

[0107] Whether it is Figure 6A The startup process shown is still as follows: Figure 6B The reconnection process shown illustrates that, after obtaining the second conversion relationship through the aforementioned embodiments, both the laser emitting device and the laser receiving device can perform laser alignment based on this second conversion relationship. See below for further details. Figure 7 This application describes the laser alignment process provided in the embodiments.

[0108] like Figure 7 As shown, one embodiment of laser alignment provided in this application includes:

[0109] 501. The processing device acquires the target image of the laser receiving device from the camera.

[0110] The target image can be in, for example Figure 6A The startup process shown or as follows Figure 6B The image shown is any one of the images captured by the camera during the reconnection process.

[0111] The laser receiving device includes markers used by the laser emitting device to determine the location of the laser receiving device.

[0112] 502. The processing device obtains the center coordinates of the markers from the target image, and the pixel size of the target array representing the markers in the target image.

[0113] 503. The processing device determines the deflection data of the laser deflection device based on the center coordinates of the marker, the pixel size of the target array representing the marker in the target image, and the second transformation relationship.

[0114] This deflection data is used to control the deflection of the laser deflection device to adjust the optical path of the laser emitted by the laser to the laser receiving device.

[0115] The deflection data of a laser deflector can be the coordinates of the laser deflector.

[0116] The process of determining the deflection data of the laser deflection device in step 503 can be achieved by substituting the center coordinates of the marker and the pixel size of the target array of the marker into the relationship expressed by the second transformation relationship below:

[0117]

[0118] In this relation, because A gc With t gc Given a quantity, the center coordinates of the marker. and the pixel size p of the target array of the marker marker Substituting these values ​​into the equation, the coordinates of the laser deflection device can be determined.

[0119] Of course, the method of determining the deflection data of the laser deflection device is not limited to this. Alternatively, the features extracted from the target image can be input into the neural network model represented by the second transformation relationship described above. The neural network model will then output the coordinates of the laser deflection device.

[0120] Because the second conversion relationship is dynamically updated, the accuracy of coarse alignment can be guaranteed, which is conducive to quickly entering fine alignment, thereby enabling the laser emitting equipment and laser receiving equipment to start up or reconnect quickly.

[0121] The above describes the data processing method in laser communication and the laser alignment process. The corresponding apparatus and equipment provided in the embodiments of this application are described below with reference to the accompanying drawings.

[0122] like Figure 8 As shown, the processing apparatus provided in this application embodiment is applied to a laser emitting device, which further includes a laser deflection device, a position detector, and a camera. The processing apparatus 60 includes:

[0123] The acquisition unit 601 is configured to acquire at least two sets of data during the tracking of a laser receiving device by a position detector. The laser receiving device includes a marker. Each set of data includes the position and shape information of the marker obtained from an image captured by a camera, as well as the deflection data of a laser deflection device when the camera captures the image. The image capture time is different in each set of data. The acquisition unit 601 can perform the above-described... Figure 3 Step 401 in the corresponding method embodiment.

[0124] Processing unit 602 is configured to obtain a second conversion relationship based on a first conversion relationship embodying the position and shape of a marker and the deflection data of a laser deflection device, and at least two sets of data acquired by acquisition unit 601. The second conversion relationship updates at least one parameter among those associated with the position and / or shape of the marker, relative to the first conversion relationship. The second conversion relationship is used for laser alignment during startup or reconnection of the laser emitting device and the laser receiving device. Processing unit 602 can perform the above-described... Figure 3 Step 402 in the corresponding method embodiment.

[0125] The solution provided in this application dynamically updates the conversion relationship used in the laser coarse alignment process during the tracking of the laser receiving device by the position detector. This ensures that even if the laser receiving device moves or changes in temperature and humidity in the environment affect the position or shape of the marker, the updated conversion relationship can adapt to the current laser communication environment of the laser receiving and laser transmitting devices in a timely manner. Therefore, the dynamic update scheme of the conversion relationship provided in this application can ensure high-quality laser coarse alignment and facilitate rapid transition to fine alignment, thereby improving the startup or reconnection speed of the laser transmitting and laser receiving devices.

[0126] Optionally, the processing unit 602 is configured to: after acquiring one set of data from at least two sets of data, input the position information and shape information of the marker in one set of data into a first conversion relationship to determine the deflection data of the laser deflection device; if the difference between the determined deflection data of the laser deflection device and the deflection data of the laser deflection device in one set of data is greater than a preset threshold, then based on the first conversion relationship that reflects the position and shape of the marker and the deflection data of the laser deflection device, and at least two sets of data, obtain a second conversion relationship.

[0127] Optionally, the processing unit 602 is configured to: when the cumulative time since the first conversion relationship is obtained meets the preset update time, then based on the first conversion relationship which reflects the position and shape of the marker and the deflection data of the laser deflection device, and at least two sets of data, obtain the second conversion relationship.

[0128] Optionally, the location information includes the center coordinates of the marker, and the shape information includes the pixel size of the target array of the marker.

[0129] Optionally, the parameters related to the position and shape of the marker include a first parameter related to the position of the marker and a second parameter related to the shape of the marker, wherein the first parameter is a coefficient of the center coordinates of the marker and the second parameter is a coefficient of the pixel size of the target array.

[0130] Optionally, the first parameter represents the rotation compression matrix between the laser deflection device and the marker, the second parameter represents the translation vector between the laser deflection device and the marker, and the deflection data represents the coordinates of the laser deflection device.

[0131] Optionally, the processing unit 602 is configured to: input the coordinates of the laser deflection device in each set of data, as well as the center coordinates of the marker and the pixel size of the target array of the marker, into the relational expression represented by the first transformation relation, so as to obtain at least two relational expressions that correspond one-to-one with at least two sets of data, with the first parameter and the second parameter as unknowns; calculate the at least two relational expressions using a least squares fitting algorithm to determine the values ​​of the first parameter and the second parameter; and update the first transformation relation according to the values ​​of the first parameter and the second parameter to obtain the second transformation relation.

[0132] Optionally, the position information in each set of data includes the center coordinates of the marker, the shape information includes the pixel size of the target array of the marker, and the deflection data of the laser deflector includes the coordinates of the laser deflector; the processing unit 602 is used to: input the coordinates of the laser deflector in each set of data, as well as the center coordinates of the marker and the pixel size of the target array of the marker, into the neural network model represented by the first transformation relationship, train the neural network model, and obtain a new neural model as the second transformation relationship.

[0133] The processing apparatus described above can be understood by referring to the relevant content on data processing methods in the previous section on laser communication, and will not be repeated here.

[0134] In addition, in this application, Figure 2 In the laser emitting device shown, the processing unit can be a processor, a chip system including one or more processors, or a device including one or more processors and other components. The structure of this processing unit can be found in [reference needed]. Figure 9 To understand.

[0135] Figure 9 The diagram shown illustrates a possible logical structure of a processing device 70 provided in an embodiment of this application. The processing device 70 includes a processor 701, a communication interface 702, a memory 703, and a bus 704. The processor 701, communication interface 702, and memory 703 are interconnected via the bus 704. In an embodiment of this application, the processor 701 is used to control and manage the operation of the processing device 70; for example, the processor 701 is used to execute... Figures 3 to 7 The steps in the method embodiment are described. Communication interface 702 is used to support communication by processing device 70. Memory 703 is used to store program code and data of processing device 70 and to provide memory space for process groups.

[0136] The processor 701 can be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor 701 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, etc. The bus 704 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 9 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0137] In another embodiment of this application, a computer-readable storage medium is also provided, which stores computer-executable instructions. When the processor of the device executes the computer-executable instructions, the device performs the aforementioned... Figures 3 to 7 The steps performed by the processing device.

[0138] In another embodiment of this application, a computer program product is also provided, which includes computer-executable instructions stored in a computer-readable storage medium; when the processor of the device executes the computer-executable instructions, the device performs the above-described... Figures 3 to 7 The steps performed by the processing device.

[0139] In another embodiment of this application, a chip system is also provided, the chip system including a processor, to implement the above. Figures 3 to 7 The steps performed by the processing device. In one possible design, the chip system may also include a memory for storing program instructions and data necessary for data writing. The chip system may consist of chips or may include chips and other discrete components.

[0140] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this application.

[0141] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0142] In the embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0143] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0144] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0145] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of this application, essentially, or the parts that contribute to the prior art, or parts of the technical solutions, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0146] The above are merely specific implementation methods of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto.

Claims

1. A data processing method in laser communication, characterized by, The method is applied to a processing device of a laser emitting equipment, the laser emitting equipment further including a laser deflection device, a position detector, and a camera, and the method includes: During the process of the position detector tracking the laser receiving device, at least two sets of data are acquired. The laser receiving device includes a marker. Each set of data includes the position and shape information of the marker obtained from an image captured by the camera, and the deflection data of the laser deflection device when the camera captures the image. The capture time of the image is different in each set of data. Based on a first conversion relationship embodying both the position and shape of the marker and the deflection data of the laser deflection device, and the at least two sets of data, a second conversion relationship is obtained, wherein the second conversion relationship updates at least one of the parameters associated with the position and / or shape of the marker relative to the first conversion relationship, and the second conversion relationship is used for the laser alignment process when the laser emitting device and the laser receiving device are started or reconnected.

2. The method of claim 1, wherein, The second conversion relationship, derived based on a first conversion relationship reflecting the position and shape of the marker and the deflection data of the laser deflection device, and the at least two sets of data, includes: After acquiring one set of data from the at least two sets of data, the position and shape information of the marker in the set of data are input into the first conversion relationship to determine the deflection data of the laser deflection device; If the difference between the determined deflection data of the laser deflection device and the deflection data of the laser deflection device in the set of data is greater than a preset threshold, then a second conversion relationship is obtained based on the first conversion relationship that reflects the position and shape of the marker and the deflection data of the laser deflection device, and the at least two sets of data.

3. The method according to claim 1, characterized in that, The second conversion relationship, derived based on a first conversion relationship reflecting the position and shape of the marker and the deflection data of the laser deflection device, and the at least two sets of data, includes: When the cumulative time since the first conversion relationship is obtained meets the preset update time, a second conversion relationship is obtained based on the first conversion relationship, which reflects the position and shape of the marker and the deflection data of the laser deflection device, and the at least two sets of data.

4. The method according to any one of claims 1-3, characterized in that, The location information includes the center coordinates of the marker, and the shape information includes the pixel size of the target array of the marker.

5. The method according to claim 4, characterized in that, The parameters related to the position and shape of the marker include a first parameter related to the position of the marker and a second parameter related to the shape of the marker, wherein the first parameter is a coefficient of the center coordinates of the marker and the second parameter is a coefficient of the pixel size of the target array.

6. The method according to claim 5, characterized in that, The first parameter represents the rotation compression matrix between the laser deflection device and the marker, the second parameter represents the translation vector between the laser deflection device and the marker, and the deflection data represents the coordinates of the laser deflection device.

7. The method according to claim 5, characterized in that, The second conversion relationship, derived based on a first conversion relationship reflecting the position and shape of the marker and the deflection data of the laser deflection device, and the at least two sets of data, includes: The coordinates of the laser deflection device in each set of data, the center coordinates of the marker, and the pixel size of the target array of the marker are respectively input into the relational expression represented by the first transformation relationship to obtain at least two relational expressions that correspond one-to-one with the at least two sets of data, with the first parameter and the second parameter as unknowns; The values ​​of the first parameter and the second parameter are determined by calculating the at least two relations using a least squares fitting algorithm. The first transformation relationship is updated based on the values ​​of the first parameter and the second parameter to obtain the second transformation relationship.

8. The method according to any one of claims 1-3, characterized in that, The position information in each set of data includes the center coordinates of the marker, the shape information includes the pixel size of the target array of the marker, and the deflection data of the laser deflection device includes the coordinates of the laser deflection device. The second conversion relationship, derived based on a first conversion relationship reflecting the position and shape of the marker and the deflection data of the laser deflection device, and the at least two sets of data, includes: The coordinates of the laser deflection device in each set of data, as well as the center coordinates of the marker and the pixel size of the target array of the marker, are input into the neural network model represented by the first transformation relationship. The neural network model is then trained to obtain a new neural model as the second transformation relationship.

9. A processing apparatus, characterized in that, The processing device is applied to a laser emitting device, which further includes a laser deflection device, a position detector, and a camera. The processing device includes a processor. The processor is used for: During the process of the position detector tracking the laser receiving device, at least two sets of data are acquired. The laser receiving device includes a marker. Each set of data includes the position and shape information of the marker obtained from an image captured by the camera, and the deflection data of the laser deflection device when the camera captures the image. The capture time of the image is different in each set of data. Based on a first conversion relationship embodying both the position and shape of the marker and the deflection data of the laser deflection device, and the at least two sets of data, a second conversion relationship is obtained, wherein the second conversion relationship updates at least one of the parameters associated with the position and / or shape of the marker relative to the first conversion relationship, and the second conversion relationship is used for the laser alignment process when the laser emitting device and the laser receiving device are started or reconnected.

10. The processing apparatus according to claim 9, characterized in that, The processor is used for: After acquiring one set of data from the at least two sets of data, the position and shape information of the marker in the set of data are input into the first conversion relationship to determine the deflection data of the laser deflection device; If the difference between the determined deflection data of the laser deflection device and the deflection data of the laser deflection device in the set of data is greater than a preset threshold, then a second conversion relationship is obtained based on the first conversion relationship that reflects the position and shape of the marker and the deflection data of the laser deflection device, and the at least two sets of data.

11. The processing apparatus according to claim 9, characterized in that, The processor is used for: When the cumulative time since the first conversion relationship is obtained meets the preset update time, a second conversion relationship is obtained based on the first conversion relationship, which reflects the position and shape of the marker and the deflection data of the laser deflection device, and the at least two sets of data.

12. The processing apparatus according to any one of claims 9-11, characterized in that, The location information includes the center coordinates of the marker, and the shape information includes the pixel size of the target array of the marker.

13. The processing apparatus according to claim 12, characterized in that, The parameters related to the position and shape of the marker include a first parameter related to the position of the marker and a second parameter related to the shape of the marker, wherein the first parameter is a coefficient of the center coordinates of the marker and the second parameter is a coefficient of the pixel size of the target array.

14. The processing apparatus according to claim 13, characterized in that, The first parameter represents the rotation compression matrix between the laser deflection device and the marker, the second parameter represents the translation vector between the laser deflection device and the marker, and the deflection data represents the coordinates of the laser deflection device.

15. The processing apparatus according to claim 13, characterized in that, The processor is used for: The coordinates of the laser deflection device in each set of data, the center coordinates of the marker, and the pixel size of the target array of the marker are respectively input into the relational expression represented by the first transformation relationship to obtain at least two relational expressions that correspond one-to-one with the at least two sets of data, with the first parameter and the second parameter as unknowns; The values ​​of the first parameter and the second parameter are determined by calculating the at least two relations using a least squares fitting algorithm. The first transformation relationship is updated based on the values ​​of the first parameter and the second parameter to obtain the second transformation relationship.

16. The processing apparatus according to any one of claims 9-11, characterized in that, The position information in each set of data includes the center coordinates of the marker, the shape information includes the pixel size of the target array of the marker, and the deflection data of the laser deflection device includes the coordinates of the laser deflection device. The processor is used for: The coordinates of the laser deflection device in each set of data, as well as the center coordinates of the marker and the pixel size of the target array of the marker, are input into the neural network model represented by the first transformation relationship. The neural network model is then trained to obtain a new neural model as the second transformation relationship.

17. A laser emitting device, characterized in that, include: Processing unit, laser deflector, position detector and camera; The processing device is the processing device according to any one of claims 9-16.

18. A laser alignment system, characterized in that, It includes: a laser emitting device and a laser receiving device, wherein the laser emitting device is the laser emitting device as described in claim 17.

19. A chip system, characterized in that, It includes at least one processor, said at least one processor being used to perform the method according to any one of claims 1-8.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-8.

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