Unmanned aerial vehicle laser obstacle removing device and laser beam adjusting method thereof

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle laser obstacle removing device and a laser beam adjusting method thereof.According to the obstacle removing device, by installing a laser beam adjuster, the focus point, power and scanning speed of a laser beam can be adjusted in real time according to the shape, size and position information of an obstacle and flight state data of the unmanned aerial vehicle; therefore, it is ensured that the laser beam can accurately act on the obstacle, and the actual obstacle removing effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to an unmanned aerial vehicle laser obstacle clearing device and a laser beam adjustment method thereof. Background Art

[0002] The rapid development of unmanned aerial vehicle technology has brought revolutionary changes to various application fields. With its flexible flight ability, wide coverage, and powerful payload carrying capacity, unmanned aerial vehicles are playing an increasingly important role in environmental monitoring, disaster assessment, geographical mapping and other fields. Especially in the field of laser obstacle clearing, unmanned aerial vehicles equipped with laser emission devices can achieve efficient cutting or melting and removal of obstacles by emitting high-energy laser beams. This unmanned aerial vehicle laser obstacle clearing method not only improves the operation efficiency but also greatly reduces the personnel safety risk, and has broad application prospects.

[0003] However, the existing unmanned aerial vehicle laser obstacle clearing devices still have some obvious disadvantages in practical applications. For example, they lack an accurate laser beam adjustment mechanism, resulting in the inability to adjust the focus point, power, and scanning speed of the laser beam in real time according to the actual situation of the obstacle, thus affecting the obstacle clearing effect. Moreover, when the flight state of the unmanned aerial vehicle is unstable or the shape of the obstacle is complex, it is difficult to achieve precise positioning and control of the laser beam, increasing the operation difficulty and safety hazards. Summary of the Invention

[0004] The present invention provides an unmanned aerial vehicle laser obstacle clearing device and a laser beam adjustment method thereof to solve the problems existing in the prior art.

[0005] To achieve the above object, the present invention is realized through the following technical solutions:

[0006] In a first aspect, the present invention provides an unmanned aerial vehicle laser obstacle clearing device, including:

[0007] A central controller for generating control instructions according to target positioning information;

[0008] A laser emitter for generating a high-energy laser beam to cut or melt an obstacle;

[0009] An unmanned aerial vehicle flight controller for controlling the unmanned aerial vehicle to fly along a predetermined trajectory according to the control instructions;

[0010] A laser beam adjuster for adjusting the focus point, power, and scanning speed of the laser beam generated by the laser emitter in real time according to the obstacle information;

[0011] An obstacle recognition and positioning module for recognizing the obstacle information and generating target positioning information according to the obstacle information.

[0012] Optionally, the laser emitter includes:

[0013] A laser module for generating a high-energy laser beam;

[0014] A beam shaping module, the beam shaping module includes a plurality of lenses, and the lenses are used for focusing and shaping the laser beam;

[0015] A safety protection module, the safety protection module includes an electromagnetic drive shutter and a tungsten carbide baffle, and the tungsten carbide baffle is used to physically block the laser light path when a human body or a system failure is detected.

[0016] Optionally, the UAV flight controller includes:

[0017] A flight control module for adjusting the attitude, speed and altitude of the UAV according to control instructions and real-time obtaining the flight state information of the UAV;

[0018] A navigation and positioning module for obtaining the real-time position information and speed information of the UAV, and matching the real-time position information of the UAV with a pre-planned map to ensure that the UAV flies along a predetermined path;

[0019] A communication and data link module for realizing real-time communication and data transmission between the UAV and the ground station.

[0020] Optionally, the obstacle information includes the size, position and shape of the obstacle, and the laser beam regulator includes:

[0021] A beam adjustment module for adjusting the laser beam focus point and power in real time according to the size, position and shape of the obstacle;

[0022] A scanning control module for driving the laser beam to scan in the horizontal or vertical direction to cover the entire obstacle area.

[0023] Optionally, the beam adjustment module adopts power-focal length coupling control to form a closed-loop control system of spot diameter-power density. The fiber laser is equipped with an acousto-optic modulator, which is composed of a piezoelectric crystal, an acousto-optic medium and a high-frequency drive circuit. The refractive index of the medium is changed by high-frequency sound waves to realize the adjustment of laser power. The motorized zoom lens is linked with power control, and the attenuation coefficient of the acousto-optic modulator and the focal length parameter of the motorized zoom lens are bound by an algorithm to ensure a constant power density in different modes.

[0024] Optionally, the beam adjustment module includes:

[0025] Focus adjustment unit. The motorized zoom lens group uses multiple groups of aspherical lenses and is driven axially by a high-precision stepper motor. By adjusting the position or focal length of the lens, the focus point of the laser beam is changed to ensure that the focus point of the laser beam always remains at the optimal cutting or melting position of the obstacle. The beam adjustment module integrates a spot diameter sensor for real-time feedback of the spot size. By dynamically adjusting the focus point, the focusing accuracy of the laser beam at different distances is ensured. According to the data of the spot diameter sensor, the focus shift caused by atmospheric refraction and thermal drift is automatically compensated;

[0026] Power adjustment unit. An internal optical power meter is added to the mechanical variable optical attenuator to read and display the attenuation value, and the route length of the laser passing through the medium is programmed and controlled. It is precisely adjusted by a high-precision stepper motor or servo motor. The laser power density is monitored in real time and compared with the target value to form a closed-loop feedback of spot diameter - power density. According to the material and thickness of the obstacle, the output power of the laser is adjusted in real time. When the detected power density is lower than the threshold, the driving power of the acousto-optic modulator is increased by 10% - 30%;

[0027] Wavefront sensor, which is used to monitor the wavefront aberration of the laser beam in real time, and then input the wavefront aberration situation into the control system. The control system calculates the correction voltage or force that needs to be applied to the optical element according to the wavefront aberration situation, so that the optical element generates corresponding deformation, thereby correcting the wavefront of the laser beam in real time and changing the position of the focus point.

[0028] Optionally, the scanning control module includes:

[0029] Scanning motor unit, which adopts a two-axis galvanometer scanning system. The X / Y-axis scanning galvanometers are composed of a permanent magnet rotor and a high-linearity position sensor. The bandwidth of the servo driver is ≥1kHz, which is used to realize the fast scanning movement of the laser beam in the horizontal or vertical direction;

[0030] Scanning speed control unit, which is used to adjust the X / Y-axis scanning galvanometers in real time according to the shape and size of the obstacle to ensure that the laser beam can scan the obstacle evenly and quickly.

[0031] Optionally, the obstacle recognition and positioning module includes:

[0032] Binocular vision camera, lidar, spectrometer, thermal imaging sensor. The binocular vision camera is used to capture, process and analyze the image information of the obstacle in real time, and combine with the lidar to accurately calculate the three-dimensional coordinates of the obstacle. The material type of the obstacle is identified through the laser reflection spectrum by the spectrometer and the laser-induced breakdown spectroscopy probe, so as to judge the type of the obstacle;

[0033] The thermal imaging sensor is used to identify live wires and humans by fusing RGB, LiDAR, and thermal imaging data through a deep learning model, and optimize the obstacle information and target positioning information according to the recognition results.

[0034] This application also provides a method for adjusting the laser beam of a drone laser obstacle clearing device, including:

[0035] S1. The drone controls the camera unit carried thereon to capture images of obstacles in real time according to the control instructions sent by the central controller, and then transmits the captured images to the image processing unit, and uses image recognition algorithms to extract and analyze the shape, size, and position information of the obstacles;

[0036] S2. The flight controller of the drone obtains the flight state data of the drone in real time and preprocesses the obtained flight state data;

[0037] S3. The central controller constructs a 6D decision parameter space according to the shape, size, and position information of the obstacles and the flight state data of the drone. The system has multiple layers of decision-making logic built-in, establishes a laser beam parameter calculation model through dynamic weight allocation, and then uses the established model to calculate the optimal laser beam parameters in combination with the obstacle information and drone flight state data collected in real time;

[0038] S4. Transmit the calculated optimal laser beam parameters to the beam adjustment module, and adjust the focus point and power of the laser beam in real time through the focus adjustment unit and power adjustment unit. Then, according to the shape and size of the obstacle, the scanning control module drives the scanning motor unit to scan in the horizontal or vertical direction to ensure that the laser beam can cover the entire obstacle area evenly and quickly. During the process of the laser beam performing obstacle clearing operations, the beam adjustment module monitors the focus point, power, and scanning speed of the laser beam in real time to ensure that they are consistent with the calculated optimal parameters;

[0039] S5. After the laser beam completes the obstacle clearing operation, evaluate the obstacle clearing effect through the camera unit and the image processing unit to ensure that the obstacle has been completely cleared, and then record the obstacle information, drone flight state data, laser beam parameters, and obstacle clearing effect in this obstacle clearing operation.

[0040] Optionally, the 6D decision parameters include material, size, spatial pose, ambient temperature, ambient wind speed, and remaining battery power.

[0041] Beneficial effects:

[0042] The drone laser obstacle clearing device provided by the present invention can, by installing a laser beam regulator, adjust the focus point, power, and scanning speed of the laser beam in real time according to the shape, size, and position information of the obstacle, as well as the flight state data of the drone, so as to ensure that the laser beam can act precisely on the obstacle and improve the actual obstacle clearing effect.

[0043] In a further technical solution, the central controller receives and analyzes data from the drone flight controller and the laser beam regulator, selects a suitable intelligent algorithm to establish a laser beam parameter calculation model, and calculates the optimal laser beam parameters in real time. This process not only improves the intelligent level of laser beam adjustment, but also enhances the adaptive ability of the device, enabling it to cope with complex and changeable working environments, achieve precise positioning and control of the laser beam, and reduce the actual operation difficulty and potential safety hazards.

[0044] In a further technical solution, a high-precision, adaptive, and highly secure laser beam adjustment system is constructed through the power-focal length coupling of the beam adjustment module, the dynamic vibration compensation of the scanning control module, the obstacle recognition of multi-modal perception fusion, and the multi-level safety shutdown mechanism, breaking through the limitations of traditional laser obstacle clearing devices with fixed parameters, lagging response, and poor safety, and providing a reliable technical guarantee for drone operations in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a structural block diagram of a drone laser obstacle clearing device according to a preferred embodiment of the present invention;

[0046] Figure 2 It is a flowchart of a laser beam adjustment method for a drone laser obstacle clearing device according to a preferred embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] The technical solutions of the present invention will be described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0048] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the ordinary meanings understood by those of ordinary skill in the field to which the present invention pertains. The "first", "second" and similar terms used in the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. Similarly, terms such as "a" or "one" do not denote a quantity limitation, but mean that there is at least one. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left" and "right" are only used to represent relative position relationships. When the absolute position of the object being described changes, the relative position relationship also changes accordingly.

[0049] Please refer to Figure 1 , a drone laser obstacle clearing device provided by the present application includes:

[0050] A central controller for generating control instructions according to target positioning information;

[0051] A laser emitter for generating a high-energy laser beam to cut or melt obstacles;

[0052] A drone flight controller for controlling the drone to fly along a predetermined trajectory according to the control instructions;

[0053] A laser beam regulator for adjusting the focus point, power and scanning speed of the laser beam generated by the laser emitter in real time according to obstacle information;

[0054] An obstacle recognition and positioning module for recognizing obstacle information and generating target positioning information according to the obstacle information.

[0055] In this embodiment, the control instructions include information for controlling the aircraft to fly along a predetermined trajectory, and also include the optimal laser beam parameter information calculated by the central controller. This is only an example here and is not limited.

[0056] In one example, the obstacle recognition and positioning module adopts multi-sensor feature recognition and positioning, including a binocular vision camera, a lidar, a spectrometer, and a thermal imaging sensor. The binocular vision camera is responsible for real-time shooting, processing and analyzing obstacle image information, and accurately calculating the three-dimensional coordinates of the obstacle in combination with the lidar. The type of obstacle is judged by identifying the material type through the laser reflection spectrum by the spectrometer (wavelength range 400 - 1100 nm, resolution 1 nm) and the laser-induced breakdown spectroscopy (LIBS) probe. The thermal imaging sensor is used to identify live wires and humans, and the recognition accuracy in complex environments (such as backlight and foggy days) is improved by fusing RGB, LiDAR, and thermal imaging data through a deep learning model.

[0057] The above-mentioned UAV laser obstacle clearing device can, by installing a laser beam regulator, adjust the focus point, power, and scanning speed of the laser beam in real time according to the shape, size, and position information of the obstacle, as well as the flight state data of the UAV, so as to ensure that the laser beam can act precisely on the obstacle and improve the actual obstacle clearing effect.

[0058] Optionally, the laser emitter includes:

[0059] A laser module for generating a high-energy laser beam;

[0060] A beam shaping module, the beam shaping module includes a plurality of lenses, and the lenses are used for focusing and shaping the laser beam;

[0061] A safety protection module, the safety protection module includes an electromagnetic drive shutter and a tungsten carbide baffle, and the tungsten carbide baffle is used to physically block the laser light path when a human body or system failure is detected.

[0062] In this optional embodiment, the laser module is composed of a laser source unit, a cooling unit, and a power supply unit.

[0063] Among them, the laser source unit adopts a high-power solid-state laser or a fiber laser, which can generate a stable and continuous high-energy laser beam.

[0064] The high-power solid-state laser generates laser by exciting the electron transition in the laser crystal through pump light, while the fiber laser uses the optical fiber as a waveguide and generates laser by exciting the pump light in the optical fiber. Both can generate stable and continuous high-energy laser beams to meet the requirements of the laser obstacle clearing system.

[0065] During actual operation, the laser source unit ensures the stability and continuity of the laser beam by controlling parameters such as the intensity and frequency of the pump light, as well as the temperature and pressure of the laser crystal. At the same time, the laser source unit also has an automatic adjustment function and can adjust the output power and wavelength of the laser beam according to actual needs.

[0066] Among them, the cooling unit adopts a water-cooling or air-cooling system to ensure that the laser can effectively dissipate heat during high-power output and prevent overheating damage.

[0067] During high-power output, the laser generates a large amount of heat. If the heat is not dissipated in time, it will cause overheating damage to the laser. Therefore, the cooling unit is an indispensable part of the laser module. The water-cooling system takes away the heat generated by the laser through circulating water and dissipates the heat into the air through a radiator, while the air-cooling system uses the airflow generated by the fan to take away the heat. These two cooling methods have their own advantages and disadvantages, and the specific choice depends on factors such as the actual application scenario and cost.

[0068] During actual operation, the cooling unit monitors the temperature of the laser in real time and automatically adjusts the operating speed and power of the cooling system according to the temperature change to ensure that the laser always operates within a safe temperature range.

[0069] Among them, the power supply unit provides a stable DC power supply for the laser to ensure the stable output of the laser beam.

[0070] To prevent the power supply unit from damaging the laser or causing safety accidents under abnormal conditions, the power supply unit also has overcurrent and overvoltage protection functions. When the power supply unit detects that the current or voltage exceeds the set value, it will automatically cut off the power supply or reduce the output voltage and current to protect the safety of the laser and the entire system.

[0071] Among them, the beam shaping module consists of a lens group unit and a diaphragm unit.

[0072] Specifically, the lens group unit consists of multiple lenses, each lens having a different focal length and radius of curvature. By adjusting the relative position and distance between the lenses, the focal point and beam quality of the laser beam can be changed.

[0073] During actual operation, when the laser beam passes through the lens group unit, each lens refracts and focuses the laser beam. By precisely controlling the combination method and parameter settings of the lenses, precise focusing and shaping of the laser beam can be achieved.

[0074] Diaphragm unit: Used to adjust the diameter and shape of the laser beam to meet the cleaning requirements of different obstacles.

[0075] It consists of one or more adjustable diaphragm apertures. By adjusting the size and shape of the diaphragm apertures, the diameter and shape of the laser beam can be changed.

[0076] During actual operation, when the laser beam passes through the diaphragm unit, only the laser beam that meets the size and shape of the diaphragm aperture can pass through. Therefore, by adjusting the size and shape of the diaphragm aperture, precise control and adjustment of the laser beam can be achieved.

[0077] Among them, the safety protection module consists of a light shutter unit and a temperature monitoring unit.

[0078] Light shutter unit: In case of emergency, quickly close the laser beam to prevent the laser from causing harm to personnel or equipment;

[0079] It adopts an electromagnetic drive shutter (response time 10ms) and a tungsten carbide baffle (power density resistance 10kW / mm , ,

[0075] , ,

[0079] , 2 ,

[0074] ,

[0078] ,

[0073] , ,

[0077] , ,

[0076] , ) to ensure that the laser emitter physically blocks the laser optical path in case of emergency (when detecting a human body or system failure), can quickly close the laser beam and protect the safety of personnel and equipment. It adopts a dual-redundancy design, with two sets of main and standby light shutters independently controlled, and the switching time <1ms during failure.

[0080] During actual operation, the shutter unit monitors the operating status and abnormal conditions of the system in real time and quickly closes the laser beam transmission channel when necessary, which can effectively prevent the laser beam from causing harm to personnel or equipment under abnormal conditions.

[0081] Temperature monitoring unit: Monitors the operating temperature of the laser in real time and automatically shuts down the laser source to protect the equipment when the temperature is too high.

[0082] Composed of a temperature sensor and a controller, it can monitor the operating temperature of the laser in real time.

[0083] During the actual working process, when the temperature monitoring unit detects that the operating temperature of the laser exceeds the set value, it will immediately send an alarm signal to the controller and initiate corresponding protection measures (such as shutting down the laser source unit or increasing the operating power of the cooling system, etc.), which can effectively prevent the laser from being damaged due to overheating or causing safety accidents.

[0084] Optionally, the UAV flight controller includes:

[0085] A flight control module for adjusting the attitude, speed, and altitude of the UAV according to control instructions and obtaining the flight status information of the UAV in real time;

[0086] A navigation and positioning module for obtaining the real-time position information and speed information of the UAV and matching the real-time position information of the UAV with a pre-planned map to ensure that the UAV flies along the predetermined path;

[0087] A communication and data link module for realizing real-time communication and data transmission between the UAV and the ground station.

[0088] In this optional embodiment, the UAV flight controller includes a flight control module responsible for controlling the attitude, speed, and altitude of the UAV, a navigation and positioning module for determining the position and speed of the UAV, and a communication and data link module for realizing real-time communication and data transmission between the UAV and the ground station.

[0089] Among them, the flight control module is composed of a flight controller unit and a sensor unit;

[0090] Flight controller unit: Responsible for the attitude control, speed control, and altitude control of the UAV;

[0091] Attitude control: Through the integrated algorithm and sensor data, the flight controller unit can monitor and adjust the attitude of the UAV such as pitch, yaw, and roll in real time to ensure the stability of the UAV during flight, involving the fusion and processing of sensor data such as gyroscopes and accelerometers, and adjusting the attitude of the UAV through motor control algorithms.

[0092] Speed control: The flight controller unit can adjust the rotation speed and power of the motors according to parameters such as the flight speed and acceleration of the UAV, thereby achieving control over the UAV's speed. This helps ensure that the UAV can fly at a predetermined speed during flight and avoid abnormal situations such as overspeeding or low speed.

[0093] Altitude control: Through sensors such as barometers, the flight controller unit can monitor the altitude information of the UAV in real time and achieve precise control over the altitude by adjusting the lift and thrust of the UAV. This helps ensure that the UAV can maintain a constant altitude during flight and avoid collisions with the ground or other obstacles.

[0094] Sensor unit: Responsible for obtaining the flight status information of the UAV in real time, including gyroscopes, accelerometers, barometers, GPS, etc.

[0095] Gyroscope: Used to measure the angular velocity and angular acceleration of the UAV and provide real-time information about the UAV's attitude.

[0096] Accelerometer: Used to measure the acceleration of the UAV in three axes and provide real-time information about the UAV's motion state.

[0097] Barometer: Used to measure the air pressure value of the environment where the UAV is located and then calculate the altitude information of the UAV.

[0098] GPS: Global Positioning System, used to provide the precise position information of the UAV, including longitude, latitude, and altitude, etc.

[0099] Among them, the navigation and positioning module consists of a navigation system unit and a map matching unit.

[0100] The navigation system unit combines GPS signals and an inertial navigation system and is responsible for providing the precise position and speed information of the UAV;

[0101] By receiving signals from GPS satellites to obtain the precise position information of the UAV in real time, this helps the UAV perform precise navigation and positioning during flight.

[0102] The inertial navigation system uses sensor data such as gyroscopes and accelerometers and calculates the speed and position information of the UAV through an integration algorithm. In the case where GPS signals are unavailable or interfered with, the inertial navigation system can provide important backup navigation information.

[0103] The map matching unit is responsible for matching the real-time position of the UAV with a pre-planned map to ensure that the UAV flies along the predetermined path.

[0104] The map matching unit contains pre-planned map data, including information such as terrain, obstacles, waypoints, etc.

[0105] Matching algorithm: By matching the real-time position information of the UAV with the map data, the specific position of the UAV on the map is determined, and the UAV is guided to fly along a predetermined path, which helps to prevent the UAV from deviating from the predetermined trajectory or encountering obstacles during flight.

[0106] Among them, the communication and data link module consists of a data link unit and an encryption unit, which is used to realize real-time communication and data transmission between the UAV and the ground station.

[0107] Data link unit: Responsible for data transmission and instruction reception between the UAV and the ground station to ensure real-time communication.

[0108] During actual operation, the data link unit transmits the flight status information, sensor data, etc. of the UAV to the ground station in real time, which helps the ground station to monitor and evaluate the flight status of the UAV in real time. At the same time, the data link unit can also receive instruction information from the ground station, such as flight trajectory adjustment, task execution instructions, etc., which helps the UAV to make flexible adjustments and execute tasks according to the instructions of the ground station during flight.

[0109] Encryption unit: Encrypts the data to ensure the security of communication, helps to prevent the data from being intercepted or tampered with during transmission, and ensures the secure and reliable communication between the UAV and the ground station.

[0110] The encryption unit is also responsible for the generation, storage and management of keys, etc. By adopting advanced encryption algorithms and key management mechanisms, the confidentiality and integrity of the data are ensured.

[0111] Optionally, the obstacle information includes the size, position and shape of the obstacle, and the laser beam regulator includes:

[0112] A beam adjustment module for adjusting the laser beam focus point and power in real time according to the size, position and shape of the obstacle;

[0113] A scan control module for driving the laser beam to scan in the horizontal or vertical direction to cover the entire obstacle area.

[0114] The beam adjustment module adopts power-focal length coupling control to form a closed-loop control system of spot diameter-power density. The fiber laser is equipped with an acousto-optic modulator, which consists of a piezoelectric crystal, an acousto-optic medium and a high-frequency drive circuit. The refractive index of the medium is changed by high-frequency sound waves to realize the adjustment of the laser power. The motorized zoom lens is linked with the power control, and the attenuation coefficient of the acousto-optic modulator and the focal length parameter of the motorized zoom lens are bound by an algorithm to ensure a constant power density in different modes.

[0115] In one example, the beam adjustment module includes:

[0116] A focusing adjustment unit. The motorized zoom lens group adopts multiple groups of aspherical lenses and is axially moved by a high-precision stepping motor. By adjusting the position or focal length of the lens, the focal point of the laser beam is changed to ensure that the focal point of the laser beam always remains at the optimal cutting or melting position of the obstacle. The beam adjustment module integrates a spot diameter sensor for real-time feedback of the spot size. By dynamically adjusting the focal point, the focusing accuracy of the laser beam at different distances is ensured. According to the data of the spot diameter sensor, the focus shift caused by atmospheric refraction and thermal drift is automatically compensated;

[0117] A power adjustment unit. An internal optical power meter is added to the mechanical variable optical attenuator to read and display the attenuation value, and the route length of the laser passing through the medium is programmed and controlled. It is precisely adjusted by a high-precision stepping motor or a servo motor. The laser power density is monitored in real time and compared with the target value to form a closed-loop feedback of spot diameter - power density. According to the material and thickness of the obstacle, the output power of the laser is adjusted in real time. When the detected power density is lower than the threshold, the driving power of the acousto-optic modulator is increased by 10% - 30%;

[0118] A wavefront sensor for real-time monitoring of the wavefront aberration of the laser beam, and then inputting the wavefront aberration situation into the control system. The control system calculates the correction voltage or force that needs to be applied to the optical element according to the wavefront aberration situation, so that the optical element generates corresponding deformation, thereby correcting the wavefront of the laser beam in real time and changing the position of the focal point.

[0119] Specifically, the scanning control module includes:

[0120] A scanning motor unit. A two-axis galvanometer scanning system is adopted. The X / Y-axis scanning galvanometers are composed of a permanent magnet rotor and a high-linearity position sensor. The bandwidth of the servo driver is ≥1kHz, which is used to realize the fast scanning movement of the laser beam in the horizontal or vertical direction;

[0121] A scanning speed control unit for real-time adjustment of the X / Y-axis scanning galvanometers according to the shape and size of the obstacle to ensure that the laser beam can scan the obstacle evenly and quickly.

[0122] In this alternative embodiment, the beam adjustment module is composed of a focusing adjustment unit and a power adjustment unit, which are responsible for real-time adjustment of the focal point and power of the laser beam to adapt to obstacles of different shapes, sizes and positions.

[0123] Focus adjustment unit: The motorized zoom lens group consists of multiple groups of aspherical lenses (3 - 5 pieces), which are axially moved by a high-precision stepper motor (resolution 0.1μm). By adjusting the position or focal length of the lens, the focus point of the laser beam is changed to ensure that the focus point of the laser beam always remains at the optimal cutting or melting position of the obstacle. An integrated spot diameter sensor (CCD array) is used to provide real-time feedback on the spot size. By dynamically adjusting the focus point (focal length range 0.5m - 50m), the focusing accuracy of the laser beam at different distances is ensured. According to the data from the spot sensor, automatic compensation is made for the focus shift caused by atmospheric refraction and thermal drift;

[0124] The focus adjustment unit features high precision, high stability, and high response speed, and can quickly and accurately adjust the focus point of the laser beam to ensure the best energy distribution and cutting effect when the laser beam cuts or melts the obstacle;

[0125] Power adjustment unit: An in-built optical power meter is added to the mechanical variable optical attenuator to read and display the attenuation value, and the path length of the laser passing through the medium is programmed and controlled. A high-precision stepper motor or servo motor is used for precise adjustment. The laser power density is monitored in real time and compared with the target value to form a closed-loop feedback of spot diameter - power density. According to the material and thickness of the obstacle, the output power of the laser is adjusted in real time to avoid over-cutting or over-melting. When the detected power density is lower than the threshold (such as rain and fog scattering loss), the AOM drive power is automatically increased by 10% - 30%.

[0126] The real-time adjustment of the focus point is as follows:

[0127] Adjustment based on position feedback: High-precision displacement sensors or position monitors, such as grating scales and electronic scales, are installed. These sensors are placed near key components in the laser optical path (such as focusing lenses, mirrors, etc.) to monitor their position information in real time. According to the difference between the preset target focus position and the actual monitored position, the control system sends instructions to the drive device to drive the focusing lens or mirror to move to the appropriate position to achieve real-time adjustment of the focus point. [[ID=I4]]

[0128] Utilizing an adaptive optical system: Adaptive optical technology is adopted. The wavefront distortion of the laser beam is monitored in real time by a wavefront sensor, and this information is then input into the control system. The control system calculates the corrective voltage or force that needs to be applied to the optical element based on the measurement results of the wavefront distortion, causing the optical element to deform accordingly, thereby correcting the wavefront of the laser beam in real time and changing the position of the focus point to ensure that the laser beam can maintain a good focusing state under different working conditions.

[0129] Machine vision-based adjustment: Use a high-speed camera or area array detector to image the laser beam spot, and obtain information such as the size, shape, and position of the spot. By analyzing and processing these image information, the focusing state of the laser beam can be determined. If it is found that the focal point deviates from the target position, the direction and distance that need to be adjusted can be calculated based on the position deviation of the spot, and then the relevant optical components are controlled for adjustment.

[0130] The power adjustment unit has the characteristics of wide range, high precision, and high stability. It can accurately adjust the output power of the laser according to the different materials and thicknesses of the obstacles, ensuring the best energy output and cutting effect when the laser beam cuts or melts the obstacles.

[0131] Among them, the scanning control module consists of a scanning motor unit and a scanning speed control unit, which is responsible for driving the laser beam to scan in the horizontal or vertical direction to cover the entire obstacle area.

[0132] Scanning motor unit: Adopt a two-axis galvanometer scanning system. The X / Y-axis scanning galvanometer consists of a permanent magnet rotor (deflection angle ±30°) and a high linearity position sensor (Hall effect). The servo driver bandwidth ≥1kHz, supports S-curve acceleration and deceleration control, and realizes the fast scanning movement of the laser beam in the horizontal or vertical direction through precise drive control.

[0133] The scanning motor unit has the characteristics of high precision, high stability, and high reliability. It can quickly and accurately respond to the command signal of the central controller, realizing the precise scanning movement of the laser beam in the horizontal or vertical direction.

[0134] In specific implementation, the scanning speed control unit adjusts the rotation speed of the scanning motor in real time according to the shape and size of the obstacle. When the obstacle has a complex shape or a large area, the scanning speed control unit increases the rotation speed of the scanning motor to improve the scanning speed and coverage rate of the laser beam. When the obstacle has a simple shape or a small area, the rotation speed of the scanning motor is correspondingly reduced to ensure that the laser beam can scan the obstacle evenly and quickly.

[0135] The scanning speed control unit has the characteristics of wide range, high precision, and high response speed. It can accurately adjust the rotation speed of the scanning motor according to the different shapes and sizes of the obstacles, ensuring the best coverage rate and cutting effect during the scanning process of the laser beam;

[0136] Among them, the obstacle recognition and positioning module consists of a camera unit, an image processing unit, and a positioning unit, which is responsible for real-time shooting, processing, and analyzing the image information of the obstacle, and accurately calculating the three-dimensional coordinates of the obstacle;

[0137] The camera unit uses a high-resolution CMOS or CCD sensor, which can capture the image information of obstacles in real time. The camera unit receives the command signal from the central controller and adjusts parameters such as the shooting angle and focal length of the camera according to the command signal to ensure that the captured image information is clear and accurate.

[0138] The camera unit features high resolution, high sensitivity, high stability, etc., and can quickly and accurately capture the image information of obstacles, providing reliable data support for subsequent processing and analysis.

[0139] The image processing unit is responsible for processing and analyzing the image information captured by the camera unit, identifying information such as the shape, size, and position of obstacles, being able to process and analyze the image information in real time, and generating corresponding control instructions according to the processing results to guide the cutting or melting operation of the laser beam.

[0140] The image processing unit has powerful image processing capabilities, high recognition accuracy, high stability, etc., and can quickly and accurately identify information such as the shape, size, and position of obstacles, providing reliable data support for subsequent positioning and control.

[0141] The positioning unit combines the position and attitude information of the drone to accurately calculate the three-dimensional coordinates of the obstacle, being able to calculate the three-dimensional coordinate information of the obstacle in real time and transmit the calculation result to the central controller to guide the precise cutting or melting operation of the laser beam.

[0142] The positioning unit features high precision, high stability, high real-time performance, etc., and can quickly and accurately calculate the three-dimensional coordinate information of the obstacle, providing reliable data support for subsequent control and operation. At the same time, the positioning unit can also update the three-dimensional coordinate information of the obstacle in real time according to the changes in the position and attitude information of the drone, ensuring that the laser beam has the best precision and effect when cutting or melting the obstacle.

[0143] Furthermore, in this embodiment, the above-mentioned drone laser obstacle clearing device also has the following functions:

[0144] Visually identify foreign objects, wires, and humans, specifically as follows:

[0145] A. The drone laser obstacle clearing device is equipped with a high-definition camera and advanced image processing algorithms, and can capture and identify foreign objects and wires in the target area in real time.

[0146] B. Through technologies such as deep learning, the system can distinguish different types of obstacles, such as plastic bags, branches, bird nests, etc., and accurately judge their positions, sizes, and shapes.

[0147] C. At the same time, the system can also identify the human body to ensure that no harm is caused to the human body during the obstacle removal process. When the thermal imaging recognizes the human body contour (temperature 37±2°C), the laser is cut off within 0.1s.

[0148] 2. Automatically adjust the position and angle of laser emission (automatic anti-shake) through visual recognition during laser emission to lock onto foreign objects;

[0149] A. During laser emission, the UAV laser obstacle removal device monitors the position and angle changes of the target obstacle in real time through the visual recognition system.

[0150] B. When detecting jitter or deviation, the system will automatically adjust the position and angle of laser emission to ensure that the laser is always locked onto the target obstacle.

[0151] C. This automatic anti-shake technology can significantly improve the accuracy and stability of the obstacle removal operation.

[0152] 3. When the foreign object leaves the visual locking area, or the position of the UAV suddenly changes, or there is a sudden movement, automatically turn off the laser emission device; automatically turn off the laser emission device when the laser shoots at the wire and the human body; automatically turn off the laser emission device if other objects enter the safe operation area during laser emission;

[0153] A. When the foreign object leaves the visual locking area, or the position of the UAV is suddenly detected to change or there is a sudden movement, the system will automatically turn off the laser emission device to prevent accidental injury or accidents.

[0154] B. When the laser shoots at the wire or the human body, the system will also immediately turn off the laser emission device to ensure safety.

[0155] C. During laser emission, if other objects enter the visual locking area, the system will also automatically turn off the laser emission device.

[0156] 4. The laser emission mode adopts an intermittent emission mode or a variable power mode;

[0157] A. Adopt the intermittent emission mode, set the laser emission time and the interval time, then pause for a period of time before emitting, or first emit at a low power and then gradually increase the power.

[0158] B. Adopt the variable power mode, first emit at a low power and then gradually increase the power to avoid accidental injury, and can reduce the continuous irradiation time of the laser on the target obstacle, reducing the potential risk of thermal damage.

[0159] 5. The laser power is adjusted according to the reflection characteristics of the target object. By indicating the amount of reflection of the guiding laser (positioning laser), the proportion of the foreign object reflecting the laser is judged, and then the laser power is automatically adjusted.

[0160] A. The device is built-in with an intelligent power adjustment algorithm, which can automatically adjust the laser power and emission mode according to factors such as the material, shape, size of the target object, and the surrounding environment.

[0161] B. This algorithm can ensure that the laser always maintains the best effect during the obstacle clearing process, while reducing energy consumption and potential risks.

[0162] Please refer to Figure 2 , based on the above UAV laser obstacle clearing device, this application proposes a laser beam adjustment method, and the specific steps are as follows:

[0163] S1. The camera unit carried on the UAV captures the image of the obstacle in real time to ensure that the image is clear and complete, and then transmits the captured image to the image processing unit. The image recognition algorithm is used to extract and analyze the shape, size, and position information of the obstacle;

[0164] S2. The sensor unit (such as gyroscope, accelerometer, barometer, GPS, etc.) in the UAV flight controller collects the flight state data of the UAV in real time, including attitude, speed, altitude, and position, etc. Then, the collected flight state data is preprocessed to eliminate outliers and noise to ensure the accuracy and reliability of the data;

[0165] S3. According to the shape, size, and position information of the obstacle, and the flight state data of the UAV, a 6D decision parameter space (material, size, spatial pose, environmental temperature, environmental wind speed, remaining battery power) is constructed. The system is built-in with a multi-layer decision logic, and a laser beam parameter calculation model is established through dynamic weight allocation. Combining the real-time collected obstacle information and the UAV flight state data, the optimal laser beam parameters are calculated, including the focal point, power, and scanning speed, etc. At the same time, the calculated parameters are optimized to ensure that the laser beam can accurately and efficiently cut or melt the obstacle;

[0166] S4. Transmit the calculated optimal laser beam parameters to the beam adjustment module. The focal point and power of the laser beam are adjusted in real time through the focus adjustment unit and the power adjustment unit. Then, according to the shape and size of the obstacle, the scanning control module drives the scanning motor unit to scan in the horizontal or vertical direction to ensure that the laser beam can evenly and quickly cover the entire obstacle area. During the process of the laser beam performing the obstacle clearing operation, the parameters such as the focal point, power, and scanning speed of the laser beam are monitored in real time to ensure that they are consistent with the calculated optimal parameters. At the same time, the potential threats of the laser beam to personnel and equipment are monitored in real time through the safety protection module to ensure the safety of the obstacle clearing operation;

[0167] S5. After the laser beam completes the obstacle clearing operation, the camera unit and the image processing unit are used to evaluate the obstacle clearing effect to ensure that the obstacles have been completely cleared. Then, data such as the obstacle information, the UAV flight state data, the laser beam parameters, and the obstacle clearing effect in this obstacle clearing operation are recorded and subjected to subsequent analysis and summary to provide reference and improvement directions for future obstacle clearing operations.

[0168] The laser beam adjustment method of the above UAV laser obstacle clearing device can implement each embodiment of the above UAV laser obstacle clearing device and achieve the same beneficial effects, which will not be elaborated here.

[0169] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative labor. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field of the present invention through logical analysis, reasoning, or limited experiments based on the concept of the present invention on the basis of the prior art should be within the protection scope determined by the claims.

Claims

1. A drone laser obstacle clearing device, characterized in that, Including: A central controller for generating control instructions according to target positioning information; A laser emitter for generating a high-energy laser beam to cut or melt obstacles; A UAV flight controller for controlling the UAV to fly along a predetermined trajectory according to the control instructions; A laser beam regulator for adjusting the focus point, power and scanning speed of the laser beam generated by the laser emitter in real time according to obstacle information; An obstacle recognition and positioning module for recognizing obstacle information and generating target positioning information according to the obstacle information.

2. The drone laser obstacle clearing device according to claim 1, characterized in that, The laser emitter includes: A laser module for generating a high-energy laser beam; A beam shaping module, the beam shaping module includes a plurality of lenses, and the lenses are used for focusing and shaping the laser beam; A safety protection module, the safety protection module includes an electromagnetic drive shutter and a tungsten carbide baffle, and the tungsten carbide baffle is used for physically blocking the laser optical path when a human body or a system failure is detected.

3. The drone laser obstacle clearing device according to claim 1, characterized in that, The UAV flight controller includes: A flight control module for adjusting the attitude, speed and altitude of the UAV according to the control instructions and obtaining the flight state information of the UAV in real time; A navigation and positioning module for obtaining the real-time position information and speed information of the UAV, and matching the real-time position information of the UAV with a pre-planned map to ensure that the UAV flies along a predetermined path; A communication and data link module for realizing real-time communication and data transmission between the UAV and the ground station.

4. The drone laser obstacle clearing device according to claim 1, characterized in that, The obstacle information includes the size, position and shape of the obstacle, and the laser beam regulator includes: A beam adjustment module for adjusting the focus point and power of the laser beam in real time according to the size, position and shape of the obstacle; A scanning control module for driving the laser beam to scan in the horizontal or vertical direction to cover the entire obstacle area.

5. The drone laser obstacle clearing device according to claim 4, characterized in that, The beam adjustment module adopts power-focal length coupling control to form a closed-loop control system of spot diameter-power density. The fiber laser is equipped with an acousto-optic modulator, which is composed of a piezoelectric crystal, an acousto-optic medium and a high-frequency drive circuit. The refractive index of the medium is changed by high-frequency sound waves to realize the adjustment of laser power. The motorized zoom lens is linked with the power control. The attenuation coefficient of the acousto-optic modulator and the focal length parameter of the motorized zoom lens are bound by an algorithm to ensure a constant power density in different modes.

6. The drone laser obstacle clearing device according to claim 4, wherein, The beam adjustment module includes: A focus adjustment unit. The motorized zoom lens group adopts multiple groups of aspherical lenses and is axially moved by a high-precision stepper motor. By adjusting the position or focal length of the lens, the focus point of the laser beam is changed to ensure that the focus point of the laser beam always remains at the optimal cutting or melting position of the obstacle. The beam adjustment module integrates a spot diameter sensor for real-time feedback of the spot size. By dynamically adjusting the focus point, the focusing accuracy of the laser beam at different distances is ensured. According to the data of the spot diameter sensor, the focus shift caused by atmospheric refraction and thermal drift is automatically compensated. The power adjustment unit adds a built-in optical power meter to the mechanical adjustable optical attenuation to read and display the attenuation value, programs and controls the path length of the laser passing through the medium, precisely adjusts it with a high-precision stepper motor or servo motor, monitors the laser power density in real time, compares it with the target value, forms a closed-loop feedback of spot diameter - power density, and adjusts the output power of the laser in real time according to the material and thickness of the obstacle. When the detected power density is lower than the threshold, the driving power of the acousto-optic modulator is increased by 10% - 30%. The wavefront sensor is used to monitor the wavefront distortion of the laser beam in real time, and then inputs the wavefront distortion situation into the control system. The control system calculates the correction voltage or force that needs to be applied to the optical element according to the wavefront distortion situation, causes the optical element to generate corresponding deformation, thereby correcting the wavefront of the laser beam in real time and changing the position of the focal point.

7. The drone laser obstacle clearing device according to claim 4, wherein, The scanning control module includes: The scanning motor unit adopts a two-axis galvanometer scanning system. The X / Y-axis scanning galvanometers are composed of a permanent magnet rotor and a high-linearity position sensor, and the servo driver bandwidth ≥ 1kHz, which is used to realize the rapid scanning movement of the laser beam in the horizontal or vertical direction. The scanning speed control unit is used to adjust the X / Y-axis scanning galvanometers in real time according to the shape and size of the obstacle to ensure that the laser beam can scan the obstacle evenly and quickly.

8. A drone laser obstacle clearing device according to claim 1, characterized in that, The obstacle recognition and positioning module includes: A binocular vision camera, a lidar, a spectrometer, and a thermal imaging sensor. The binocular vision camera is used to capture, process, and analyze the obstacle image information in real time, and combines with the lidar to accurately calculate the three-dimensional coordinates of the obstacle. The spectrometer and the laser-induced breakdown spectroscopy probe identify the material type through the laser reflection spectrum to judge the obstacle type. The thermal imaging sensor is used to identify the live wire and the human body by fusing RGB, LiDAR, and thermal imaging data through a deep learning model, and optimize the obstacle information and target positioning information according to the recognition result.

9. A method for adjusting a laser beam of a UAV laser obstacle clearing device, characterized in that, It includes: S1. The drone controls the camera unit carried by it to capture the image of the obstacle in real time according to the control instruction sent by the central controller, and then transmits the captured image to the image processing unit, and uses the image recognition algorithm to extract and analyze the shape, size, and position information of the obstacle. S2. The flight controller of the drone obtains the flight state data of the drone in real time and preprocesses the obtained flight state data. S3. The central controller constructs a 6D decision parameter space according to the shape, size, and position information of the obstacle and the flight state data of the drone. The system has a built-in multi-layer decision logic, establishes a laser beam parameter calculation model through dynamic weight allocation, and then uses the established model to calculate the optimal laser beam parameters in combination with the real-time collected obstacle information and drone flight state data. S4. Transmit the calculated optimal laser beam parameters to the beam adjustment module, and adjust the focus point and power of the laser beam in real time through the focusing adjustment unit and the power adjustment unit. Then, according to the shape and size of the obstacle, the scanning control module drives the scanning motor unit to scan in the horizontal or vertical direction to ensure that the laser beam can evenly and quickly cover the entire obstacle area. During the process of the laser beam performing obstacle clearing operations, the beam adjustment module monitors the focus point, power, and scanning speed of the laser beam in real time to ensure that they are consistent with the calculated optimal parameters; S5. After the laser beam completes the obstacle clearing operation, evaluate the obstacle clearing effect through the camera unit and the image processing unit to ensure that the obstacle has been completely cleared. Then record the obstacle information, UAV flight status data, laser beam parameters, and obstacle clearing effect in this obstacle clearing operation.

10. The method for adjusting the laser beam of an unmanned aerial vehicle laser obstacle removal device according to claim 9, characterized in that, The 6D decision parameters include material, size, spatial pose, ambient temperature, ambient wind speed, and remaining battery power.

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