Optical adaptive scanning positioning method and system

Abstract

The invention belongs to the technical field of optical scanning positioning, and discloses an optical adaptive scanning positioning method and system. A laser beam is generated by a laser generation unit; a laser beam splitting unit is used for splitting a laser beam into a plurality of sub-beams with the same intensity; a laser modulation unit is used for modulating all the sub-beams; the photoelectric scanning unit enters a coarse scanning mode, and performs coarse scanning according to a control signal from the control unit in combination with the plurality of sub-beams; a light receiving unit is used for receiving a reflection signal coarsely scanned to a target, and a detection unit is used for detecting the coarsely scanned reflection signal in real time; if the detection unit obtains the coarse scanning reflection signal, a fine scanning mode is switched to, and the control unit controls the photoelectric scanning unit to dynamically adjust based on the fine scanning reflection signal until the target is locked and the highest pointing precision is adjusted; and target positioning information is obtained after pointing solution. According to the invention, both large-range scanning and high-precision positioning can be considered, and the adaptivity under different target distances is improved.

Description

Technical Field

[0001] This invention belongs to the field of optical scanning and positioning technology, and more specifically, relates to an optical adaptive scanning and positioning method and system. Background Technology

[0002] Optical scanning positioning technology is one of the key technologies in modern high-precision measurement and sensing, widely used in LiDAR, 3D mapping, autonomous driving, UAV navigation, industrial inspection, and remote sensing. This technology achieves precise determination of target position and distance by emitting a laser beam and receiving the reflected signal from the target, combined with spatial pointing control of the scanning device. With increasingly complex application requirements, such as the dual requirements of long-distance obstacle detection and close-range accurate identification in autonomous driving, and the pursuit of large-area coverage and high resolution in industrial inspection, optical scanning positioning technology faces significant challenges in terms of scanning range, positioning accuracy, and adaptability. This invention relates to an adaptive optical scanning positioning method and system, aiming to positively contribute to the development of optical scanning positioning technology.

[0003] In existing technologies, optical scanning positioning systems primarily rely on two methods: mechanical scanning and optical modulation. Mechanical scanning devices, such as galvanometers or rotating prisms, change the beam direction through physical motion, enabling a large scanning range. However, due to the inertia of mechanical components and the complexity of motion control, these systems struggle to balance scanning speed and positioning accuracy. Especially in locating distant targets, the insufficient response speed of mechanical scanning leads to decreased accuracy. Furthermore, the wear and maintenance costs of mechanical components limit their reliability in long-term use. Optical modulation technology, on the other hand, controls the beam through non-mechanical means, such as optical phased arrays or microelectromechanical systems (MEMS). Phased array technology utilizes phase modulation to achieve inertial-free beam pointing adjustment, offering the advantage of rapid response, but its manufacturing cost is high, and its large-angle scanning capability is limited. MEMS technology adjusts the beam direction through micromirror arrays; while low-cost and with rapid response, its scanning angle range is small, and system stability is challenged by the fragility of its microstructures. These limitations make it difficult for optical modulation systems to find a balance between large-range scanning and high-precision positioning. Adaptability to target distance is a major challenge in optical scanning positioning technology. Existing systems are prone to missed scans and positioning failures when dealing with close-range targets due to sparse beam distribution; in long-range scenarios, the increased beam divergence angle leads to energy dispersion and a significant decrease in positioning accuracy. To address this issue, some technologies attempt to introduce adjustable optical elements such as liquid lenses to optimize performance by dynamically adjusting the optical focal length or divergence angle. However, these solutions are often designed for a single scanning mode or a specific distance range, lacking the ability to flexibly switch between wide-range scanning and high-precision positioning. Furthermore, in real-time tracking of fast-moving targets, existing systems have insufficient optical adjustment and scanning strategy adjustment capabilities, resulting in target loss or positioning delays. Summary of the Invention

[0004] This invention provides an optical adaptive scanning positioning method and system, which solves the problems of existing optical scanning positioning schemes that are difficult to balance large-area scanning and high-precision positioning, as well as poor adaptability at different target distances.

[0005] This invention provides an optical adaptive scanning positioning method, comprising the following steps: A laser beam is generated using a laser generation unit; The laser beam is divided into several sub-beams with the same intensity using a laser beam splitter unit; All sub-beams are modulated using a laser modulation unit, giving each sub-beam a different characteristic identifier. The photoelectric scanning unit enters the coarse scanning mode and performs coarse scanning in combination with several sub-beams according to the control signal from the control unit; the light receiving unit receives the reflection signal from the target after coarse scanning, and the detection unit detects the coarse scanning reflection signal in real time; If the detection unit acquires the coarse scan reflection signal, the photoelectric scanning unit switches to fine scan mode and performs fine scan in combination with several sub-beams according to the control signal from the control unit; the light receiving unit receives the reflection signal of the fine scan to the target, and the detection unit acquires the fine scan reflection signal; during the fine scan, the control unit controls the photoelectric scanning unit to dynamically adjust based on the fine scan reflection signal until the target is locked and adjusted to the highest pointing accuracy; the pointing calculation yields the target positioning information.

[0006] Preferably, the photoelectric scanning unit includes a transmission mechanism and a rotation mechanism; the transmission mechanism includes an optical rotation connector and a control electrical signal transmission device; the rotation mechanism includes a first rotation device and a two-dimensional rotation device, the first rotation device being mounted on the two-dimensional rotation device; the first rotation device includes a fixed frame, a transmitting device, and a liquid lens, each transmitting device being connected to a liquid lens, and multiple transmitting devices being mounted on the fixed frame; The optical rotation connector is used to realize the optical signal transmission between the laser modulation unit and the rotation mechanism; the control electrical signal transmission device is used to transmit control signals from the control unit; the control signals include a beam pointing angle control electrical signal for controlling the beam pointing angle of each of the transmitting devices, a beam divergence angle control electrical signal for controlling the beam divergence angle of each of the liquid lenses, a fixture rotation control electrical signal for controlling the rotation angle of the fixture, and a two-dimensional rotation device rotation control electrical signal for controlling the azimuth and pitch angles of the two-dimensional rotation device.

[0007] Preferably, when the photoelectric scanning unit performs the coarse scanning mode, it drives the fixed frame to rotate and also drives the two-dimensional rotating device to rotate; when the photoelectric scanning unit performs the fine scanning mode, it only drives the fixed frame to rotate.

[0008] Preferably, when the photoelectric scanning unit performs the coarse scanning mode, the rotation speed of the fixed frame is greater than the rotation speed of the two-dimensional rotating device; the two-dimensional rotating device is driven to rotate using a spiral scanning or grating scanning method.

[0009] Preferably, when the photoelectric scanning unit performs the coarse scanning mode, if it fails to acquire the coarse scanning reflection signal within a set time, the control unit controls the photoelectric scanning unit to re-plan the scanning range.

[0010] Preferably, the control unit controls the photoelectric scanning unit to dynamically adjust based on the fine-scan reflection signal, including the following sub-steps: S1, Analyze the finely scanned reflection signal, and determine whether it belongs to a multi-channel reflection signal, a single-channel reflection signal, or a no-reflection signal based on the analysis result; if it belongs to a multi-channel reflection signal, proceed to S2; if it belongs to a no-reflection signal, proceed to S3; if it belongs to a single-channel reflection signal, proceed to S4. S2, gradually adjust the beam pointing angle of each of the transmitting devices, so that the included angle between the transmitting devices is... The beam divergence angle gradually decreases as the liquid lenses increase; after adjustment, it is determined whether the current signal is a single-path reflection signal; if it is, proceed to step S4; otherwise, continue to gradually increase the included angle. And reduce the beam divergence angle; S3, gradually adjust the beam pointing angle of each of the transmitting devices, so that the included angle between the transmitting devices is... The beam divergence angle gradually increases, and the liquid lenses are controlled to gradually increase the beam divergence angle. After adjustment, it is determined whether the current signal is a single-path reflection signal. If it is a single-path reflection signal, proceed to step S4; otherwise, continue to gradually decrease the included angle. And increase the beam divergence angle; S4, gradually adjust the beam pointing angle of each of the transmitting devices, so that the included angle between the transmitting devices is... The beam divergence angle decreases gradually, and each liquid lens is controlled to gradually reduce the beam divergence angle until it is adjusted to the set minimum beam divergence angle to achieve the highest pointing accuracy.

[0011] Preferably, the laser modulation unit is used to modulate all sub-beams, and the modulation characteristics include one or more of intensity modulation, frequency modulation, wavelength modulation, and phase modulation.

[0012] Preferably, the pointing calculation is performed based on the azimuth and pitch angle data of the two-dimensional rotating device, the beam pointing angle data of the transmitting device, and the rotation angle data of the fixing frame.

[0013] On the other hand, the present invention provides an optical adaptive scanning positioning system, comprising: a laser generating unit, a laser beam splitting unit, a laser modulation unit, a photoelectric scanning unit, a light receiving unit, a detection unit, and a control unit; the optical adaptive scanning positioning system is used to perform the steps in the above-described optical adaptive scanning positioning method.

[0014] Preferably, the photoelectric scanning unit includes a transmission mechanism and a rotation mechanism; the transmission mechanism includes an optical rotation connector and a control electrical signal transmission device; the rotation mechanism includes a first rotation device and a two-dimensional rotation device, the first rotation device being mounted on the two-dimensional rotation device; the first rotation device includes a fixed frame, a transmitting device, and a liquid lens, each transmitting device being connected to a liquid lens, and multiple transmitting devices being mounted on the fixed frame; The laser generating unit uses a semiconductor laser, the laser beam splitting unit uses an optical fiber beam splitter, the optical rotating connector uses a smooth ring, the control electrical signal transmission device uses an electric slip ring, and the optical receiving unit uses a reflecting prism.

[0015] One or more technical solutions provided in this invention have at least the following technical effects or advantages: This invention integrates the advantages of mechanical motion and optical modulation, enabling mode switching from coarse to fine scanning. Through key aspects such as adjustable beam pointing angle and beam divergence angle, it employs beam feature modulation and an adaptive scanning strategy to achieve a balance between wide-area coverage and high-precision positioning. This invention overcomes the difficulty of balancing wide-area scanning, high-precision positioning, and adaptability in existing technologies through innovative optical scanning devices and dynamic control methods, providing a novel solution for optical scanning and positioning in complex environments. This invention achieves efficient and accurate positioning of targets from near-field to far-field, with significant advantages in overcoming near-field missed scans and far-field accuracy degradation. Through feature information assignment, multi-mode scanning switching strategies, and adaptive adjustment strategies, this invention can achieve wide-area, high-precision target orientation positioning, exhibiting strong adaptability and practicality, and is suitable for various optical scanning application scenarios. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of an optical adaptive scanning positioning system provided in an embodiment of the present invention; Figure 2 A schematic diagram of a rotating mechanism in an optical adaptive scanning positioning system provided in an embodiment of the present invention; Figure 3 This is an overall flowchart of an optical adaptive scanning positioning method provided in an embodiment of the present invention; Figure 4 A flowchart illustrating the dynamic adjustment of the photoelectric scanning unit in an optical adaptive scanning positioning method provided in this embodiment of the invention; Figure 5 This is a schematic diagram of the target reflection signal position in an optical adaptive scanning positioning method provided in an embodiment of the present invention.

[0017] Among them, 100-laser generating unit, 200-laser beam splitting unit, 300-laser modulation unit, 410-transmission mechanism, 420-rotation mechanism, 421-fixed frame, 422-emitting device, 423-liquid lens, 424-two-dimensional rotation device, and 500-light receiving unit. Detailed Implementation

[0018] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0019] Example 1: Example 1 provides an optical adaptive scanning positioning method, see [link to example]. Figures 1 to 3 This includes the following steps: A laser beam is generated using the laser generation unit 100; The laser beam is divided into several sub-beams with the same intensity using a laser beam splitter unit 200. The laser modulation unit 300 modulates all sub-beams, giving each sub-beam a different characteristic. The modulation characteristics include one or more of intensity modulation, frequency modulation, wavelength modulation, and phase modulation.

[0020] The photoelectric scanning unit enters the coarse scanning mode and performs coarse scanning in combination with the several sub-beams according to the control signal from the control unit; the light receiving unit 500 receives the reflection signal of the coarse scanning to the target, and the detection unit detects the coarse scanning reflection signal in real time.

[0021] If the detection unit acquires the coarse scan reflection signal, the photoelectric scanning unit switches to fine scan mode and performs fine scan in combination with several sub-beams according to the control signal from the control unit; the light receiving unit 500 receives the reflection signal of the fine scanned target, and the detection unit acquires the fine scan reflection signal; during the fine scan, the control unit controls the photoelectric scanning unit to dynamically adjust based on the fine scan reflection signal until the target is locked and adjusted to the highest pointing accuracy; the pointing calculation yields the target positioning information.

[0022] The laser generation unit 100 is the core starting point of the entire optical scanning system, used to generate a highly stable and high-quality laser beam. The laser generation unit 100 can use a semiconductor laser (such as a distributed feedback laser (DFB) or a vertical-cavity surface-emitting laser (VCSEL)) to ensure high monochromaticity, low noise, and high power stability. The wavelength is selectable (such as 850nm or 1550nm) to adapt to different application scenarios (such as long-distance scanning or high security requirements).

[0023] The laser beam splitting unit 200 is used to uniformly split the single laser beam output by the laser generating unit 100, ensuring that the power, polarization and phase of each beam are as consistent as possible. The laser beam splitting unit 200 can be an optical fiber beam splitter.

[0024] When the laser modulation unit 300 modulates all sub-beams, its modulation characteristics include one or more of intensity modulation, frequency modulation, wavelength modulation, and phase modulation. That is, the laser modulation unit 300 is used to modulate characteristic information onto the laser beam to distinguish different beams.

[0025] See Figure 1 , Figure 2 The photoelectric scanning unit includes a transmission mechanism 410 and a rotation mechanism 420; the transmission mechanism 410 includes an optical rotation connector and a control electrical signal transmission device; the rotation mechanism 420 includes a first rotation device and a two-dimensional rotation device 424, the first rotation device being mounted on the two-dimensional rotation device 424; the first rotation device includes a fixing frame 421, a transmitting device 422 and a liquid lens 423, each transmitting device 422 being connected to a liquid lens 423, and multiple transmitting devices 422 being mounted on the fixing frame 421.

[0026] The optical rotation connector is used to realize the optical signal transmission between the laser modulation unit 300 and the rotation mechanism 420; the control electrical signal transmission device is used to transmit control signals from the control unit; the control signals include a beam pointing angle control electrical signal for controlling the beam pointing angle of each of the transmitting devices 422, a beam divergence angle control electrical signal for controlling the beam divergence angle of each of the liquid lenses 423, a fixture rotation control electrical signal for controlling the rotation angle of the fixture 421, and a two-dimensional rotation device rotation control electrical signal for controlling the azimuth and pitch angles of the two-dimensional rotation device 424.

[0027] The photoelectric scanning mechanism is used to rotate the optical path to ensure efficient transmission of laser signals and electrical control signals. The optical signal can be transmitted efficiently between the rotating mechanism 420 and the laser modulation unit 300 using a multi-input multi-output smooth ring. The control signal can be transmitted using an electric slip ring. The liquid lens 423, considering its high precision and non-mechanical control, can be an electrowetting effect lens to provide precise control for dynamically adjusting pointing accuracy and adaptive target distance.

[0028] The two-dimensional rotation device 424 can be controlled in terms of azimuth and elevation angles. By employing a large divergence angle and a multi-beam divergence combined with the structure, it can achieve coarse scanning of targets over a wide area, thereby improving scanning efficiency.

[0029] When the photoelectric scanning unit performs the coarse scanning mode, it drives the fixed frame 421 to rotate and drives the two-dimensional rotating device 424 to rotate; when the photoelectric scanning unit performs the fine scanning mode, it only drives the fixed frame 421 to rotate.

[0030] When the photoelectric scanning unit performs the coarse scanning mode, the rotation speed of the fixed frame 421 is greater than the rotation speed of the two-dimensional rotating device 424; the two-dimensional rotating device 424 is driven to rotate using a spiral scanning or grating scanning method.

[0031] When the photoelectric scanning unit executes the coarse scan mode, if it fails to acquire the coarse scan reflection signal within a set time, the control unit will control the photoelectric scanning unit to re-plan the scanning range.

[0032] For details, see Figure 4 The control unit controls the photoelectric scanning unit to dynamically adjust based on the fine-scan reflection signal, including the following sub-steps: S1, Analyze the finely scanned reflection signal, and determine whether it belongs to a multi-channel reflection signal, a single-channel reflection signal, or a no-reflection signal based on the analysis result; if it belongs to a multi-channel reflection signal, proceed to S2; if it belongs to a no-reflection signal, proceed to S3; if it belongs to a single-channel reflection signal, proceed to S4. S2, as Figure 1 The angle between the launch devices As shown, the included angle between adjacent transmitting devices is marked as... Gradually adjust the beam pointing angle of each of the transmitting devices to make the included angle between the transmitting devices... The beam divergence angle gradually decreases as the liquid lenses increase; after adjustment, it is determined whether the current signal is a single-path reflection signal; if it is, proceed to step S4; otherwise, continue to gradually increase the included angle. And reduce the beam divergence angle; S3, gradually adjust the beam pointing angle of each of the transmitting devices, so that the included angle between the transmitting devices is... The beam divergence angle gradually increases, and the liquid lenses are controlled to gradually increase the beam divergence angle. After adjustment, it is determined whether the current signal is a single-path reflection signal. If it is a single-path reflection signal, proceed to step S4; otherwise, continue to gradually decrease the included angle. And increase the beam divergence angle; S4, gradually adjust the beam pointing angle of each of the transmitting devices, so that the included angle between the transmitting devices is... The beam divergence angle decreases gradually, and each liquid lens is controlled to gradually reduce the beam divergence angle until it is adjusted to the set minimum beam divergence angle to achieve the highest pointing accuracy.

[0033] Specifically, the optical receiving unit 500 can be implemented using a reflecting prism to receive reflected or scattered light beams carrying modulation information scanned to the target.

[0034] The detection unit is used to detect the reflected signal from the light receiving unit 500 in real time, providing a basis for the entire core scanning strategy.

[0035] The control unit is used to generate control electrical signals and adjust the control electrical signals based on the reflected signal conditions to achieve adaptive scanning and handle positioning requirements at different target distances.

[0036] The pointing calculation is performed based on the azimuth and elevation angle data of the two-dimensional rotating device, the beam pointing angle data of the transmitting device, and the rotation angle data of the fixed frame.

[0037] The following example illustrates Embodiment 1, using a semiconductor laser as the laser generating unit, an optical fiber beam splitter as the laser beam splitting unit, a smooth ring as the optical rotating connector, an electric slip ring as the control electrical signal transmission device, a reflecting prism as the optical receiving unit, and frequency modulation as the feature adjustment.

[0038] The optical adaptive scanning positioning method provided by this invention includes the following steps: Step one: Activate the highly stable semiconductor laser to generate a monochromatic, high-quality laser beam. The wavelength of the laser beam is selected according to the application scenario to ensure good environmental adaptability and detection range. The laser output power is adjustable to balance the signal strength for long-distance detection and the safety for short-distance scanning; it can be adjusted based on the detector's reflected signal.

[0039] Step two: The laser beam is split into multiple sub-beams by an optical fiber beam splitter. Each sub-beam has nearly uniform intensity and beam quality. The beam splitter uses high-efficiency optical fiber coupling technology to ensure uniform splitting ratio and consistent energy of each sub-beam.

[0040] Step 3: Use the laser modulation unit to modulate the feature information of each beam of light, giving each beam of light a unique feature identifier, such as frequency modulation, frequency or other feature information to ensure that the identifiers are significantly different, so that the subsequent detector can clearly distinguish the reflection signals of each sub-beam.

[0041] Step four: Multiple sub-beams carrying modulation characteristic information are efficiently transmitted between the rotating structure and the laser adjustment unit via a multi-input multi-output smooth ring, and finally exit through a liquid lens. The control unit adjusts the beam pointing angle of the transmitting device, i.e., the angle between the transmitting devices. The beam direction is adjusted to achieve the desired angle adjustment. Initially, the entire sub-beam is divergent to facilitate subsequent preliminary coarse scanning.

[0042] Step 5: The system enters coarse scan mode. The liquid lens is set with a large beam divergence angle, and the transmitting device is controlled by the control unit to be in an overall divergent state. The fixed frame, combined with the two-dimensional rotating device, performs a large-area scan coverage. Methods such as helical scanning and grating scanning can be used to drive the two-dimensional rotating device. The detector is activated to monitor the coarse scan reflection signal in real time. The rotation speed of the fixed frame should be much greater than the rotation speed of the two-dimensional rotating device. Due to the large missed scan area caused by its beam divergence distribution, repeated rapid scanning of the large field of view is necessary to improve coverage and reduce the missed scan rate.

[0043] Step six: When the detector detects the coarse scan reflection signal, it immediately stops the coarse scan mode of the two-dimensional rotation device and automatically enters the fine scan mode that only drives the fixed frame to rotate. Based on the fine scan reflection signal detected by the detector, it enters the precision control algorithm and begins to dynamically adjust the target, gradually adjusting it towards the highest precision.

[0044] Step 7: Point to the target location information obtained after the calculation.

[0045] In step six, based on the specific fine-scan reflection signal detected by the detector, taking frequency modulation as an example, the following dynamic adjustments are made in three cases (see [reference]). Figure 4 and Figure 5 (To understand).

[0046] (1) Multiple reflected signals (the target is in the beam overlap area).

[0047] like Figure 5 The location of target A shown is in the far field region of the beam scanning plane, i.e., in... Figure 5 At position M, the detector detects multiple beams with different frequencies. The liquid lens is then controlled to reduce the beam divergence angle. A finely set beam divergence angle adjustment step size is used, gradually adjusting the beam direction and simultaneously finely adjusting the transmitting device to adjust the beam pointing angle and the angle between the transmitting devices. The beam divergence angle is adjusted significantly, and the detector promptly feeds back the fine-scan reflection signal. When a single reflection signal is detected, the beam divergence angle is further adjusted to a minimum, and the beam pointing angle is simultaneously adjusted to converge, i.e., the angle between the transmitting devices. The adjustment is made in a small manner, ensuring that the detector can always detect a single reflected signal. If the reflected signal target is lost during the adjustment, the target can be retrieved by reverse adjustment. After retrieval, the beam pointing angle step is increased to converge and the rate of decrease in beam divergence angle is reduced to compensate for the loss of the reflected signal target due to the excessively rapid decrease in beam divergence angle.

[0048] (2) Single-channel reflected signal.

[0049] The detector detected this reflected signal and can then... Figure 5The target location is inferred to be either target B or target D. At this point, a lower beam divergence angle step size and beam pointing angle adjustment step size can be set to gradually decrease the beam divergence angle and the angle between the transmitting devices. Simultaneously, the fine-scan reflection signal is monitored in real time to ensure that it is a single-path reflection signal. If multiple reflection signals appear, adjustments can be made according to the previous description. If the reflection signal is lost, the beam divergence angle and pointing angle are adjusted in the opposite direction to retrieve the single-path reflection signal and control the step size or speed of beam divergence angle reduction and the angle between the transmitting devices. Decrease adjustment step size or adjustment With increased speed, the pointing accuracy is highest when the beam divergence angle is controlled to the minimum. At this point, the azimuth and elevation angle data of the two-dimensional rotating device, the beam pointing angle, and the rotation angle of the fixed frame can be retrieved for pointing calculation.

[0050] (3) No reflected signal.

[0051] This situation is unlikely to occur because during the switch from coarse to fine scanning, the target may shift into the near field due to a sudden stop caused by the large mechanical rotation of the 2D rotating device (e.g., ...). Figure 5 The position N shown is such that the target falls within the missed scan area, i.e., within the beam gap. Figure 5 Position C is indicated in the target diagram. At this point, the liquid lens is controlled to increase the beam divergence angle, and the angle between the transmitting devices is controlled. The beam divergence angle tends to decrease in order to quickly recover the lost target. When the detector receives a single-path reflection signal, the beam divergence angle can be gradually reduced, and the angle between the transmitting devices can be further reduced. Always keep the single-channel reflection signal in the detector's detectable state. If there are multiple reflection signals or no reflection signal, adjust according to the above situation. When the beam divergence angle is reduced to the minimum, the pointing accuracy reaches the highest level. The angle data of each rotating mechanism can be retrieved to calculate the target's orientation.

[0052] In summary, the optical adaptive scanning positioning method provided in Example 1 achieves a unified approach of wide-area coverage and high-precision positioning from laser beam generation to target locking through beam splitting, feature information modulation, rotational scanning, and dynamic adjustment. Each step (from coarse scanning to precise scanning) is based on reflection signal feedback. Combined with the coordinated control of the liquid lens and the transmitting device, the system adapts to different target distances. By making different adjustments under different reflection signal conditions, the system ultimately achieves the highest positioning accuracy when the beam divergence angle is minimized and the reflection signal is stable.

[0053] Example 2: Example 2 provides an optical adaptive scanning positioning system, including: a laser generating unit, a laser beam splitting unit, a laser modulation unit, a photoelectric scanning unit, a light receiving unit, a detection unit, and a control unit.

[0054] The optical adaptive scanning positioning system provided in Example 2 is used to perform the steps in the optical adaptive scanning positioning method as described in Example 1.

[0055] Specifically, the photoelectric scanning unit includes a transmission mechanism and a rotation mechanism; the transmission mechanism includes an optical rotation connector and a control electrical signal transmission device; the rotation mechanism includes a first rotation device and a two-dimensional rotation device, the first rotation device being mounted on the two-dimensional rotation device; the first rotation device includes a fixed frame, a transmitting device, and a liquid lens, each transmitting device being connected to a liquid lens, and multiple transmitting devices being mounted on the fixed frame.

[0056] For example, the laser generating unit may be a semiconductor laser, the laser beam splitting unit may be an optical fiber beam splitter, the optical rotating connector may be a smooth ring, the control electrical signal transmission device may be an electric slip ring, and the optical receiving unit may be a reflecting prism.

[0057] Since the functions of each unit in the optical adaptive scanning positioning system provided in Embodiment 2 correspond to the steps in the optical adaptive scanning positioning method provided in Embodiment 1, Embodiment 2 can be understood by referring to the description of Embodiment 1, and will not be repeated here.

[0058] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described below in conjunction with parameters, etc. Specifically, variable settings are used to generalize the implementation process of the system setup and scanning method, covering the entire process from the laser beam generation unit to precise target positioning. This includes, in particular, the calculation of coarse azimuth and elevation angles based on simplified inference from reflected signals during coarse scanning, and the dynamic adjustment during subsequent precise scanning, ensuring that those skilled in the art can implement this technology. Since the target distance is unknown, the system determines the target's azimuth and elevation angles only through the azimuth and elevation angles of the two-dimensional rotating structure, the rotation angle of the mounting frame, and the beam pointing angle, outputting direction information. Variable usage retains flexibility, while detailed steps ensure full disclosure.

[0059] I. System Setup and Parameter Settings

[0060] Laser generating unit (e.g., a laser): generates wavelength (range preferred) The laser beam has an output power of ) (scope to Initial divergence angle of beam exit (Preferred) ).in, and These are the lower and upper limits of the wavelength generated by the laser, respectively. and These are the lower and upper limits of the laser output power, respectively. The threshold value is set for the initial divergence angle of the emitted beam.

[0061] Laser beam splitting unit (e.g., a fiber optic beam splitter): divides the laser beam into... Beam beam (preferred) Each beam has a power of approximately Beam splitting error (Preferred) ( ), transmitted via single-mode optical fiber.

[0062] Laser modulation unit (e.g., an external modulator): assigns a unique frequency identifier to each subbeam. ( ,scope to ), frequency spacing (Preferred) ), modulation stability (Preferred) ).in, and These are the lower and upper limits of the frequency identifier, respectively. A threshold value is set for the frequency spacing. A threshold is set for modulation stability.

[0063] Fixture: Length of long side ,fixed Each transmitting unit, spaced apart Rotation speed (Preferred) to ), rotational accuracy (Preferred) ).in, and These are the lower and upper limits of the rotational speed, respectively. Set a threshold for rotation accuracy.

[0064] Transmitter and Liquid Lens: Each transmitter is fixedly connected to a liquid lens, which adjusts the beam divergence angle. (Preferred) The transmitting device adjusts the beam pointing angle. (scope Stepping accuracy ).in, and These are the lower and upper limits for adjusting the beam divergence angle of the liquid lens, respectively. This is the threshold value for adjusting the beam pointing angle.

[0065] Two-dimensional rotation device: provides pitch axis angle (scope ), azimuth axis angle (scope Stepping accuracy .in, This is the threshold value representing the range of rotation a two-dimensional rotating device can take on the pitch axis based on its initial 0-degree angle position. This is the threshold value for the range of rotation a two-dimensional rotating device can take on the azimuth axis based on its original 0-degree position.

[0066] Detection unit: Receives reflected signals, intensity detection threshold Equipped with a signal processing module to resolve frequency and reflected signal strength .

[0067] Control Unit: The embedded controller runs a closed-loop feedback algorithm, adjusting based on the number of reflected signal paths. The algorithm supports spiral scanning path planning and adaptive optimization to handle positioning requirements at different target distances.

[0068] II. Coarse scanning and rough directional positioning.

[0069] (1) Start coarse scan to cover the field of view. The liquid lens is used to set the maximum beam divergence angle. Each sub-beam covers a large area. Control The pointing angle of each launching device It is distributed in a diffuse manner, with intervals. The fixed frame at speed Rotate to form a diameter of approximately A circular scanning surface. A two-dimensional rotating device performs a helical scan, with the pitch axis moving in steps. Swing (range) ), azimuth axis in steps Adjustment (range) Scan cycle Depend on Sure.

[0070] The two-dimensional rotation device employs an Archimedean spiral scanning mechanism, with simultaneous movement of the pitch and azimuth axes, and a pitch angle... ( ) and azimuth ( )satisfy Scan cycle From azimuth range Azimuth axis step size Single-step response time Confirmed, the calculation formula is: Pitch axis step size Rotation speed of the fixed frame Coverage requirements must be met to ensure coverage. Complete at least The next rotation, i.e. .

[0071] (2) The detection unit receives the reflected signal in real time and analyzes the frequency. Assuming the rotation angle of the fixed frame... , In this example, a certain parameter value is assigned to the rotation angle of the fixed frame, which is the azimuth angle of the two-dimensional rotating device. , In this example, the azimuth angle is assigned a parameter value, and the elevation angle is... , In this example, a certain parameter value is assigned to the pitch angle, which is the beam pointing angle of the k-th transmitting device. hour, In this example, a certain parameter value is assigned to the beam pointing angle, and the frequency is detected. The reflected signal, the elevation angle for determining the coarse azimuth of the target is... azimuth angle is By combining calculations of various angles and rotation matrices, the pitch angle of the target's coarse azimuth can be obtained. and azimuth as follows:

[0072] No. k The position of each launching device is affected by the rotation of the mounting frame. ,in The direction of the beam is from and Decision. Two-dimensional rotating device. and Define the orientation of the global coordinate system and synthesize the results to obtain the target.

[0073] The above describes the case of a single reflected signal. When multiple reflected signals are encountered, the target is likely located in the beam overlap area. The approximate orientation is determined by weighted averaging of the reflected signal intensity.

[0074] Azimuth:

[0075] Pitch angle:

[0076] in, The reflected signal detected by the detector Pointing angle in the global coordinate system calculate, The reflected signal detected by the detector Pointing angle in the global coordinate system calculate.

[0077] System storage This serves as initial directional information. If no reflected signal is detected, continue scanning or adjust the scanning area until a reflected signal is captured.

[0078] Additional explanation: The subscripts in the above symbols k , m The symbol representing the beam that distinguishes one of the two reflected signals, specifically... For reflected signals The intensity detected by the detector, For reflected signals The intensity detected by the detector, For reflected signals The angle pointed to by the onboard transmitting unit in the azimuth direction. For reflected signals The angle pointed to by the onboard transmitting unit in the azimuth direction. For reflected signals The angle pointed to by the onboard transmitting unit in the pitch direction. For reflected signals The angle pointed to by the onboard transmitting unit in the pitch direction. , , , The calculation method and , The expression is the same. , This is a general formula.

[0079] III. Fine scanning and adaptive adjustment.

[0080] Entering fine scan mode, the system uses To optimize the beam direction at the center, the liquid lens reduces the beam divergence angle to [value missing]. This reduces the coverage area of ​​a single beam. In this example, a parameter value is assigned to the beam divergence angle. and These are the lower and upper limits of the beam divergence angle, respectively. Adjusting the beam... Gradually reduce and point towards the position of the reflected signal beam during coarse scanning, and focus in the initial direction.

[0081] The system dynamically adjusts the divergence angle of the liquid lens beam and the beam pointing angle of the emitting device based on the number and intensity of the reflected signals. The detection situation can be handled in the following ways: (1) Multi-path reflected signals.

[0082] The detection unit detected ,strength The target is in the beam overlap region. The liquid lens is gradually reduced (step size). Angle between launchers Adjust the beam divergence angle if it shows an increasing trend; if it is still multi-path, continue to reduce the beam divergence angle. ,optimization If it is a single path (such as...) Enter single-path adjustment and gradually reduce the beam divergence angle. and gradually reduce the angle between the launching devices The detection unit must always be able to detect a single reflected signal. When the beam divergence angle decreases to its lowest point, the positioning accuracy is highest. The positioning accuracy can be determined based on the intensity of the reflected signal. Fine-tuning involves scanning the beam center to the target to improve accuracy.

[0083] (2) Single-channel reflected signal.

[0084] The detection unit detected ,strength Liquid lens decreases (Step length) If the detection unit always detects a single reflected signal, then the beam divergence angle will continue to decrease. And gradually adjust the angle between the launching devices. The beam divergence angle tends to decrease; if the reflected signal disappears, the beam divergence angle is controlled. and control the beam pointing angle The process continues until the reflected signal reappears on the detector unit, while simultaneously reducing the step size of the beam divergence angle. This prevents the loss of target information due to rapid reduction of the beam divergence angle. The beam pointing angle is then finely adjusted based on the intensity of the reflected signal after the beam divergence angle is reduced to its minimum. The highest positioning accuracy is achieved when the target is as close to the center of the beam as possible.

[0085] (3) No reflected signal.

[0086] This situation is rare and occurs when the target is lost due to mechanical movement such as a sudden stop of the 2D rotating device during the switch from coarse to fine scanning, or when the target is near the solution orientation or in the gap between beams. After entering fine scanning mode, the beam pointing angle can be adjusted to expand the overall scanning area, while simultaneously increasing the beam divergence angle. and reduce the angle between the launching devices Perform beam pointing angle Adjustments are made based on the single-channel or multi-channel reflection signal situation after the reflected signal is recaptured. The detector is kept reflecting signals while the beam divergence angle is gradually adjusted to a minimum, and the intensity of the reflected signal is maximized. At this point, the highest accuracy target pointing can be obtained.

[0087] In summary, this invention innovatively combines a fixed-frame rotation structure with dynamic beam divergence and beam pointing angle adjustments, significantly improving the efficiency and coverage of large-area optical scanning. Compared to traditional single-beam point-by-point scanning or fixed-mode mechanical scanning, this invention achieves rapid coverage of a large field of view through the rotation of the fixed frame combined with a large divergence beam and a two-dimensional rotation device. Parallel scanning of multiple sub-beams further reduces scanning time, while the large divergence setting of the liquid lens ensures that a single scan covers a larger area. This design not only ensures the integrity of the scanning coverage but also significantly shortens the scanning cycle, solving the problem of low efficiency in wide-area scanning using traditional technologies and providing an efficient solution for rapid target detection. This invention achieves mode switching from coarse to fine scanning through the coordinated operation of the liquid lens and the transmitting device. Moreover, it achieves adaptive optimization of the beam at different target distances. The liquid lens dynamically adjusts the divergence angle, combined with the beam pointing angle control of the transmitting device, allowing the system to optimize beam characteristics in real time based on target distance and reflection signal conditions. For near-field scanning, the system increases the beam divergence angle and adjusts the pointing coverage gap; for far-field targets, it decreases the beam divergence angle to concentrate the light and reduce the scanning cross-section to improve accuracy. This dynamic adjustment capability ensures an optimal balance between scanning coverage and positioning accuracy, enhancing the system's flexibility and robustness, making it suitable for diverse applications such as autonomous driving and drone navigation.

[0088] Finally, it should be noted that the above specific embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to examples, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An optical adaptive scanning positioning method, characterized in that, Includes the following steps: A laser beam is generated using a laser generation unit; The laser beam is divided into several sub-beams with the same intensity using a laser beam splitter unit. All sub-beams are modulated using a laser modulation unit, giving each sub-beam a different characteristic identifier. The photoelectric scanning unit enters the coarse scanning mode and performs coarse scanning in combination with the several sub-beams according to the control signal from the control unit; the light receiving unit receives the reflection signal of the coarse scan to the target, and the detection unit detects the coarse scan reflection signal in real time; If the detection unit acquires the coarse scan reflection signal, the photoelectric scanning unit switches to fine scan mode and performs fine scan in combination with the several sub-beams according to the control signal from the control unit; the light receiving unit receives the reflection signal of the fine scan to the target, and the detection unit acquires the fine scan reflection signal; during the fine scan process, the control unit controls the photoelectric scanning unit to dynamically adjust based on the fine scan reflection signal until the target is locked and adjusted to the highest pointing accuracy; The target location information is obtained after the calculation.

2. The optical adaptive scanning positioning method according to claim 1, characterized in that, The photoelectric scanning unit includes a transmission mechanism and a rotation mechanism; the transmission mechanism includes an optical rotation connector and a control electrical signal transmission device; the rotation mechanism includes a first rotation device and a two-dimensional rotation device, the first rotation device being mounted on the two-dimensional rotation device; the first rotation device includes a fixed frame, a transmitting device and a liquid lens, each transmitting device being connected to a liquid lens, and multiple transmitting devices being mounted on the fixed frame. The optical rotation connector is used to realize the optical signal transmission between the laser modulation unit and the rotation mechanism; the control electrical signal transmission device is used to transmit control signals from the control unit; the control signals include a beam pointing angle control electrical signal for controlling the beam pointing angle of each of the transmitting devices, a beam divergence angle control electrical signal for controlling the beam divergence angle of each of the liquid lenses, a fixture rotation control electrical signal for controlling the rotation angle of the fixture, and a two-dimensional rotation device rotation control electrical signal for controlling the azimuth and pitch angles of the two-dimensional rotation device.

3. The optical adaptive scanning positioning method according to claim 2, characterized in that, When the photoelectric scanning unit performs the coarse scanning mode, it drives the fixed frame to rotate and also drives the two-dimensional rotating device to rotate; when the photoelectric scanning unit performs the fine scanning mode, it only drives the fixed frame to rotate.

4. The optical adaptive scanning positioning method according to claim 3, characterized in that, When the photoelectric scanning unit executes the coarse scanning mode, the rotation speed of the fixed frame is greater than the rotation speed of the two-dimensional rotating device; the two-dimensional rotating device is driven to rotate using a spiral scanning or grating scanning method.

5. The optical adaptive scanning positioning method according to claim 1, characterized in that, When the photoelectric scanning unit executes the coarse scan mode, if it fails to acquire the coarse scan reflection signal within a set time, the control unit will control the photoelectric scanning unit to re-plan the scanning range.

6. The optical adaptive scanning positioning method according to claim 2, characterized in that, The control unit controls the photoelectric scanning unit to dynamically adjust based on the fine-scan reflection signal, including the following sub-steps: S1, analyze the finely scanned reflection signal, and determine whether it belongs to a multi-channel reflection signal, a single-channel reflection signal, or a no-reflection signal based on the analysis result; if it belongs to a multi-channel reflection signal, proceed to S2; If it is a non-reflected signal, proceed to S3; if it is a single-channel reflected signal, proceed to S4. S2, gradually adjust the beam pointing angle of each of the transmitting devices, so that the included angle between the transmitting devices is... The trend is increasing, and the beam divergence angle of each liquid lens is gradually reduced. After adjustment, determine whether the current signal is a single-channel reflection signal; if it is, proceed to step S4; otherwise, continue to gradually increase the included angle. And reduce the beam divergence angle; S3, gradually adjust the beam pointing angle of each of the transmitting devices, so that the included angle between the transmitting devices is... The trend is decreasing, and the beam divergence angle of each liquid lens is gradually increased. After adjustment, determine whether the current signal is a single-channel reflection signal; if it is, proceed to step S4; otherwise, continue to gradually decrease the included angle. And increase the beam divergence angle; S4, gradually adjust the beam pointing angle of each of the transmitting devices, so that the included angle between the transmitting devices is... The beam divergence angle decreases gradually, and each liquid lens is controlled to gradually reduce the beam divergence angle until it is adjusted to the set minimum beam divergence angle to achieve the highest pointing accuracy.

7. The optical adaptive scanning positioning method according to claim 1, characterized in that, The laser modulation unit modulates all sub-beams, and its modulation characteristics include one or more of intensity modulation, frequency modulation, wavelength modulation, and phase modulation.

8. The optical adaptive scanning positioning method according to claim 2, characterized in that, The pointing calculation is performed based on the azimuth and elevation angle data of the two-dimensional rotating device, the beam pointing angle data of the transmitting device, and the rotation angle data of the fixed frame.

9. An optical adaptive scanning and positioning system, characterized in that, include: The system comprises a laser generating unit, a laser beam splitting unit, a laser modulation unit, a photoelectric scanning unit, a light receiving unit, a detection unit, and a control unit; the optical adaptive scanning positioning system is used to perform the steps in the optical adaptive scanning positioning method as described in any one of claims 1-8.

10. The optical adaptive scanning positioning system according to claim 9, characterized in that, The photoelectric scanning unit includes a transmission mechanism and a rotation mechanism; the transmission mechanism includes an optical rotation connector and a control electrical signal transmission device; the rotation mechanism includes a first rotation device and a two-dimensional rotation device, the first rotation device being mounted on the two-dimensional rotation device; the first rotation device includes a fixed frame, a transmitting device and a liquid lens, each transmitting device being connected to a liquid lens, and multiple transmitting devices being mounted on the fixed frame. The laser generating unit uses a semiconductor laser, the laser beam splitting unit uses an optical fiber beam splitter, the optical rotating connector uses a smooth ring, the control electrical signal transmission device uses an electric slip ring, and the optical receiving unit uses a reflecting prism.

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