Dual-spin laser unmanned aerial vehicle guided landing system and method

Abstract

The invention discloses a double-spinning laser unmanned aerial vehicle guided landing system and method. The first laser module is used for providing a first light beam emitted by rotating around a first axis. The first rotating module is used for driving the first laser module to rotate around a rotating shaft perpendicular to the first shaft, so that the first light beam scans in the space. The second laser module is used for providing a second light beam emitted by rotating around a second axis. The second rotating module is used for driving the second laser module to rotate around a rotating shaft perpendicular to the second shaft, so that the second light beam scans in the space. When the first light beam is firstly projected on the unmanned aerial vehicle, the unmanned aerial vehicle sends out a signal. After the signal transceiver receives the signal, the controller obtains the first included angle. And when the second light beam is projected on the unmanned aerial vehicle again, the unmanned aerial vehicle sends out a signal. After the signal transceiver receives the signal, the controller obtains the second included angle and calculates the relative position, and controls the signal transceiver to transmit the relative position signal to the unmanned aerial vehicle. The invention also provides a double-spinning laser unmanned aerial vehicle guided landing method.

Description

Technical Field

[0001] This invention relates to a guided landing system and method, and more particularly to a dual-spin laser unmanned aerial vehicle (UAV) guided landing system and method. Background Technology

[0002] The purpose of a positioning and guidance system for unmanned aerial vehicles (UAVs) is to improve the effective positioning accuracy of the UAV to the size of a helipad, enabling the UAV to land accurately on the helipad and initiate its charging process. In other words, during the autonomous take-off, landing, and charging process of the UAV, the positioning and guidance system needs to overcome the positioning errors of GPS to accurately locate the relative positions of the UAV and the charging station.

[0003] Current technologies, such as infrared imaging, are used for precise positioning. However, infrared image positioning requires the installation of optical flow sensors and related image processing units on the drone, which increases the drone's weight, power consumption, and cost. Furthermore, image data needs to be uploaded beforehand for image recognition. Summary of the Invention

[0004] This invention provides a dual-spin laser-guided landing system and method for unmanned aerial vehicles (UAVs), which can provide precise positioning for UAVs.

[0005] An embodiment of the present invention provides a dual-spin laser-guided landing system for unmanned aerial vehicles (UAVs), comprising a first laser module, a first rotation module, a second laser module, a second rotation module, a transceiver, a controller, and a substrate. The first laser module provides a first light beam emitted by rotation about a first axis. The first rotation module is connected to the first laser module and drives the first laser module to rotate about a rotation axis perpendicular to the first axis, causing the first light beam to scan in space. The second laser module provides a second light beam emitted by rotation about a second axis. The second rotation module is connected to the second laser module and drives the second laser module to rotate about a rotation axis perpendicular to the second axis, causing the second light beam to scan in space, wherein the rotation axis perpendicular to the second axis is parallel to the rotation axis perpendicular to the first axis. The controller is electrically connected to the first laser module, the first rotation module, the second laser module, the second rotation module, and the transceiver. The first laser module, the first rotation module, the second laser module, the second rotation module, the transceiver, and the controller are mounted on the substrate. When the first light beam is first projected onto a UAV, the UAV emits a signal. After the transceiver receives the signal, the controller obtains a first included angle. When the second beam is projected onto the drone, the drone emits a signal. After the transceiver receives the signal, the controller obtains the second included angle and calculates the relative position, and then controls the transceiver to transmit the relative position signal to the drone. Here, the first included angle is the angle between the first beam and the connecting line, the second included angle is the angle between the second beam and the connecting line, the connecting line is the line connecting the first laser module and the second laser module, and the relative position is the drone's position relative to its landing position on the substrate.

[0006] An embodiment of the present invention provides a dual-spin laser-guided landing method for an unmanned aerial vehicle (UAV), comprising the following steps: A first laser module is controlled to provide a first beam emitted around a first axis, and a first rotation module is controlled to drive the first laser module to rotate around a rotation axis perpendicular to the first axis, causing the first beam to scan in space. A second laser module is controlled to provide a second beam emitted around a second axis, and a second rotation module is controlled to drive the second laser module to rotate around a rotation axis perpendicular to the second axis, causing the second beam to scan in space. When the first beam is first projected onto the UAV, a signal is emitted from the UAV. After receiving the signal, a first included angle is obtained. When the second beam is then projected onto the UAV, a signal is emitted from the UAV. After receiving the signal, a second included angle is obtained and the relative position is calculated, and a signal transceiver is controlled to transmit the relative position signal to the UAV.

[0007] Based on the above, in one embodiment of the present invention, the dual-spin laser UAV guided landing system and method can accurately calculate the position of the UAV by installing a first laser module, a second laser module, a signal transceiver, and triangulation, thereby guiding the UAV to land. Therefore, the dual-spin laser UAV guided landing system and method can provide precise landing guidance for the UAV only by installing a laser receiver and a signal transceiver, meaning that there are no special requirements for the hardware configuration and computing power of the UAV itself. Attached Figure Description

[0008] Figure 1A This is a schematic diagram of a dual-spin laser unmanned aerial vehicle (UAV) guided landing system according to an embodiment of the present invention;

[0009] Figure 1B yes Figure 1A A schematic diagram on the other side of the substrate;

[0010] Figure 2 This is a schematic diagram illustrating the calculation of the first included angle, the second included angle, and the relative position of a dual-spin laser unmanned aerial vehicle (UAV) guided landing system according to an embodiment of the present invention.

[0011] Figure 3A yes Figure 1A A schematic diagram of the first or second laser module;

[0012] Figure 3B yes Figure 3A A diagram on the other side;

[0013] Figure 4A yes Figure 1A A schematic diagram showing a first linear laser emitted by a first laser module or a second linear laser emitted by a second laser module scanning in space.

[0014] Figure 4B yes Figure 1A A schematic diagram showing the first laser module emitting a first point laser or the second laser module emitting a second point laser scanning in space;

[0015] Figure 5 This is a schematic diagram of a dual-spin laser unmanned aerial vehicle (UAV) guided landing system according to an embodiment of the present invention, wherein a first point laser and a second point laser scan within the area where the first line laser and the second line laser intersect in space;

[0016] Figure 6 This is a schematic diagram of a dual-spin laser unmanned aerial vehicle (UAV) guided landing system according to an embodiment of the present invention, in which a first point laser or a second point laser scans an interval angle in space.

[0017] Figure 7A yes Figure 1AA schematic diagram of the charging module;

[0018] Figure 7B yes Figure 7A A schematic diagram illustrating the lever-assisted detachment of a drone from the magnetic charging port;

[0019] Figure 8 This is a flowchart of a dual-spin laser unmanned aerial vehicle (UAV) guided landing method according to an embodiment of the present invention;

[0020] Figure 9 This is a flowchart illustrating a dual-spin laser unmanned aerial vehicle (UAV) guided landing method according to an embodiment of the present invention, which involves emitting a first point laser or a first line laser to scan in space.

[0021] Figure 10 This is a flowchart of a dual-spin laser UAV guided landing method according to an embodiment of the present invention, which involves emitting a second point laser or a second line laser to scan in space.

[0022] Figure 11 This is a flowchart of a dual-spin laser UAV guided landing method according to an embodiment of the present invention, which first projects a first linear laser and a second linear laser for scanning, and then projects a first point laser and a second point laser for scanning.

[0023] Figure 12 yes Figure 11 The flowchart for recalculating the farthest distance;

[0024] Figure 13 This is a flowchart of a dual-spin laser UAV guided landing method according to an embodiment of the present invention, which involves projecting a first point laser and a second point laser for scanning, and then projecting a first line laser and a second line laser for scanning.

[0025] Figure 14 This is a flowchart illustrating a dual-spin laser-guided landing method for unmanned aerial vehicles according to an embodiment of the present invention, which utilizes an optical sensor for zeroing. Detailed Implementation

[0026] Figure 1A This is a schematic diagram of a dual-spin laser unmanned aerial vehicle (UAV) guided landing system according to an embodiment of the present invention. Figure 1B yes Figure 1A A schematic diagram on the other side of the substrate, wherein Figure 1B Omitted Figure 1A The position adjustment module 800 is located in the middle. Please refer to it. Figure 1A and Figure 1BAn embodiment of the present invention provides a dual-spin laser unmanned aerial vehicle (UAV) guided landing system 10, which includes a first laser module 100, a first rotation module 200, a second laser module 300, a second rotation module 400, a signal transceiver 1000, a controller 900, and a substrate 20.

[0027] In this embodiment, the substrate 20 is designed, for example, as a landing pad for a drone. A first laser module 100, a first rotation module 200, a second laser module 300, a second rotation module 400, a transceiver 1000, and a controller 900 are disposed on the substrate 20. The first laser module 100, the first rotation module 200, the second laser module 300, and the second rotation module 400 are disposed on one side of the substrate 20, such as... Figure 1A As shown, the signal transceiver 1000 and the controller 900 are disposed on the other side of the substrate 20 opposite to the first laser module 100, as... Figure 1B As shown.

[0028] Figure 2 This is a schematic diagram illustrating the calculation of the first included angle, the second included angle, and the relative position of a dual-spin laser UAV guided landing system according to an embodiment of the present invention. Please refer to... Figures 1A to 2 In this embodiment, the first laser module 100 provides a first light beam B1 emitted around a first axis. A first rotation module 200 is connected to the first laser module 100 and drives the first laser module 100 to rotate around a rotation axis perpendicular to the first axis, causing the first light beam B1 to scan in space. The second laser module 300 provides a second light beam B2 emitted around a second axis. A second rotation module 400 is connected to the second laser module 300 and drives the second laser module 300 to rotate around a rotation axis perpendicular to the second axis, causing the second light beam B2 to scan in space, wherein the rotation axis perpendicular to the second axis is parallel to the rotation axis perpendicular to the first axis. The first rotation module 200 or the second rotation module 400 may be a stepper motor. The aforementioned rotation around the first axis or around the second axis is, for example, with the plane extending from the substrate 20 as the ground plane, rotating at an elevation angle. That is, the first axis and the second axis are parallel to the substrate 20. The aforementioned first laser module 100 is driven to rotate about a rotation axis perpendicular to the first axis, and the second laser module 300 is driven to rotate about a rotation axis perpendicular to the second axis, for example, with the plane extending from the substrate 20 as the ground plane, rotating along a direction angle. That is, the rotation axes of the first laser module 100 and the second laser module 300 are perpendicular to the substrate 20. Furthermore, preferably, the first laser module 100 can be controlled to rotate clockwise, and the second laser module 300 can be controlled to rotate counterclockwise; or, the first laser module 100 can be controlled to rotate counterclockwise, and the second laser module 300 can be controlled to rotate clockwise, but the present invention is not limited thereto.

[0029] In this embodiment, the controller 900 may include, for example, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a programmable controller, a programmable logic device (PLD), a graphics processing unit (GPU), or other similar devices or combinations thereof (e.g., Arduino), and the invention is not limited thereto. Furthermore, in one embodiment, the functions of the controller 900 may be implemented as multiple program codes. These program codes are stored in a storage unit and executed by the controller 900. Alternatively, in one embodiment, the functions of the controller 900 may be implemented as one or more circuits. The invention does not limit the implementation of the functions of the controller 900 in software or hardware.

[0030] In this embodiment, the transceiver 1000 is, for example, an RF wireless communication module, but the present invention is not limited thereto.

[0031] In this embodiment, the controller 900 is electrically connected to the first laser module 100, the first rotation module 200, the second laser module 300, the second rotation module 400, and the transceiver 1000. When the first beam B1 is first projected onto the drone U, the drone U emits a signal. After the transceiver 1000 receives the signal, the controller 900 obtains the first included angle θ1. When the second beam B2 is then projected onto the drone U, the drone U emits a signal. After the transceiver 1000 receives the signal, the controller 900 obtains the second included angle θ2 and calculates the relative position RP, and controls the transceiver 1000 to transmit the relative position signal to the drone U. Wherein, the first included angle θ1 is the angle between the first beam B1 and the connecting line CL (projected on the plane extending from the substrate 20), the second included angle θ2 is the angle between the second beam B2 and the connecting line CL (projected on the plane extending from the substrate 20), the connecting line CL is the connecting line between the first laser module 100 and the second laser module 300, and the relative position RP is the position of the UAV U relative to the landing position LP on the substrate 20.

[0032] In other words, when the first beam B1 strikes the drone U, the transceiver (e.g., a radio frequency wireless communication module) on the drone U transmits a signal to the transceiver 1000 on the substrate 20 to notify the controller 900 to record the first included angle θ1. Then, the controller 900 controls the second laser module 300 to operate with dual spin (… Figure 3AThe second laser module 300, as shown, projects a second beam B2 for scanning by rotating the second reflector 330 and rotating the second laser module 300 driven by the second rotating module 400. After the second beam B2 hits the drone U, the transceiver on the drone U transmits a signal to the transceiver 1000 on the substrate 20 to notify the controller 900 to record the second included angle θ2. Therefore, the two laser modules do not operate simultaneously to avoid mutual interference and system misjudgment. Finally, the relative position RP is calculated using triangulation based on the first included angle θ1 and the second included angle θ2, and the relative position signal is transmitted to the drone U. The relative position RP includes the X-axis offset Xbias and the Y-axis offset Ybias. The distance between the relative position RP and the landing position LP on the plane parallel to the substrate 20 is the GPS error of the drone U at that time point. Therefore, the drone U can fly towards the landing position LP according to the X-axis offset Xbias and the Y-axis offset Ybias, and then descend vertically to the landing position LP along the Z-axis.

[0033] Figure 3A yes Figure 1A A schematic diagram of the first or second laser module. Figure 3B yes Figure 3A A diagram on the other side. Figure 4A yes Figure 1A A schematic diagram showing a first linear laser emitted by a first laser module or a second linear laser emitted by a second laser module scanning in space. Figure 4B yes Figure 1A This diagram illustrates a scanning operation in space, where either the first laser module emits a first point laser beam or the second laser module emits a second point laser beam. Please refer to the diagram. Figures 3A to 4B Specifically, in this embodiment, the first beam B1 includes a first point laser P1 and a first line laser L1. The first laser module 100 includes a housing 150, a first light source 110, a second light source 120, a first reflector 130, and a first rotator 140. The first light source 110, the second light source 120, and the first rotator 140 are embedded in the housing 150, and the first reflector 130 is disposed within the housing 150.

[0034] In this embodiment, the first light source 110 is, for example, a point laser emitter. The first light source 110 is used to emit a first point laser P1. The second light source 120 is, for example, a line laser emitter. The second light source 120 is used to emit a first line laser L1. The first point laser P1 or the first line laser L1 is, for example, red light, but the invention is not limited thereto. A first reflector 130 is disposed in the optical path of the first point laser P1 and the first line laser L1, and is used to project the first point laser P1 and the first line laser L1 out of the first laser module 100. The first rotator 140 is, for example, a DC motor, but the invention is not limited thereto. The first rotator 140 is connected to the first reflector 130 to drive the first reflector 130 to rotate around a first axis, causing the first point laser P1 or the first line laser L1 to scan in space.

[0035] Similarly, in this embodiment, the second beam B2 includes a second point laser P2 and a second line laser L2. The second laser module 200 includes a housing 350, a third light source 310, a fourth light source 320, a second reflector 330, and a second rotator 340. The third light source 310, the fourth light source 320, and the second rotator 340 are embedded in the housing 350, and the second reflector 330 is disposed within the housing 350.

[0036] In this embodiment, the third light source 310 is, for example, a point laser emitter. The third light source 310 is used to emit a second point laser P2. The fourth light source 320 is, for example, a line laser emitter. The fourth light source 320 is used to emit a second line laser L2. The second point laser P2 or the second line laser L2 is, for example, red light, but the invention is not limited thereto. The second reflector 330 is disposed in the optical path of the second point laser P2 and the second line laser L2, and is used to project the second point laser P2 and the second line laser L2 out of the second laser module 300. The second rotator 340 is, for example, a DC motor. The second rotator 340 is connected to the second reflector 330 to drive the second reflector 330 to rotate around a second axis, causing the second point laser P2 or the second line laser L2 to scan in space. Furthermore, when the first reflector 130 rotates to scan the first point laser P1 and the first line laser L1 in space, and the second reflector 330 rotates to scan the second point laser P2 and the second line laser L2 in space, such as Figure 4A and Figure 4B As shown, the scanning trajectory forms a plane perpendicular to the horizontal plane in space. Therefore, by using the first rotation module 200 and the second rotation module 400 to drive the first laser module 100 and the second laser module 300 to rotate respectively, the first point laser P1, the first line laser L1, the second point laser P2 and the second line laser L2 can completely scan the entire space.

[0037] Figure 5 This is a schematic diagram of a dual-spin laser unmanned aerial vehicle (UAV) guided landing system according to an embodiment of the present invention, showing that a first point laser and a second point laser scan within the area where the first and second line lasers intersect in space. Please refer to... Figure 5 In this embodiment, the controller 900, for example, first controls the first laser module 100 and the second laser module 300 to project a first linear laser L1 and a second linear laser L2. After the first linear laser L1 and the second linear laser L2 are projected onto the drone U, the possible range of the drone's position is calculated first, and then the first laser module 100 and the second laser module 300 are controlled to project a first point laser P1 and a second point laser P2, so that the first point laser P1 and the second point laser P2 scan within the spatial intersection range R of the first linear laser L1 and the second linear laser L2. That is, when the drone U is sensed by projecting the first linear laser L1 and the second linear laser L2, the possible position of the drone U can be narrowed down to within the range R. Then, the projection of the first point laser P1 and the second point laser P2 is switched to scan, so as to obtain the position of the drone U more accurately.

[0038] In another embodiment, if the controller 900 controls the first laser module 100 and the second laser module 300 to project a first point laser P1 and a second point laser P2 for scanning but fails to sense the position of the UAV U, then the controller 900 switches the first laser module 100 and the second laser module 300 to project a first line laser L1 and a second line laser L2. That is, the controller 900 can switch between projecting the first point laser P1 and the second point laser P2 or projecting the first line laser L1 and the second line laser L2 depending on the scanning status.

[0039] Figure 6 This is a schematic diagram of a dual-spin laser unmanned aerial vehicle (UAV) guided landing system according to an embodiment of the present invention, showing the first or second point laser scanning an interval angle in space. Please refer to... Figure 6 In this embodiment, after the first laser module 100 and the second laser module 300 project a first linear laser L1 and a second linear laser L2, and when the first linear laser L1 and the second linear laser L2 are projected onto the UAV U, the controller 900 calculates the farthest distance n (i.e., the farthest distance from the landing position LP within the range R where the first linear laser L1 and the second linear laser L2 intersect in space) based on the spatial range R. Furthermore, the dual-spin laser UAV guided landing system 10 preferably satisfies the following:

[0040] δ≤arctan(Ws / n)×(180 / π),

[0041] Where δ is the pitch angle (the angle between the laser in one scan and the previous or next scan) of the first point laser P1 or the second point laser P2 in space, Ws is the width of the sensor / signal transceiver on the UAV U, and n is the farthest distance.

[0042] For example, using a GPS error of approximately 10m (the error between the drone U's position and its landing position LP) as the maximum distance n and the width of the sensor on the drone U being 0.004m, we can calculate that δ ≤ 0.0229 degrees. Therefore, when δ ≤ 0.0229 degrees, we can avoid missing the drone U when scanning with the first point laser P1 and the second point laser P2. Furthermore, since a smaller maximum distance n allows for a larger interval angle δ, we can set a larger interval angle δ. Therefore, by first using a linear laser scan to find the possible range R of the drone U, we can set a higher interval angle δ for the point laser scan, thus shortening the system's scanning time. For example, a point laser scan might take several hours to complete, but only a few minutes.

[0043] Please refer to this again. Figure 1A In this embodiment, the dual-spin laser unmanned aerial vehicle (UAV) guided landing system 10 further includes an optical sensor 500. The optical sensor 500 is, for example, a laser sensor, a photodiode, or other sensors. The optical sensor 500 is disposed on the substrate 20 and between the first laser module 100 and the second laser module 300 (and disposed...). Figure 2 The connection shown is CL, which is electrically connected to the controller 900 and is used to enable the controller 900 to zero the rotation angles of the first laser module 100 and the second laser module 300 before the first beam B1 and the second beam B2 scan space, via the light sensor 500. For example, the first laser module 100 is rotated counterclockwise, and the second laser module 300 is rotated clockwise. When the light sensor 500 senses the signal of the first beam B1, the first included angle θ1 is 0. When the light sensor 500 senses the signal of the second beam B2, the second included angle θ2 is 0.

[0044] In this embodiment, the dual-spin laser UAV guided landing system 10 further includes a display module 600. The display module 600 is, for example, a liquid crystal display (LCD), an organic light-emitting diode (OLED) display, an electrophoretic display (EPD), or other suitable displays. The display module 600 is disposed on the substrate 20, electrically connected to the controller 900, and used to display the operating status of the dual-spin laser UAV guided landing system 10.

[0045] In one embodiment, the dual-spin laser-guided unmanned aerial vehicle (UAV) landing system 10 further includes a position adjustment module 800. The position adjustment module 800 is disposed on the substrate 20, electrically connected to the controller 900, and is used to clamp the UAV U and move its position to the landing position LP after landing. For example, the position adjustment module 800 may include a slide rail, a gripper, and a stepper motor. The gripper is disposed on the slide rail and its position can be adjusted by the stepper motor.

[0046] Figure 7A yes Figure 1A A schematic diagram of the charging module. Figure 7B yes Figure 7A A diagram illustrating how a lever-assisted drone detaches from the magnetic charging port. Please refer to the diagram. Figure 1A , Figure 7A and Figure 7B In this embodiment, the dual-spin laser-guided drone landing system 10 further includes a charging module 700. The charging module 700 is located at the landing position LP and is electrically connected to the controller 900. The charging module 700 includes a magnetic charging interface 710 and a lever 720. The magnetic charging interface 710 is used to attract the drone U during landing. The lever 720 is located around the magnetic charging interface 710 and is used to assist the drone U in detaching from the magnetic charging interface 710 during takeoff. For example, as... Figure 7B As shown, when the drone U takes off, the magnetic charging interface 710 rises relative to the substrate 20. At the same time, as the magnetic charging interface 710 rises, the lever 720 is affected by other components of the charging module 700 and protrudes beyond the plane extending from the magnetic charging interface 710, causing the drone U to detach from the magnetic charging interface 710.

[0047] Figure 8 This is a schematic diagram of a dual-spin laser-guided landing method for an unmanned aerial vehicle according to an embodiment of the present invention. Please refer to... Figure 8An embodiment of the present invention provides a dual-spin laser-guided landing method for a UAV, comprising the following steps: Step S100: Controlling a first laser module 100 to provide a first beam B1 emitted around a first axis, and controlling a first rotation module 200 to drive the first laser module 100 to rotate around a rotation axis perpendicular to the first axis, so that the first beam B1 scans in space. (When the first beam B1 hits the UAV U, the UAV U will send a signal to the transceiver 1000 to notify the first included angle θ1.) Step S200: Controlling a second laser module 300 to provide a second beam B2 emitted around a second axis, and controlling a second rotation module 400 to drive the second laser module 300 to rotate around a rotation axis perpendicular to the second axis, so that the second beam B2 scans in space. Step S300: The first beam B1 is first projected onto the UAV U, and then the second beam B2 is projected onto the UAV U, from which a signal is emitted from the UAV U. After receiving the signal, the main controller 900 receives the second included angle θ2, calculates the relative position RP from the previously obtained first included angle θ1 and second included angle θ2 information, and controls the signal transceiver 1000 to transmit the relative position signal to the UAV U.

[0048] Figure 9 This is a flowchart illustrating a dual-spin laser-guided landing method for an unmanned aerial vehicle (UAV) according to an embodiment of the present invention, which involves emitting a first point laser or a first line laser to scan in space. Please refer to... Figure 9 In this embodiment, step S100 above includes the following steps. Step S120: control the first light source 110 to emit a first point laser P1, control the second light source 120 to emit a first line laser L1, and control the first rotator 140 to drive the first reflector 130 to rotate around the first axis, so that the first point laser P1 or the first line laser L1 scans in space.

[0049] Figure 10 This is a flowchart illustrating a dual-spin laser UAV guided landing method according to an embodiment of the present invention, which involves emitting a second point laser or a second line laser to scan in space. Please refer to... Figure 10 In this embodiment, step S200 includes the following steps. Step S220: control the third light source 310 to emit a second point laser P2, control the fourth light source 320 to emit a second line laser L2, and control the second rotator 340 to drive the second reflector 330 to rotate around the second axis, so that the second point laser P2 or the second line laser L2 scans in space.

[0050] Figure 11 This is a flowchart illustrating a dual-spin laser-guided landing method for an unmanned aerial vehicle (UAV) according to an embodiment of the present invention. The method involves first projecting a first linear laser and a second linear laser for scanning, and then projecting a first point laser and a second point laser for scanning. Please refer to... Figure 11In this embodiment, the dual-spin laser UAV guided landing method further includes the following steps. Step S400: First, control the first laser module 100 and the second laser module 300 to project a first linear laser L1 and a second linear laser L2. While the first linear laser L1 and the second linear laser L2 are projected onto the UAV U, control the first laser module 100 and the second laser module 300 to project a first point laser P1 and a second point laser P2, so that the first point laser P1 and the second point laser P2 scan within the spatial intersection range R of the first linear laser L1 and the second linear laser L2.

[0051] Figure 12 yes Figure 11 The flowchart for recalculating the farthest distance is shown below. Please refer to it. Figure 12 In this embodiment, step S400 includes the following steps. Step S420: When the first linear laser L1 and the second linear laser L2 are projected onto the UAV U, the farthest distance n is calculated based on the range R of the intersection of the first linear laser L1 and the second linear laser L2 in space.

[0052] Figure 13 This is a flowchart illustrating a dual-spin laser-guided landing method for an unmanned aerial vehicle (UAV) according to an embodiment of the present invention, which involves projecting a first point laser and a second point laser for scanning, followed by projecting a first line laser and a second line laser for scanning. Please refer to... Figure 13 In another embodiment, the dual-spin laser UAV guided landing method further includes the following steps. Step S500: When the first laser module 100 and the second laser module 300 are controlled to project a first point laser P1 and a second point laser P2 for scanning but the position of the UAV U is not sensed, the first laser module 100 and the second laser module 300 are then controlled to switch to projecting a first line laser L1 and a second line laser L2.

[0053] Figure 14 This is a flowchart illustrating a dual-spin laser-guided landing method for an unmanned aerial vehicle (UAV) according to an embodiment of the present invention, utilizing an optical sensor for zeroing. Please refer to... Figure 14 In this embodiment, the dual-spin laser UAV guided landing method further includes the following steps. Step S10: Before the first beam B1 and the second beam B2 scan in space, the optical sensor 500 resets the rotation angle of the first laser module 100 and the second laser module 300 to zero.

[0054] In summary, in one embodiment of the dual-spin laser UAV guided landing system and method of the present invention, a first laser module is controlled to emit a first beam to scan in space, and a second laser module is controlled to emit a second beam to scan in space. A first angle is obtained when the first beam is projected onto the UAV, and a second angle is obtained when the second beam is projected onto the UAV. The relative position is calculated using the information of the first and second angles, and a signal transceiver is controlled to transmit the relative position signal to the UAV. Therefore, compared with guidance methods such as image positioning, the dual-spin laser UAV guided landing system and method of the present invention can provide precise landing guidance for the UAV with only the installation of a laser receiver and a signal transceiver, that is, it does not place special requirements on the hardware configuration and computing power of the UAV itself.

Claims

1. A dual-spin laser-guided landing system for unmanned aerial vehicles, characterized in that, include: A first laser module is used to provide a first beam emitted by rotating about a first axis; A first rotating module is connected to the first laser module and is used to drive the first laser module to rotate around a rotation axis perpendicular to the first axis, so that the first beam scans in space. The second laser module is used to provide a second beam emitted by rotating about the second axis; The second rotating module is connected to the second laser module and is used to drive the second laser module to rotate around a rotation axis perpendicular to the second axis, so that the second beam scans in the space, wherein the rotation axis perpendicular to the second axis is parallel to the rotation axis perpendicular to the first axis. Signal transceiver; The controller is electrically connected to the first laser module, the first rotation module, the second laser module, the second rotation module, and the signal transceiver; and A substrate, wherein the first laser module, the first rotation module, the second laser module, the second rotation module, the signal transceiver, and the controller are disposed on the substrate. When the first beam is first projected onto the drone, the drone emits a signal. After the transceiver receives the signal, the controller obtains a first angle. When the second beam is then projected onto the drone, the drone emits the signal. After the transceiver receives the signal, the controller obtains a second angle and calculates the relative position, and controls the transceiver to transmit the relative position signal to the drone. The first angle is the angle between the first beam and the connecting line, the second angle is the angle between the second beam and the connecting line, the connecting line is the connection line between the first laser module and the second laser module, and the relative position is the position of the drone relative to the landing position on the substrate.

2. The dual-spin laser UAV guided landing system according to claim 1, characterized in that, The first beam includes a first point laser and a first line laser, and the first laser module includes: The first light source is used to emit the first point laser beam; A second light source is used to emit the first linear laser beam; A first reflector is disposed in the optical path of the first point laser and the first line laser, for projecting the first point laser and the first line laser out of the first laser module; and A first rotator, connected to the first reflector, drives the first reflector to rotate around the first axis, so that the first point laser or the first line laser scans in the space.

3. The dual-spin laser UAV guided landing system according to claim 2, characterized in that, The second beam includes a second point laser and a second line laser, and the second laser module includes: The third light source is used to emit the second point laser; A fourth light source is used to emit the second linear laser beam; A second reflector is disposed in the optical path of the second point laser and the second line laser to project the second point laser and the second line laser out of the second laser module; and The second rotator, connected to the second reflector, drives the second reflector to rotate around the second axis, so that the second point laser or the second line laser scans in the space.

4. The dual-spin laser unmanned aerial vehicle (UAV) guided landing system according to claim 3, characterized in that, The controller first controls the first laser module and the second laser module to project the first linear laser and the second linear laser. When the first linear laser and the second linear laser are projected onto the UAV, the controller then controls the first laser module and the second laser module to project the first point laser and the second point laser, so that the first point laser and the second point laser scan within the area where the first linear laser and the second linear laser intersect in the space.

5. The dual-spin laser unmanned aerial vehicle (UAV) guided landing system according to claim 3, characterized in that, When the controller controls the first laser module and the second laser module to project the first point laser and the second point laser to scan but fails to sense the position of the drone, it then controls the first laser module and the second laser module to switch to projecting the first line laser and the second line laser.

6. The dual-spin laser unmanned aerial vehicle (UAV) guided landing system according to claim 4, characterized in that, When the first and second linear lasers are projected onto the UAV, the controller calculates the furthest distance based on the area where the first and second linear lasers intersect in space. The dual-spin laser UAV guided landing system satisfies the following: δ≤arctan(Ws / n)×(180 / π), Where δ is the interval angle of the first or second point laser scanning in the space, Ws is the width of the sensor on the UAV, and n is the farthest distance.

7. The dual-spin laser unmanned aerial vehicle (UAV) guided landing system according to claim 1, characterized in that, Also includes: An optical sensor is disposed on the substrate and between the first laser module and the second laser module, electrically connected to the controller, and used to enable the controller to zero the rotation angle of the first laser module and the second laser module before the first beam and the second beam scan the space by means of the optical sensor.

8. The dual-spin laser unmanned aerial vehicle (UAV) guided landing system according to claim 1, characterized in that, Also includes: A display module is mounted on the substrate, electrically connected to the controller, and used to display the operating status of the dual-spin laser UAV guided landing system.

9. The dual-spin laser unmanned aerial vehicle (UAV) guided landing system according to claim 1, characterized in that, It also includes a charging module, disposed at the landing position and electrically connected to the controller, the charging module comprising: A magnetic charging port for attaching the drone to the ground upon landing; and A lever, positioned around the magnetic charging interface, is used to assist the drone in detaching from the magnetic charging interface when it takes off.

10. The dual-spin laser unmanned aerial vehicle (UAV) guided landing system according to claim 1, characterized in that, Also includes: A position adjustment module is disposed on the base plate, electrically connected to the controller, and is used to clamp the drone and move the drone to the landing position after the drone lands.

11. A method for guiding the landing of a dual-spin laser-guided unmanned aerial vehicle, characterized in that, include: The system controls the first laser module to provide a first beam emitted by rotating around a first axis, and controls the first rotation module to drive the first laser module to rotate around a rotation axis perpendicular to the first axis, so that the first beam scans in space. The system controls the second laser module to provide a second beam emitted by rotating around a second axis, and controls the second rotation module to drive the second laser module to rotate around a rotation axis perpendicular to the second axis, so that the second beam scans in the space; and When the first beam is first projected onto the drone, a signal is emitted from the drone. After receiving the signal, a first included angle is obtained. When the second beam is projected onto the drone again, the signal is emitted from the drone. After receiving the signal, a second included angle is obtained and the relative position is calculated. The signal transceiver is then controlled to transmit the relative position signal to the drone.

12. The dual-spin laser-guided landing method for unmanned aerial vehicles according to claim 11, characterized in that, The first beam includes a first point laser and a first line laser. The steps of controlling the first laser module to emit the first beam include: The system controls a first light source to emit the first point laser, controls a second light source to emit the first line laser, and controls a first rotator to drive a first reflector to rotate around the first axis, so that the first point laser or the first line laser scans in the space.

13. The dual-spin laser unmanned aerial vehicle guided landing method according to claim 12, characterized in that, The second beam includes a second point laser and a second line laser. The step of controlling the second laser module to emit the second beam includes: The third light source is controlled to emit the second point laser, the fourth light source is controlled to emit the second line laser, and the second rotator is controlled to drive the second reflector to rotate around the second axis, so that the second point laser or the second line laser scans in the space.

14. The dual-spin laser-guided landing method for unmanned aerial vehicles according to claim 13, characterized in that, Also includes: First, the first laser module and the second laser module are controlled to project the first linear laser and the second linear laser. When the first linear laser and the second linear laser are projected onto the drone, the first laser module and the second laser module are then controlled to project the first point laser and the second point laser, so that the first point laser and the second point laser scan within the area where the first linear laser and the second linear laser intersect in the space.

15. The dual-spin laser-guided landing method for unmanned aerial vehicles according to claim 13, characterized in that, Also includes: If the first laser module and the second laser module are controlled to project the first point laser and the second point laser for scanning but the position of the UAV is not detected, then the first laser module and the second laser module are controlled to switch to project the first line laser and the second line laser.

16. The dual-spin laser-guided landing method for unmanned aerial vehicles according to claim 14, characterized in that, When the first linear laser and the second linear laser are projected onto the drone, the step of controlling the first laser module and the second laser module to project the first point laser and the second point laser, so that the first point laser and the second point laser scan within the area where the first linear laser and the second linear laser intersect in the space, includes: When the first linear laser and the second linear laser are projected onto the drone, the farthest distance is calculated based on the range of the intersection of the first linear laser and the second linear laser in the space.

17. The dual-spin laser-guided landing method for unmanned aerial vehicles according to claim 11, characterized in that, Also includes: The rotation angle of the first laser module and the second laser module is zeroed by means of a light sensor before the first beam and the second beam scan the space.

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