Transceiver, control method, device, medium, apparatus, system, and vehicle

Abstract

The application discloses a laser transceiver (30), a laser positioning control method, an electronic device, a computer readable storage medium, a laser positioning control device, a UAV system and a vehicle. The laser transceiver (30) comprises a laser emitting module (10) and a laser receiving module (20). The laser emitting module (10) is provided with a laser source (11), and the laser receiving module (20) is provided with a fiber component (22) coaxial with the optical axis of the first laser beam emitted by the laser source (11). According to the waveguide theory of the fiber component (22), the laser angle and intensity of the point where the input port of the fiber component (22) is located and the output identification light signal of the fiber component (22) also have a mapping relationship, so that the positioning of the laser receiving module (20) and the laser emitting module (10) can be realized.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) positioning technology, and more specifically, to a laser transceiver, a laser positioning control method, an electronic device, a computer-readable storage medium, a laser positioning control device, an UAV system, and a vehicle. Background Technology

[0002] Vehicle-mounted drones need to return to their charging dock when their battery is low. To enable automatic charging of vehicle-mounted drones, the drone needs to align and return to its designated position in conjunction with the vehicle's charging dock.

[0003] In related technologies, drones can use their built-in positioning capabilities (such as GPS and Bluetooth beacons) to locate their cabins. However, the current positioning accuracy of drones is insufficient, requiring additional auxiliary devices such as sliding, moving, or magnetic drives to help the drone return to its preset position, which hinders the integration and miniaturization of the cabin. Furthermore, insufficient alignment accuracy between the drone and the cabin often necessitates that the vehicle stop or move at low speed to ensure alignment between the vehicle-mounted cabin and the drone during drone return, reducing the user experience. Summary of the Invention

[0004] This application provides a laser transceiver (30), a laser positioning control method, an electronic device, a computer-readable storage medium, a laser positioning control device, an unmanned aerial vehicle system, and a vehicle.

[0005] The laser transceiver device (30) provided in this application embodiment is used for positioning of a vehicle-mounted unmanned aerial vehicle (UAV) upon landing. It includes a laser emitting module (10) and a laser receiving module (20). The laser emitting module (10) is provided with a laser source (11). The laser receiving module (20) is provided with an optical fiber component (22). The laser emitting module (10) and the laser receiving module (20) are arranged opposite to each other, and are adapted to make the optical fiber component (22) coaxial with the optical axis of the first laser beam emitted by the laser source (11).

[0006] In some embodiments, the laser transceiver (30) includes a lens (13) that is coaxial with the optical axis of a first laser beam emitted by the laser source (11).

[0007] In some embodiments, the laser transceiver (30) further includes a detection sensor (24) that is coaxial with the optical axis of the first laser beam emitted by the laser source (11).

[0008] In some embodiments, the optical fiber component (22) includes a fiber core (221) made of a rigid material.

[0009] In some embodiments, the numerical aperture of the first light-emitting point of the laser emitting module (10) is 0.2 to 0.5, and the first aperture angle corresponding to the first light-emitting point is 12° to 30°.

[0010] In some embodiments, the numerical aperture of the first light-receiving point of the laser receiving module (20) is 0.4 to 0.7, and the second aperture angle corresponding to the first light-receiving point is 24° to 45°.

[0011] In some embodiments, the laser emitting module (10) includes a first filter (12) located between the laser source (11) and the lens (13).

[0012] In some embodiments, the laser receiving module (20) includes a second filter (21) located between the laser emitting module (10) and the optical fiber component (22).

[0013] In some embodiments, the ratio of the length to the diameter of the fiber core (221) ranges from 20 to 100.

[0014] In some embodiments, the normalized frequency of the fiber core (221) is 100 to 3000.

[0015] In some embodiments, the optical fiber component (22) further includes a cladding (222) and a sleeve (223). The cladding (222) is fitted onto the fiber core (221), and the sleeve (223) is fitted onto the cladding (222). One end of the sleeve (223) is provided with a first opening, which is configured as the light entrance of the laser receiving module (20). The diameter of the first opening is smaller than the diameter of the fiber core (221). The waist diameter of the first laser beam is ≤2mm.

[0016] In some embodiments, the sleeve (223) is bonded to the cladding (222) by an adhesive having a refractive index less than that of the cladding (222), and the refractive index of the cladding (222) being less than that of the fiber core (221).

[0017] In some embodiments, the distance between the detection sensor (24) and the second light-emitting point of the optical fiber component (22) is less than a predetermined distance. The predetermined distance is negatively correlated with the diameter of the fiber core (221) and the third aperture angle corresponding to the second light-incident point of the optical fiber component (22), and positively correlated with the minimum effective photosensitive width of the detection sensor (24).

[0018] The laser positioning control method provided in this application includes: controlling the laser source (11) of the laser emitting module (10) to emit a first laser beam to the laser receiving module (20), the laser receiving module (20) outputting an identification light signal according to the received first laser beam; and adjusting the relative position of the laser receiving module (20) and the laser emitting module (10) according to the identification light signal.

[0019] In some embodiments, adjusting the relative position of the laser receiving module (20) and the laser emitting module (10) according to the identification light signal includes: adjusting the position of the laser receiving module (20) to the waist of the optical axis of the first laser beam according to the identification light signal.

[0020] In some embodiments, adjusting the position of the laser receiving module (20) to the beam waist on the optical axis of the first laser beam according to the identification light signal includes: determining the radius of the annular spot and the average illumination intensity represented by the identification light signal according to the identification light signal; adjusting the relative position of the laser emitting module (10) and the laser receiving module (20) perpendicular to the optical axis of the first laser beam according to the radius of the annular spot to minimize the radius of the annular spot; and adjusting the relative position of the laser emitting module (10) and the laser receiving module (20) parallel to the optical axis of the first laser beam according to the average illumination intensity to maximize the average illumination intensity.

[0021] In some embodiments, determining the radius of the ring-shaped light spot and the average illumination intensity represented by the identification light signal based on the identification light signal includes: obtaining a two-dimensional relative intensity distribution function of the ring-shaped light spot; and determining the radius of the ring-shaped light spot based on the two-dimensional relative intensity distribution function and the center position of the ring-shaped light spot.

[0022] In some embodiments, determining the radius and average illumination intensity of the ring-shaped light spot represented by the identifying light signal based on the identifying light signal includes: obtaining a two-dimensional relative intensity distribution function of the ring-shaped light spot; and determining the average illumination intensity of the ring-shaped light spot based on the two-dimensional relative intensity distribution function, the maximum illumination intensity, and the minimum illumination intensity of the ring-shaped light spot.

[0023] The electronic device provided in this application includes a memory and a processor. The memory is configured to store a computer program, and the processor implements the laser positioning control method described above when executing the computer program stored in the memory.

[0024] The computer-readable storage medium provided in this application embodiment stores a computer program, which, when executed by one or more processors, implements the laser positioning control method described above.

[0025] The laser positioning control device provided in this application includes the laser transceiver (30) and controller provided in the above embodiments, wherein the controller includes the electronic equipment provided in the above embodiments.

[0026] The unmanned aerial vehicle system provided in this application includes a host, a cabin, and a laser positioning and control device provided in the above embodiments, wherein the laser emitting module (10) is disposed in the cabin, and the laser receiving module (20) is disposed in the host.

[0027] The vehicle provided in this application embodiment is equipped with the electronic equipment provided in the above embodiment or the unmanned aerial vehicle system provided in the above embodiment.

[0028] This application provides a laser transceiver (30), a laser positioning control method, an electronic device, a computer-readable storage medium, a laser positioning control device, an unmanned aerial vehicle (UAV) system, and a vehicle. The laser transceiver (30) is used for positioning of a vehicle-mounted UAV upon homing, and includes a laser emitting module (10) and a laser receiving module (20). The laser emitting module (10) is provided with a laser source (11). The laser receiving module (20) is provided with an optical fiber component (22). The laser emitting module (10) and the laser receiving module (20) are arranged opposite to each other, and are adapted to make the optical fiber component (22) coaxial with the optical axis of the first laser beam emitted by the laser source (11).

[0029] The laser emitting module (10) is responsible for emitting a first laser beam that is focused at the beam waist and then diverges. The three-dimensional position of any point in the first laser beam is a unique vector, mapping unique spatial angle and intensity information. At the beam waist, the laser profile spot size reaches its minimum, the spot has a Gaussian distribution, and the intensity at the center of the spot, i.e., at the optical axis, reaches its peak, and the direction of the light at this point coincides with the optical axis. The fiber optic component (22) in the laser receiving module (20) is responsible for receiving the first laser beam. According to the waveguide theory of the fiber optic component (22), the laser angle and intensity at the input port of the fiber optic component (22) are also mapped to the output identification light signal of the fiber optic component (22). The change in the output identification light signal reflects the three-dimensional position information of the input port of the fiber optic component (22), that is, it reflects the three-dimensional position information of the input port of the fiber optic component (22) in the first laser beam, thus realizing the positioning of the laser receiving module (20) and the laser emitting module (10).

[0030] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0031] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0032] Figure 1 This is a schematic diagram of a positioning control device according to certain embodiments of this application;

[0033] Figure 2 This is a schematic diagram of a laser emitting module and a laser receiving module according to certain embodiments of this application;

[0034] Figure 3 This is a schematic diagram of the laser beam variation of the positioning control device in some embodiments of this application;

[0035] Figure 4 This is a schematic diagram of a laser receiving module according to certain embodiments of this application;

[0036] Figure 5 This is a schematic diagram of the laser beam variation of the positioning control device in some embodiments of this application;

[0037] Figure 6 This is a schematic diagram of the laser beam variation of the positioning control device in some embodiments of this application;

[0038] Figure 7 This is a flowchart illustrating a laser positioning control method according to certain embodiments of this application;

[0039] Figure 8 This is a flowchart illustrating a laser positioning control method according to certain embodiments of this application;

[0040] Figure 9 This is a flowchart illustrating a laser positioning control method according to certain embodiments of this application.

[0041] Key component symbols: Laser emitting module 10, laser receiving module 20, controller 30, laser source 11, first filter 12, lens 13, emitting module package 14, second filter 21, fiber optic component 22, fiber optic locking component 23, detection sensor 24, absorption cavity coating 25, receiving module package 26, fiber core 221, cladding 222, sleeve 223, first package 261, second package 262, encapsulating adhesive 263, laser transceiver 30, controller 40, positioning control device 100. Detailed Implementation

[0042] The embodiments of this application are described in detail below. These embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0043] Vehicle-mounted drones need to return to their charging dock when their battery is low. To enable automatic charging of vehicle-mounted drones, the drone needs to align and return to its designated position with the vehicle's charging dock.

[0044] In related technologies, drones can use their built-in positioning capabilities to locate vehicle-mounted aircraft. However, the current positioning accuracy of drones for locating vehicle-mounted aircraft is insufficient, causing drones to fail to return to their designated landing sites.

[0045] Because the existing positioning capabilities of drones are insufficient for locating vehicle-mounted drones, additional sliding, moving, and magnetic drive devices are required, along with operations such as battery replacement for the drone. This method demands a sufficiently large landing platform and complex auxiliary positioning devices, hindering the integration and miniaturization of vehicle-mounted drone hangars. Furthermore, the insufficient positioning accuracy of the vehicle-mounted drone also leads to inaccurate alignment between the drone and the vehicle, often requiring the vehicle to stop or move at low speed when the drone is returning to its dock, thus reducing the user experience.

[0046] To address the aforementioned technical problems, this application provides a laser emitting module, a laser receiving module, a vehicle, a drone, a positioning control device for vehicle-mounted drone homing, a laser positioning control method for vehicle-mounted drone homing, an electronic device, a computer-readable storage medium, and a computer program product, which can improve the positioning accuracy of vehicle-mounted drone homing.

[0047] Reference Figure 1 The laser positioning control device provided in this application includes the laser transceiver 30 and the controller 40 of this application.

[0048] The unmanned aerial vehicle system provided in this application includes a host, a cabin, and a laser positioning and control device provided in this application, wherein the laser emitting module 10 is disposed in the cabin and the laser receiving module 20 is disposed in the host.

[0049] The vehicle provided in this application embodiment is equipped with the unmanned aerial vehicle system provided in this application embodiment.

[0050] The laser transceiver 30 provided in this application embodiment is used for positioning of a vehicle-mounted drone returning to its cabin, and includes a laser emitting module 10 and a laser receiving module 20.

[0051] Reference Figure 2 The laser emitting module 10 is equipped with a laser source 11. The laser receiving module 20 is equipped with an optical fiber component 22. The laser emitting module 10 and the laser receiving module 20 are arranged opposite to each other, and are adapted to make the optical fiber component 22 coaxial with the optical axis of the first laser beam emitted by the laser source 11.

[0052] Specifically, the laser source 11 of the laser emitting module 10 is responsible for emitting a first laser beam that is focused at the beam waist and then diverges. The three-dimensional position of any point in the first laser beam is a unique vector, mapping unique spatial angle and intensity information. At the beam waist, the laser profile spot size reaches its minimum, the spot has a Gaussian distribution, and the intensity at the center of the spot, i.e., at the optical axis, reaches its peak, and the direction of the light rays at this point coincides with the optical axis.

[0053] According to the waveguide theory of the optical fiber component 22, the laser angle and intensity at the input port of the optical fiber component 22 are related to the output identification light signal of the optical fiber component 22. The change of the output identification light signal reflects the three-dimensional position information of the input port of the optical fiber component 22, that is, it reflects the three-dimensional position information of the input port of the optical fiber component 22 in the first laser beam, thereby realizing the positioning of the laser receiving module 20 and the laser emitting module 10.

[0054] In some embodiments, the laser transceiver 30 includes a lens 13, which is coaxial with the optical axis of the first laser beam emitted by the laser source 11.

[0055] Lens 13 is located between laser source 11 and fiber optic component 22, and is configured to refract a first laser beam. The side of lens 13 closest to laser source 11 is a first surface, and the side of lens 13 furthest from laser source 11 is a second surface. Laser source 11 emits the first laser beam to the first surface of lens 13, and the second surface of lens 13 can transmit the refracted first laser beam to fiber optic component 22.

[0056] In some embodiments, the laser transceiver 30 further includes a detection sensor 24, which is coaxial with the optical axis of the first laser beam emitted by the laser source 11.

[0057] According to the waveguide theory of the optical fiber component 22, the laser angle and intensity at the input port of the optical fiber component 22 are related to the output identification light signal of the optical fiber component 22. The change of the output identification light signal reflects the three-dimensional position information of the input port of the optical fiber component 22, that is, it reflects the three-dimensional position information of the input port of the optical fiber component 22 in the first laser beam. The detection sensor 24 can realize the positioning of the laser receiving module 20 and the laser emitting module 10 according to the identification light signal.

[0058] Specifically, the laser source 11 has the characteristics of small emission aperture and high integration, and is preferably a chip-level packaged laser, fiber laser, etc.

[0059] The first laser beam can be a few-mode Gaussian laser beam. The beam quality factor of a few-mode Gaussian laser beam is an important parameter measuring the degree to which the laser beam deviates from an ideal Gaussian beam. The beam quality factor of an ideal Gaussian beam is M... 2 A value of 1 indicates that its beam quality is optimal, close to the ideal state. When M2 A value greater than 1 indicates a decrease in laser beam quality, an increase in beam spread, an increase in divergence angle, and a poorer focusing ability.

[0060] The beam quality factor M of the first laser beam 2 When the beam quality factor M is greater than 4, the focusing ability of the first laser beam is poor, and the beam quality factor M of the first laser beam is... 2 When the beam quality factor is ≤4, the focusing ability of the first laser beam is better. The preferred beam quality factor M for the first laser beam is... 2 ≤4, to ensure that the first laser beam can be well focused.

[0061] M 2 These are typically the factory parameters for laser source 11. To ensure accuracy, they can also be provided through factory calibration. The formula for calculating M2 is as follows:

[0062]

[0063]

[0064] I0(x,y,z) represents the spatial distribution of the laser beam power density, z is the direction of the optical axis, and x and y are the horizontal and vertical directions perpendicular to z.

[0065] The focal length of lens 13 is set to f, where f ≥ 0. For example... Figure 3 As shown, the distance between the first surface of lens 13 and the exit of laser source 11 is set to -d0, the distance between the second surface of lens 13 and the waist section of the first laser beam is d1, the waist diameter of the first laser beam is 2ω0, and the waist diameter of the first laser beam is 2ω1. The first laser beam and its dominant wavelength are λ, preferably in the near-infrared band, with dominant wavelengths of 850nm, 940nm, or 1064nm, which have advantages such as resistance to ambient light interference, eye safety, and low cost of the light source.

[0066] d1 has the following relationship:

[0067]

[0068] According to the assembly requirements of the laser emitting module 10 and the laser receiving module 20, a suitable d1 can be selected. According to the allowable range of alignment error required by the UAV and the vehicle, a suitable 2ω1 can be selected. Then, the suitable f and d0 can be calculated according to equations (6) and (7), thereby limiting the focal length and position of the lens 13.

[0069] Lens 13 has a biconvex surface. According to the manufacturing formula of lens 13, the radius of curvature of the first surface is R1, the radius of curvature of the second surface is R2, the center thickness is D, and the refractive index of lens 13 is n. lens The following relationship exists between f and f:

[0070]

[0071] Based on f and equation (8), suitable R1, R2, D and n can be calculated. lens This defines the shape and optical parameters of lens 13.

[0072] In some embodiments, the total output power of the first laser beam is ≤500mW, and the peak power density of the first laser beam is ≤10W / cm². 2 .

[0073] Specifically, peak power density and total output power are important parameters for measuring the power distribution of a laser beam or other electromagnetic wave within a specific region at a given instant. A higher peak power density and a higher total output power mean greater energy per unit area, which may damage optical components or even cause severe thermal damage to human biological tissues.

[0074] The total output power of the first laser beam is >500mW, and the peak power density of the first laser beam is >10W / cm². 2 At that time, the first laser beam may damage optical components or even cause serious thermal damage to human biological tissues.

[0075] The total output power of the first laser beam is ≤500mW, and the peak power density of the first laser beam is ≤10W / cm². 2 At that time, the intensity of the first laser beam emitted by the laser source 11 is within the safe range for the human eye, and at the same time, it can ensure that the first laser beam after the lens 13 is changed will not damage the fiber optic component 22.

[0076] Reference Figure 4 In some embodiments, the optical fiber component 22 includes a fiber core 221, which is made of a rigid material.

[0077] Specifically, the material of the core 221 may include high-purity silicon dioxide (SiO2), or it may be doped with germanium or phosphorus to increase the refractive index.

[0078] The fiber core 221 is made of a rigid material, which ensures that the laser angle and intensity at the input port of the fiber optic component 22 have a unique mapping relationship with the output identification light signal of the fiber optic component 22. The output identification light signal more accurately reflects the three-dimensional position information of the input port of the fiber optic component 22.

[0079] In some embodiments, the numerical aperture of the first light-emitting point of the laser emitting module 10 is 0.2 to 0.5, and the first aperture angle corresponding to the first light-emitting point is 12° to 30°.

[0080] Specifically, the numerical aperture at the first exit point of the first laser beam can be the numerical aperture NA at the exit of the laser source 11.laser Specifically, these are the factory parameters of laser source 11, representing the first aperture angle θ corresponding to the first exit point of the first laser beam. laser NA laser These are typically the factory specifications for laser source 11. For accuracy, they can also be provided through factory calibration. NA laser The calculation formula is as follows:

[0081] NA laser =sinθ laser (9)

[0082] If the first aperture angle is too large, the integration of the laser emission module 10 will be low. If the first aperture angle is too small, the beam divergence angle will be too small, resulting in a small divergence range of the first laser beam, which in turn will result in a small effective alignment range of the UAV.

[0083] Preferably, NA laser The range is 0.2 to 0.5, corresponding to the aperture angle θ. laser The range is 12° to 30° to avoid low integration of the laser emission module 10 and affecting the effective aiming range of the UAV.

[0084] In some implementations, the waist diameter of the first laser beam is ≤2mm.

[0085] Specifically, the beam waist diameter 2ω1 of the first laser beam is defined as the diameter corresponding to the position where the beam profile of the Gaussian beam is minimized during propagation.

[0086] The smaller the waist diameter of the first laser beam, the more concentrated its energy and the better its focusing ability. Preferably, the waist diameter 2ω1 of the first laser beam is ≤ 2mm to ensure the focusing ability of the first laser beam.

[0087] Preferably, NA laser The range is 0.2 to 0.5, corresponding to the aperture angle θ. laser The range is 12° to 30° to avoid low integration of the laser emission module 10 and affecting the effective aiming range of the UAV.

[0088] In some implementations, the waist diameter of the first laser beam is ≤2mm.

[0089] Specifically, the beam waist diameter 2ω1 of the first laser beam is defined as the diameter corresponding to the position where the beam profile of the Gaussian beam is minimized during propagation.

[0090] The smaller the waist diameter of the first laser beam, the more concentrated its energy and the better its focusing ability. Preferably, the waist diameter 2ω1 of the first laser beam is ≤ 2mm to ensure the focusing ability of the first laser beam.

[0091] In some embodiments, the numerical aperture of the first light-receiving point of the laser receiving module 20 is 0.4 to 0.7, and the second aperture angle corresponding to the first light-receiving point is 24° to 45°.

[0092] Specifically, the second aperture angle θ fiber This characterizes the maximum incident angle for extremely low-loss transmission in fiber component 22. To ensure that any ray within the first laser beam can undergo total reflection within the rigid fiber core, θ... fiber It needs to be greater than the incident angle θ of the first laser beam. incident .according to Figure 5 It can be seen that θ incident Satisfy the following formula:

[0093]

[0094] Therefore, θ fiber Must meet This is expressed as the focal length of lens 13.

[0095] Preferably, θ fiber The value ranges from 24° to 45°, corresponding to NA. fiber The range is 0.4 to 0.7, ensuring that any light ray within the first laser beam can be transmitted in total reflection within the fiber optic component 22.

[0096] In some embodiments, the laser emitting module 10 includes a first filter 12 located between the laser source 11 and the lens 13.

[0097] Specifically, the first filter 12 can absorb a specific bandwidth of the laser beam in the first laser beam to prevent the first laser beam from being reflected multiple times within the laser emitting module 10, thus affecting the output quality of the first laser beam.

[0098] Preferably, the first filter 12 is an absorption filter, with a filtering center wavelength of 850nm, 940nm, or 1064nm, and a filtering bandwidth ≤30nm. The first filter 12 should have a transmittance higher than 95% in the band from (center wavelength -15nm) to (center wavelength +15nm) to increase the utilization rate of the first laser beam; and an absorptivity higher than 95% in other bands to prevent the first laser beam from being reflected multiple times within the laser emitting module 10, thus affecting the output quality of the first laser beam.

[0099] In some embodiments, the laser receiving module 20 includes a second filter 21 located between the laser emitting module 10 and the optical fiber component 22.

[0100] Specifically, the second filter 21 can be an absorption-type narrowband filter, and its optical characteristics can be the same as those of the first filter 12. The aperture of the second filter 21 needs to be larger than the outer diameter of the optical fiber component 22's inlet port and cover the optical fiber component 22's inlet port.

[0101] In some embodiments, the ratio of the length to the diameter of the fiber core 221 ranges from 20 to 100.

[0102] Specifically, the optical fiber component 22 is a short optical fiber. The signal transmission distance of the optical fiber component 22 is short, the attenuation is small, and the optical signal maintains good quality. Multimode optical fiber can work effectively over short distances and has a high transmission bandwidth.

[0103] Preferably, the ratio of the length of the optical fiber component 22 to the diameter of the fiber core 221 is 20 to 100.

[0104] In some implementations, the normalized frequency of the fiber core 221 is 100 to 3000.

[0105] Specifically, the optical fiber component 22 is a multimode fiber, and the normalized frequency is an important parameter of multimode fiber. Multimode fiber can support multiple propagation modes (multiple optical propagation paths), which can ensure that the output optical identification signal is a relatively uniform circle or ring shape, making it easier to identify information such as the spot radius; at the same time, compared with single-mode fiber, multimode fiber has higher beam coupling efficiency, which can reduce the loss when receiving the beam.

[0106] The normalized frequency V determines the number of propagation modes that an optical fiber can support. When V is less than 2.405, the optical fiber can only support single-mode propagation. When V is greater than 2.405, the optical fiber supports multimode propagation, and the larger V is, the more modes it supports.

[0107] V and the radius r of the fiber core core NA fiber The correspondence is as follows:

[0108]

[0109] Based on equation (11), r can be calculated. core The preferred range is approximately 0.05 to 1.50 mm.

[0110] In some embodiments, the optical fiber component 22 further includes a cladding 222 and a sleeve 223. The cladding 222 is fitted onto the fiber core 221, and the sleeve 223 is fitted onto the cladding 222. One end of the sleeve 223 has a first opening configured as the light entrance of the laser receiving module 20. The diameter of the first opening is smaller than the diameter of the fiber core 221. The waist diameter of the first laser beam is ≤2mm.

[0111] Specifically, the light-receiving end of the sleeve 223 has a first opening, the diameter of which must be smaller than the diameter of the fiber core 221, so as to ensure that the laser propagates only within the fiber core 221 and does not propagate in the cladding 222 and consume energy.

[0112] In some embodiments, the refractive index of the core 221 is greater than that of the cladding 222, which is greater than that of the sleeve 223, to ensure that the laser propagates only within the core 221 and does not propagate in the cladding 222, thus consuming energy.

[0113] Additionally, NA fiber Fiber core 221 refractive index n core and cladding 222 refractive index n cladding It also follows the following relationship:

[0114]

[0115] Preferred n of fiber core 221 core The range is 1.48 to 1.60; the preferred material is pure anhydrous quartz or quartz doped with compounds such as germanium dioxide, which has low insertion loss and transmission loss over a wide spectral range.

[0116] Preferred n of cladding 222 cladding The range is 1.40 to 1.45; the preferred material is quartz doped with elements such as fluorine, which has good thermal expansion compatibility with the fiber core 221.

[0117] The preferred material for the sleeve 223 is nano-zirconia, which has good thermal expansion fit with the cladding 222.

[0118] The beam waist diameter 2ω1 of the first laser beam is defined as the diameter corresponding to the position where the beam profile of the Gaussian beam is smallest during propagation. The smaller the beam waist diameter of the first laser beam, the more concentrated the energy of the first laser beam and the better its focusing ability. Preferably, the beam waist diameter 2ω1 of the first laser beam is ≤ 2mm to ensure the focusing ability of the first laser beam.

[0119] In some embodiments, the sleeve 223 is bonded to the cladding 222 by an adhesive, the refractive index of which is less than that of the cladding 222, and the refractive index of the cladding 222 is less than that of the fiber core 221.

[0120] Specifically, the refractive index of the adhesive is less than that of the cladding 222, and the refractive index of the cladding 222 is less than that of the fiber core 221, thus ensuring the transmittance of the fiber core 221 and reducing laser transmission loss.

[0121] The preferred connection method between the sleeve 223 and the optical fiber component 22 is adhesive bonding. The adhesive used must be a low-refractive-index optical encapsulating adhesive 263. If the refractive index of the low-refractive-index optical encapsulating adhesive 263 is higher than that of the cladding 222, any small amount of laser transmission in the cladding 222 may be refracted into the adhesive and generate hot spots, causing the adhesive to overheat and expand, damaging the optical fiber 22. Therefore, the refractive index of the low-refractive-index optical encapsulating adhesive 263 must be lower than that of the cladding 222, preferably between 1.20 and 1.35, and the preferred material is white silicone rubber, etc.

[0122] In some embodiments, the distance between the detection sensor 24 and the second light-emitting point of the optical fiber component 22 is less than a predetermined distance. The predetermined distance is negatively correlated with the diameter of the fiber core 221 and the third aperture angle corresponding to the second light-incident point of the optical fiber component 22, and positively correlated with the minimum effective photosensitive width of the detection sensor 24.

[0123] The distance d2 between the detection sensor 24 and the light emission point of the optical fiber component 22 should be less than 1 / 2. To ensure that all laser beams output by the fiber optic component 22 can be effectively sensed, wherein the minimum effective photosensitive width of the detection sensor 24 is defined.

[0124] The detection sensor 24 can be an image sensor, such as a CMOS or CCD sensor, whose response spectrum includes the dominant wavelength of the laser beam. The preferred size of the image sensor is 1 / 4" to 1 / 2" and the preferred number of pixels is 0.5 to 2M.

[0125] In some embodiments, the laser receiving module 20 includes an optical fiber locking member 23. The optical fiber locking member 23 is a part with a through hole and external threads, which can limit and fix the optical fiber component 22 within the laser receiving module 20. The preferred connection method between the optical fiber locking member 23 and the optical fiber component 22 is adhesive bonding, with adhesive distributed on the outside of the ceramic sleeve 223 and inside the through hole. The adhesive needs to have high hardness after curing to ensure the fixing strength of the optical fiber component 22; the preferred material for the adhesive is resin or similar material.

[0126] In some embodiments, the laser receiving module 20 includes an absorption cavity coating 25, which has a high absorption rate for the main wavelength of the laser beam, preferably ≥95%, and is preferably made of graphite.

[0127] In some embodiments, the laser receiving module 20 includes a receiving module package 26. The laser source 11, the first filter 12, and the lens 13 are sealed within the receiving module package 26. The receiving module package 26 has good light-shielding performance, which can prevent external ambient light from affecting the internal laser beam.

[0128] The receiver module package 26 includes a first package 261, a second package 262, and encapsulating adhesive 263. The fiber optic locking component 23 is connected to the first package 261 by a threaded connection to ensure the positioning accuracy of the fiber optic component 22. In addition to the threaded connection between the first package 261 and the fiber optic locking component 23, encapsulating adhesive 263 is applied at different connection points to prevent vibration from causing the fiber optic lock to loosen. The first package 261 and the second package 262 are connected by screws and nuts.

[0129] The laser positioning control method provided in this application includes: controlling the laser source 11 of the laser emitting module 10 to emit a first laser beam to the laser receiving module 20, the laser receiving module 20 outputting an identification light signal according to the received first laser beam; and adjusting the relative position of the laser receiving module 20 and the laser emitting module 10 according to the identification light signal.

[0130] The laser positioning control method provided in this application can be implemented by the controller 30, that is, the controller 30 is used to implement the laser positioning control method. Of course, in other embodiments, the laser positioning control method can also be implemented by other devices or equipment, and is not limited to being implemented by the controller 30. The controller 30 may not be exclusively used to implement the laser positioning control method of this invention, but may implement other functions or methods.

[0131] The controller 30 can acquire the identification light signal output by the laser receiving module 20. The change of the identification light signal reflects the three-dimensional position information of the input port of the fiber optic component 22, that is, it reflects the three-dimensional position information of the input port of the fiber optic component 22 in the first laser beam, thereby realizing the positioning of the laser receiving module 20 and the laser emitting module 10.

[0132] The controller 30 can determine the three-dimensional position information of the input port of the optical fiber component 22 in the first laser beam based on the identification light signal, thereby realizing the positioning of the laser receiving module 20 and the laser emitting module 10.

[0133] In some embodiments, adjusting the relative position of the laser receiving module 20 and the laser emitting module 10 according to the identification light signal includes: adjusting the position of the laser receiving module 20 to the waist of the optical axis of the first laser beam according to the identification light signal.

[0134] In some embodiments, adjusting the position of the laser receiving module 20 to the beam waist on the optical axis of the first laser beam according to the identifying light signal includes: determining the radius of the annular spot and the average illumination intensity represented by the identifying light signal according to the identifying light signal; adjusting the relative position of the laser emitting module 10 and the laser receiving module 20 perpendicular to the optical axis of the first laser beam according to the radius of the annular spot to minimize the radius of the annular spot; and adjusting the relative position of the laser emitting module 10 and the laser receiving module 20 parallel to the optical axis of the first laser beam according to the average illumination intensity to maximize the average illumination intensity.

[0135] Specifically, the first laser beam is focused at the beam waist and then diverges. Only the first laser beam at the beam waist and at infinity is in a plane wave state, while the rest of the first laser beams are in a spherical wave state. The intensity of the beam spot in the beam waist section perpendicular to the optical axis has a Gaussian distribution, with the center point on the optical axis, where the intensity reaches its peak and coincides with the optical axis.

[0136] Based on the above analysis, it can be seen that after the drone flies into the propagation range of the laser beam, the input port of the fiber optic component 22 and the laser beam theoretically exist in three states, such as... Figure 6 As shown:

[0137] State 1: The UAV locates itself near the cabin using GPS and other methods, and the input port of fiber optic component 22 is within the incident angle range of the first laser beam (Point A). Due to the incident angle θ... incident ≤θ fiber The laser beam undergoes total internal reflection within the cylindrical fiber core 221. According to the cylindrical waveguide transmission theory, the output laser beam from the fiber makes an angle θ with the central axis. incident Hollow frustum (θ) incident =0 (a solid cylinder), the outer diameter of the light spot formed on the detection sensor 24 is 2(d2tanθ) incident +r fiber ), with an inner diameter of 2(d²tanθ). incident -r fiber At this point, the annular light spot shape maps to the absolute value θ of the light angle at the input port. incident However, it is impossible to determine the vector direction of the incident angle;

[0138] State 2: According to the movement logic, the drone moves in the plane perpendicular to the optical axis until the input port of fiber optic component 22 reaches the optical axis (Point B). The specific logic is described in a subsequent embodiment. At this time, the incident angle θ incident =0°, then the fiber optic component 22 outputs a collimated laser beam, and the detection sensor 24 outputs an outer diameter = 2r. fiber Solid light spot;

[0139] State 3: Following the movement logic, the UAV moves along the plane perpendicular to the optical axis until the input port of fiber optic component 22 reaches the beam waist (Point C) on the optical axis. According to the laser beam propagation theory, the intensity along the optical axis follows a Gaussian distribution, reaching its peak at the beam waist. Therefore, it can be seen that the intensity of the solid light spot changes depending on the position of the input port of fiber optic component 22 on the optical axis, and the intensity of the solid light spot reaches its peak when the input port reaches the beam waist on the optical axis.

[0140] Thus, it can be determined that the position of the laser receiving module 20 is located at the waist of the optical axis of the first laser beam, and the intensity of the solid light spot reaches its peak, thus achieving the alignment of the UAV when it returns to the cabin.

[0141] In some embodiments, the positioning control device 100 further includes a first adjustment component, a second adjustment component, and a third adjustment component. The controller 30 is configured to control the first adjustment component to adjust the relative distance between the laser emitting module 10 and the laser receiving module 20 in a first direction. The controller 30 is configured to control the second adjustment component to adjust the relative distance between the laser emitting module 10 and the laser receiving module 20 in a second direction, wherein the first and second directions are perpendicular to the optical axis of the first laser beam and intersect each other. The controller 30 is configured to control the third adjustment component to adjust the relative distance between the laser emitting module 10 and the laser receiving module 20 in a third direction, which is parallel to the optical axis of the first laser beam.

[0142] Specifically, the first direction can be set to the x+ direction, and the second direction can be set to the y+ direction.

[0143] The controller 30 can acquire the valid image output by the detection sensor 24 and determine the annular light spot corresponding to the valid image. The radius of the annular light spot can be set to rspot, and the average brightness of the annular light spot can be set to Ispot.

[0144] The controller 30 is configured to control a first adjustment component to adjust the relative distance between the laser emitting module 10 and the laser receiving module 20 in a first direction. The controller 30 is also configured to control a second adjustment component to adjust the relative distance between the laser emitting module 10 and the laser receiving module 20 in a second direction, wherein the first and second directions are perpendicular to the optical axis of the first laser beam and intersect each other.

[0145] Reference Figure 7 The drone locates itself near the cabin using GPS and other methods, enabling the first laser beam emitted by the laser emitting module 10 to be emitted into the laser receiving module 20. The detection sensor 24 can output a valid image and acquire the ring-shaped light spot corresponding to the valid image.

[0146] The controller 30 can adjust the position of the laser emitting module 10 in the first direction (x+ direction) and obtain the changing trend of the radius of the annular spot. When the radius of the annular spot decreases, the position of the laser emitting module 10 is continuously adjusted in the first direction, and the radius of the annular spot is continuously obtained. The first minimum value rmin01 of the radius of the annular spot is determined by comparison.

[0147] As the radius of the annular spot increases, the position of the laser emitting module 10 is continuously adjusted in the opposite direction (x-direction) of the first direction, and the radius of the annular spot is continuously acquired. The first minimum value rmin01 of the radius of the annular spot is determined by comparison.

[0148] Similarly, the controller 30 can also adjust the position of the laser receiving module 20 according to the first direction and obtain the changing trend of the radius of the annular spot. The implementation method can refer to adjusting the position of the laser emitting module 10 according to the first direction and continuously obtaining the radius of the annular spot, and determining the first minimum value rmin01 of the radius of the annular spot by comparison.

[0149] Once the first minimum value rmin01 is determined, the controller 30 controls the first adjustment component to adjust the drone to the position corresponding to the first minimum value rmin01.

[0150] Reference Figure 8 After adjusting the position of the UAV in the x-direction, the controller 30 can adjust the position of the laser emitting module 10 in the second direction (y+ direction) and obtain the changing trend of the radius of the annular light spot. When the radius of the annular light spot decreases, the position of the laser emitting module 10 is continuously adjusted in the second direction, and the radius of the annular light spot is continuously obtained. The second minimum value rmin02 of the radius of the annular light spot is determined by comparison.

[0151] As the radius of the annular spot increases, the position of the laser emitting module 10 is continuously adjusted in the opposite direction (x-direction) of the second direction, and the radius of the annular spot is continuously acquired. The second minimum value rmin02 of the radius of the annular spot is determined by comparison.

[0152] Similarly, the controller 30 can also adjust the position of the laser receiving module 20 in the second direction and obtain the changing trend of the radius of the annular spot. The implementation method can refer to adjusting the position of the laser emitting module 10 in the second direction and continuously obtaining the radius of the annular spot, and determining the second minimum value rmin02 of the radius of the annular spot by comparison.

[0153] Once the second minimum value rmin02 is determined, the controller 30 controls the second adjustment component to adjust the drone to the position corresponding to the second minimum value rmin02.

[0154] Reference Figure 9 After adjusting the position of the UAV in the x and y directions, the controller 30 can adjust the position of the laser emitting module 10 in the third direction (z+ direction) and obtain the changing trend of the average illumination intensity of the annular light spot. When the average illumination intensity of the annular light spot decreases, the position of the laser emitting module 10 is continuously adjusted in the third direction, and the average illumination intensity of the annular light spot is continuously obtained. The maximum value Imax of the average illumination intensity of the annular light spot is determined by comparison.

[0155] As the average illumination intensity of the annular spot increases, the position of the laser emitting module 10 is continuously adjusted in the opposite direction (x-direction) of the third direction, and the average illumination intensity of the annular spot is continuously acquired. The maximum value Imax of the average illumination intensity of the annular spot is determined by comparison.

[0156] Similarly, the controller 30 can also adjust the position of the laser receiving module 20 in a third direction and obtain the changing trend of the average illumination intensity of the annular spot. The implementation method can refer to adjusting the position of the laser emitting module 10 in a third direction and continuously obtaining the average illumination intensity of the annular spot, and determining the maximum value Imax of the average illumination intensity of the annular spot by comparison.

[0157] Once the maximum value of the average light intensity Imax is determined, the controller 30 controls the third adjustment component to adjust the drone to the position corresponding to the maximum value of the average light intensity Imax.

[0158] In some implementations, determining the radius of the ring-shaped light spot and the average illumination intensity represented by the identifying light signal based on the identifying light signal includes: obtaining a two-dimensional relative intensity distribution function of the ring-shaped light spot; and determining the radius of the ring-shaped light spot based on the two-dimensional relative intensity distribution function and the center position of the ring-shaped light spot.

[0159] Specifically, for a light spot, I(i,j) is used to characterize its two-dimensional relative intensity distribution, where i represents different rows and j represents different columns, and I(i,j) represents the ADU (analog signal value after digitization) of row i and column j.

[0160] Let the coordinates of the center of the image be (i0, j0), using Then a one-dimensional function I(r) can be derived from a two-dimensional function I(i,j), where the same r may correspond to different I, and the same I may correspond to different r;

[0161] For the function I(r), calculate the r corresponding to its maximum value and use it as the r of the light spot. spot If there is more than one r corresponding to the maximum value of I(r), then the larger one is selected as r. spot .

[0162] In some implementations, determining the radius and average illumination intensity of the ring-shaped light spot represented by the identifying light signal based on the identifying light signal includes: obtaining a two-dimensional relative intensity distribution function of the ring-shaped light spot; and determining the average illumination intensity of the ring-shaped light spot based on the two-dimensional relative intensity distribution function, the maximum illumination intensity, and the minimum illumination intensity of the ring-shaped light spot.

[0163] For a light spot, I(i,j) is used to characterize its two-dimensional relative intensity distribution, where i represents different rows and j represents different columns, and I(i,j) represents the ADU in row i and column j.

[0164] Let the maximum value of the image be i. max The maximum value of j is j max Calculate Use it as light spot I spot .

[0165] The electronic device provided in this application includes a memory and a processor. The memory is configured to store a computer program, and the processor implements the laser positioning control method described above when executing the computer program stored in the memory.

[0166] The vehicle provided in this application embodiment is equipped with the electronic equipment provided in the above embodiment.

[0167] The computer-readable storage medium provided in this application embodiment stores a computer program, which, when executed by one or more processors, implements the laser positioning control method described above.

[0168] In the description of this specification, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with an embodiment or example that are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, without contradiction, those skilled in the art can combine and integrate different embodiments or examples described in this specification, as well as features of different embodiments or examples.

[0169] Furthermore, the term "connection" should be interpreted broadly. For example, it can include fixed connections, detachable connections, or integral connections; it can include direct connections or indirect connections through an intermediate medium; and it can also include internal communication between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0170] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0171] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order according to the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0172] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A laser transceiver (30), characterized in that, include: The laser emitting module (10) is equipped with a laser source (11); The laser receiving module (20) is equipped with an optical fiber component (22); The laser emitting module (10) and the laser receiving module (20) are arranged opposite to each other, and are adapted to make the optical fiber component (22) coaxial with the optical axis of the first laser beam emitted by the laser source (11).

2. The laser transceiver (30) according to claim 1, characterized in that, The laser transceiver (30) includes a lens (13) which is coaxial with the optical axis of the first laser beam emitted by the laser source (11).

3. The laser transceiver (30) according to claim 1, characterized in that, The laser transceiver (30) further includes a detection sensor (24), which is coaxial with the optical axis of the first laser beam emitted by the laser source (11).

4. The laser transceiver (30) according to claim 1, characterized in that, The optical fiber component (22) includes a fiber core (221), and the fiber core (221) is made of a rigid material.

5. The laser transceiver (30) according to claim 1, characterized in that, The numerical aperture of the first light-emitting point of the laser emitting module (10) is 0.2 to 0.5, and the first aperture angle corresponding to the first light-emitting point is 12° to 30°.

6. The laser transceiver (30) according to claim 1, characterized in that, The numerical aperture of the first light-incident point of the laser receiving module (20) is 0.4 to 0.7, and the second aperture angle corresponding to the first light-incident point is 24° to 45°.

7. The laser transceiver (30) according to claim 2, characterized in that, The laser emitting module (10) includes a first filter (12) located between the laser source (11) and the lens (13).

8. The laser transceiver (30) according to claim 2, characterized in that, The laser receiving module (20) includes a second filter (21), which is located between the laser emitting module (10) and the optical fiber component (22).

9. The laser transceiver (30) according to claim 4, characterized in that, The ratio of the length to the diameter of the fiber core (221) ranges from 20 to 100.

10. The laser transceiver (30) according to claim 4, characterized in that, The normalized frequency of the fiber core (221) is 100 to 3000.

11. The laser transceiver (30) according to claim 4, characterized in that, The optical fiber component (22) further includes a cladding (222) and a sleeve (223). The cladding (222) is fitted onto the fiber core (221), and the sleeve (223) is fitted onto the cladding (222). One end of the sleeve (223) is provided with a first opening, which is configured as the light input point of the laser receiving module (20). The diameter of the first opening is smaller than the diameter of the fiber core (221).

12. The laser transceiver (30) according to claim 11, characterized in that, The sleeve (223) is bonded to the cladding (222) by an adhesive, the refractive index of which is less than that of the cladding (222), and the refractive index of the cladding (222) is less than that of the fiber core (221).

13. The laser transceiver (30) according to claim 3, characterized in that, The optical fiber component (22) includes a fiber core (221). The distance between the detection sensor (24) and the second light-emitting point of the optical fiber component (22) is less than a predetermined distance. The predetermined distance is negatively correlated with the diameter of the fiber core (221) and the third aperture angle corresponding to the second light-incident point of the optical fiber component (22), and positively correlated with the minimum effective photosensitive width of the detection sensor (24).

14. A laser positioning and control method, characterized in that, The method includes: The laser source (11) of the laser emitting module (10) emits a first laser beam to the laser receiving module (20), and the laser receiving module (20) outputs an identification light signal according to the received first laser beam; The relative positions of the laser receiving module (20) and the laser emitting module (10) are adjusted according to the identified light signal.

15. The control method according to claim 14, characterized in that, Adjusting the relative position of the laser receiving module (20) and the laser emitting module (10) according to the identified light signal includes: Adjust the position of the laser receiving module (20) to the waist of the optical axis of the first laser beam according to the identification light signal.

16. The control method according to claim 15, characterized in that, The step of adjusting the position of the laser receiving module (20) to the beam waist on the optical axis of the first laser beam according to the identified light signal includes: The radius of the ring-shaped light spot and the average illumination intensity represented by the identified light signal are determined based on the identified light signal. The relative positions of the laser emitting module (10) and the laser receiving module (20) perpendicular to the optical axis of the first laser beam are adjusted according to the radius of the annular spot, so as to minimize the radius of the annular spot; The relative positions of the laser emitting module (10) and the laser receiving module (20) parallel to the optical axis of the first laser beam are adjusted according to the average light intensity to maximize the average light intensity.

17. The control method according to claim 16, characterized in that, The step of determining the radius of the ring-shaped light spot and the average illumination intensity represented by the identified light signal based on the identified light signal includes: Obtain the two-dimensional relative intensity distribution function of the annular light spot; The radius of the annular light spot is determined based on the two-dimensional relative intensity distribution function and the center position of the annular light spot.

18. The control method according to claim 16, characterized in that, The step of determining the radius of the ring-shaped light spot and the average illumination intensity represented by the identified light signal based on the identified light signal includes: Obtain the two-dimensional relative intensity distribution function of the annular light spot; The average illumination intensity of the annular light spot is determined based on the two-dimensional relative intensity distribution function, the maximum illumination intensity, and the minimum illumination intensity of the annular light spot.

19. An electronic device, characterized in that, The electronic device includes a memory and a processor, wherein the processor, when executing a computer program stored in the memory, implements the laser positioning control method according to any one of claims 14-18.

20. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the laser positioning control method according to any one of claims 14-18.

21. A laser positioning and control device, characterized in that, include: The laser transceiver (30) according to any one of claims 1-13; A controller, the controller including the electronic device as claimed in claim 19.

22. An unmanned aerial vehicle (UAV) system, characterized in that, It includes a host, a cabin, and the laser positioning control device as described in claim 21, wherein the laser emitting module (10) is disposed in the cabin, and the laser receiving module (20) is disposed in the host.

23. A vehicle, characterized in that, Equipped with the electronic device of claim 19 or the unmanned aerial vehicle system of claim 22.

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