Dual spinning laser-based UAV positioning and landing system and method

1 . A dual spinning laser-based unmanned aerial vehicle (UAV) positioning and landing system, comprising:

a first laser module, configured to provide a first light beam emitted by rotating around a first axis;

a first rotating module, connected with the first laser module, and configured to drive the first laser module to rotate around a rotation axis perpendicular to the first axis to allow the first light beam to scan in a space;

a second laser module, configured to provide a second light beam emitted by rotating around a second axis;

a second rotating module, connected with the second laser module, and configured to drive the second laser module to rotate around a rotation axis perpendicular to the second axis to allow the second light beam to scan in the space, wherein the rotation axis perpendicular to the second axis and the rotation axis perpendicular to the first axis are parallel to each other;

a signal transceiver;

a controller, electrically connected to the first laser module, the first rotating module, the second laser module, the second rotating module and the signal transceiver; and

a substrate, wherein the first laser module, the first rotating module, the second laser module, the second rotating module, the signal transceiver and the controller are disposed on the substrate,

wherein when the first light beam is first projected on a UAV, the UAV sends a signal, and after the signal transceiver receives the signal, the controller obtains a first included angle, and when the second light beam is further projected on the UAV, the UAV sends the signal, and after the signal transceiver receives the signal, the controller obtains a second included angle and calculates a relative location, and controls the signal transceiver to transmit a relative location signal to the UAV, wherein the first included angle is an included angle between the first light beam and a connection line, the second included angle is an included angle between the second light beam and the connection line, the connection line is a connecting line between the first laser module and the second laser module, and the relative location is a location of the UAV relative to a landing location on the substrate.

2 . The dual spinning laser-based UAV positioning and landing system according to claim 1 , wherein the first light beam comprises a first point laser light and a first linear laser light, and the first laser module comprises:

a first light source, configured to emit the first point laser light;

a second light source, configured to emit the first linear laser light;

a first reflector, disposed on an optical path of the first point laser light and the first linear laser light, and configured to project the first point laser light and the first linear laser light out of the first laser module; and

a first rotator, connected with the first reflector to drive the first reflector to rotate around the first axis to allow the first point laser light or the first linear laser light to scan in the space.

3 . The dual spinning laser-based UAV positioning and landing system according to claim 2 , wherein the second light beam includes a second point laser light and a second linear laser light, and the second laser module comprises:

a third light source, configured to emit the second point laser light;

a fourth light source, configured to emit the second linear laser light;

a second reflector, disposed on an optical path of the second point laser light and the second linear laser light, and configured to project the second point laser light and the second linear laser light out of the second laser module; and

a second rotator, connected with the second reflector to drive the second reflector to rotate around the second axis to allow the second point laser light or the second linear laser light to scan in the space.

4 . The dual spinning laser-based UAV positioning and landing system according to claim 3 , wherein the controller first controls the first laser module and the second laser module to project the first linear laser light and the second linear laser light, and when the first linear laser light and the second linear laser light are projected on the UAV, the first laser module and the second laser module are further controlled to project the first point laser light and the second point laser light to allow the first point laser light and the second point laser light to scan within a range where the first linear laser light and the second linear laser light intersect in the space.

5 . The dual spinning laser-based UAV positioning and landing system according to claim 3 , wherein when the controller controls the first laser module and the second laser module to project the first point laser light and the second point laser light to scan and have not sensed the location of the UAV, the first laser module and the second laser module are further controlled to switch to project the first linear laser light and the second linear laser light.

6 . The dual spinning laser-based UAV positioning and landing system according to claim 4 , wherein when the first linear laser light and the second linear laser light are projected on the UAV, the controller calculates a farthest distance based on the range where the first linear laser light and the second linear laser light intersect in the space, and the dual spinning laser-based UAV positioning and landing system satisfies:

δ

≤

arctan

⁡

(

Ws

/

n

)

×

(

180

/

π

)

,

wherein δ is a pitch angle of the first point laser light or the second point laser light scanning in the space, Ws is a width of a sensor on the UAV, and n is the farthest distance.

7 . The dual spinning laser-based UAV positioning and landing system according to claim 1 , further comprising:

an optical sensor, disposed on the substrate and between the first laser module and the second laser module, electrically connected with the controller, and configured to allow the controller to reset rotated angles of the first laser module and the second laser module by the optical sensor before the first light beam and the second light beam scan in the space.

8 . The dual spinning laser-based UAV positioning and landing system according to claim 1 , further comprising:

a display module, disposed on the substrate, electrically connected with the controller, and configured to display an operation status of the dual spinning laser-based UAV positioning and landing system.

9 . The dual spinning laser-based UAV positioning and landing system according to claim 1 , further comprising a charging module, disposed at the landing location, and electrically connected with the controller, wherein the charging module comprises:

a magnetic charging interface, configured to attach to the UAV when the UAV lands; and

a lever, disposed around the magnetic charging interface, and configured to assist the UAV to break away from the magnetic charging interface when the UAV takes off.

10 . The dual spinning laser-based UAV positioning and landing system according to claim 1 , further comprising:

a location adjustment module, disposed on the substrate, electrically connected with the controller, and configured to clamp the UAV and move the location of the UAV to the landing location after the UAV lands.

11 . A dual spinning laser-based unmanned aerial vehicle (UAV) positioning and landing method, comprising:

controlling a first laser module to provide a first light beam emitted by rotating around a first axis, and controlling a first rotating module to drive the first laser module to rotate around a rotation axis perpendicular to the first axis to allow the first light beam to scan in a space;

controlling a second laser module to provide a second light beam emitted by rotating around a second axis, and controlling a second rotating module to drive the second laser module to rotate around a rotation axis perpendicular to the second axis to allow the second light beam to scan in the space; and

sending a signal from a UAV when the first light beam is first projected on the UAV, obtaining a first included angle after the signal is received, sending the signal from the UAV when the second light beam is further projected on the UAV, obtaining a second included angle and calculating a relative location after the signal is received, and controlling a signal transceiver to transmit a relative location signal to the UAV.

12 . The dual spinning laser-based UAV positioning and landing method according to claim 11 , wherein the first light beam comprises a first point laser light and a first linear laser light, and steps of controlling the first laser module to emit the first light beam comprise:

controlling a first light source to emit the first point laser light, controlling a second light source to emit the first linear laser light, and controlling a first rotator to drive a first reflector to rotate around the first axis to allow the first point laser light or the first linear laser light to scan in the space.

13 . The dual spinning laser-based UAV positioning and landing method according to claim 12 , wherein the second light beam comprises a second point laser light and a second linear laser light, and steps of controlling the second laser module to emit the second light beam comprise:

controlling a third light source to emit the second point laser light, controlling a fourth light source to emit the second linear laser light, and controlling a second rotator to drive a second reflector to rotate around the second axis to allow the second point laser light or the second linear laser light to scan in the space.

14 . The dual spinning laser-based UAV positioning and landing method according to claim 13 , further comprising:

first controlling the first laser module and the second laser module to project the first linear laser light and the second linear laser light, and further controlling the first laser module and the second laser module to project the first point laser light and the second point laser light to allow the first point laser light and the second point laser light to scan in a range where the first linear laser light and the second linear laser light intersect in the space when the first linear laser light and the second linear laser light are projected on the UAV.

15 . The dual spinning laser-based UAV positioning and landing method according to claim 13 , further comprising:

further controlling the first laser module and the second laser module to switch to project the first linear laser light and the second linear laser light when the first laser module and the second laser module are controlled to project the first point laser light and the second point laser light to scan and have not sensed a location of the UAV.

16 . The dual spinning laser-based UAV positioning and landing method according to claim 14 , wherein when the first linear laser light and the second linear laser light are projected on the UAV, steps of further controlling the first laser module and the second laser module to project the first point laser light and the second point laser light to allow the first point laser light and the second point laser light to scan in the range where the first linear laser light and the second linear laser light intersect in the space comprise:

calculating a farthest distance based on the range where the first linear laser light and the second linear laser light intersect in the space when the first linear laser light and the second linear laser light are projected on the UAV.

17 . The dual spinning laser-based UAV positioning and landing method according to claim 11 , further comprising:

resetting rotated angles of the first laser module and the second laser module by an optical sensor before the first light beam and the second light beam scan in the space.