CN115932867A - Optical transceiver and control method of optical transceiver - Google Patents
Optical transceiver and control method of optical transceiver Download PDFInfo
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- CN115932867A CN115932867A CN202110919692.XA CN202110919692A CN115932867A CN 115932867 A CN115932867 A CN 115932867A CN 202110919692 A CN202110919692 A CN 202110919692A CN 115932867 A CN115932867 A CN 115932867A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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Abstract
An optical transceiver configured to transmit a first beam and a second beam and receive a reflected first beam, and a control method of the optical transceiver are provided, the method including: the optical transceiver transmitting a plurality of first light beams to a surrounding space; the optical transceiver receiving the reflected first light beam; determining depth information in some directions relative to the optical transceiver based on information related to the reflected first light beam; and transmitting, by the optical transceiver, a plurality of second light beams based on the depth information, wherein angle information of the second light beams with respect to a transmission direction of the optical transceiver and the depth information in the transmission direction are encoded in the second light beams.
Description
Technical Field
The present invention relates to the field of positioning, and in particular, to an optical transceiver and a method for controlling the optical transceiver.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art for the purposes of describing the present disclosure.
In real life, it is often necessary to locate a device. Currently, common positioning technologies include a satellite positioning technology, a base station positioning technology, an RFID positioning technology, an ultrasonic positioning technology, a WIFI positioning technology, a bluetooth positioning technology, a geomagnetic positioning technology, and the like. However, these existing positioning techniques have some drawbacks, such as low accuracy (GPS positioning error is between several meters and several tens of meters), susceptibility to signal interference, inability to determine attitude information of the device, and so on.
The application provides an optical transceiver and a control method of the optical transceiver.
Disclosure of Invention
One aspect of the present invention relates to a method of controlling an optical transceiver configured to transmit a first beam and a second beam and receive a reflected first beam, the method comprising: the optical transceiver transmitting a plurality of first light beams to a surrounding space; the optical transceiver receiving the reflected first light beam; determining depth information in some directions relative to the optical transceiver based on information related to the reflected first light beam; and transmitting, by the optical transceiver, a plurality of second light beams based on the depth information, wherein angle information of the second light beams with respect to a transmission direction of the optical transceiver and the depth information in the transmission direction are encoded in the second light beams.
One aspect of the invention relates to an optical transceiver configured to implement the above method.
One aspect of the invention relates to a method of positioning a device using an optical transceiver configured to transmit a first beam of light and a second beam of light and to receive the reflected first beam of light, the device having one or more optical receivers thereon for receiving the second beam of light, the method comprising: the optical transceiver transmitting a plurality of first light beams to a surrounding space; the optical transceiver receives the reflected first light beam; determining depth information in some directions relative to the optical transceiver based on information related to the reflected first light beam; transmitting, by the optical transceiver, a plurality of second light beams based on the depth information, wherein angle information of each second light beam with respect to a transmission direction of the optical transceiver and depth information in the transmission direction are encoded in each second light beam; receiving, by a light receiver on the device, the second light beam and decoding the received second light beam to obtain the angle information and depth information; and determining position information of an optical receiver on the device relative to the optical transceiver according to the angle information and the depth information.
One aspect of the invention relates to a system for positioning a device using an optical transceiver, the system comprising an optical transceiver and a device, wherein the optical transceiver is configured to transmit a first beam of light and a second beam of light and to receive a reflected first beam of light, the device having one or more optical receivers thereon for receiving the second beam of light, the system being configured to implement the above method.
Another aspect of the invention relates to a storage medium in which a computer program is stored which, when being executed by a processor, can be used for carrying out the above-mentioned method.
A further aspect of the invention relates to an electronic device comprising a processor and a memory, in which a computer program is stored which, when being executed by the processor, is operative to carry out the above-mentioned method.
According to an aspect of the present application, an optical transceiver and a control method of the optical transceiver are provided, in which a light beam emitted by the optical transceiver can be used to easily and quickly determine location information of devices around the optical transceiver. In addition, the solution of the present application also does not require time synchronization between the optical transceiver and the device.
Drawings
Embodiments of the invention are further described below with reference to the accompanying drawings, in which:
FIG. 1 illustrates an optical transceiver in accordance with one embodiment;
FIG. 2 shows a spherical coordinate system;
FIG. 3 illustrates a system for positioning a device using a light beam according to one embodiment;
FIG. 4 illustrates a control method of an optical transceiver according to one embodiment;
FIG. 5 illustrates a method for locating a device using an optical transceiver, according to one embodiment;
FIG. 6 illustrates a method for locating a device using an optical transceiver in accordance with another embodiment;
fig. 7 illustrates a method for locating a device using an optical transceiver in accordance with another embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail by embodiments with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Fig. 1 illustrates an optical transceiver 110 according to one embodiment, which includes an optical transmitter 111 and an optical receiver 112, the optical transmitter 111 for transmitting a first light beam and a second light beam, and the optical receiver 112 for receiving a reflected first light beam. The optical transceiver 110 may be, for example, a lidar that may emit a light beam having a directivity, such as a laser beam. In this document, "first" and "second" are used only to distinguish different objects or things, and are not used to indicate quantity, nor any ordering relationship.
The light emitter 111 may emit the first light beam and the second light beam at different times using the same device, or may include different devices for emitting the first light beam and the second light beam, respectively. The Optical transmitter can control the emitting angle (i.e., the emitting direction) of the light beam through various devices, such as a rotatable mirror, a DMD mirror, a mechanical galvanometer, a steering engine, a fast mirror, a MEMS mirror, an Optical Phased Array (Optical Phased Array), a Photonic integrated circuit (Photonic IC), a Far Field Radiation Pattern (Far Field Radiation Pattern), and the like. In general, the light emitter may control the mirror, etc., to rotate to a designated angle and emit a light beam, and then the light emitter may control the mirror to rotate to a next angle and emit a next light beam. The step size between two adjacent angles may be set according to actual positioning requirements, e.g. 1 degree, 0.5 degree, 0.2 degree, 0.1 degree, 0.05 degree, 0.01 degree, etc.
The light emitter 111 may emit the plurality of first light beams to the space around it in any feasible manner. In the present application, the beam shape is defined in terms of the shape of the image of the beam emitted by the light emitter on an object (e.g., a wall) directly opposite the light emitter. For example, if a light beam emitted by a light emitter is dotted on a wall directly opposite to the light emitter, the light beam is defined as a "dotted light beam"; if the light beam emitted by the light emitter is in a linear shape on the wall opposite to the light emitter, the light beam is defined as a linear light beam; a light beam emitted by a light emitter is defined as a "planar light beam" if the light beam is planar on a wall directly opposite the light emitter. In one embodiment, the light emitters may emit one spot-like light beam at a time. In one embodiment, the light emitter may emit a plurality of spot-like light beams at a time. In one embodiment, the light emitters may emit one line-shaped light beam at a time. The line beam may, for example, cover or sweep a fan shape, rectangular shape, or other shape during travel. In one embodiment, the light emitter may emit multiple line-shaped light beams at a time. In one embodiment, the optical transmitter may emit a large number of beams (e.g., beams emitted by flash lidar) at a time onto a sheet of area. In other embodiments, the light emitters may also emit different forms of light beams, as desired.
After the optical transmitter 111 transmits the first light beam to the space around the optical transmitter, the first light beam reflected by the surrounding object may be received by the optical receiver 112, and depth information in some directions around the optical transceiver 110, that is, distance information of the nearest object in some directions around the optical transceiver 110 with respect to the optical transceiver 110, may be determined by a time of flight (TOF) method or the like, for example. The determined depth information in some directions around the optical transceiver 110 may be, for example, but is not limited to, depth information in the transmission direction of the first optical beam, for example, in some embodiments, depth information in other directions may be inferred or estimated in various feasible ways (e.g., interpolation) based on the depth information in the transmission direction of the first optical beam.
Each second light beam emitted by the light emitter 111 is a spot-like light beam emitted in a certain direction. The second light beam may have embedded therein encoded information, which may include angle information of the light beam with respect to a transmission direction of the optical transceiver 110 or the optical transmitter 111 and depth information in the transmission direction. In some embodiments, the encoded information may also include other information, such as identification information of the optical transceiver or optical transmitter. The encoded information may be embedded in the optical beam in various possible ways, for example by modulating the amplitude, frequency, phase, etc. of the optical signal.
In one embodiment, the azimuth angle in a spherical coordinate system may be used
And an elevation angle theta to represent emission angle information of the spot-like light beam emitted by the light emitter. FIG. 2 shows a spherical coordinate system in which any point in space can be used to ≧ or { [ MEANS ])>
Where r represents the distance of the point from the origin of the coordinate system, and>
representing azimuth and theta elevation. In the case of using the optical transceiver or the optical transmitter as the origin of the coordinate system, the transmission angle information of any one of the spot beams transmitted therefrom may be determined by the azimuth angle ≧ n>
And the elevation angle theta.
The light emitter may emit a plurality of second light beams to traverse a target area, which may be the area covered by the first light beam or a part thereof. In one embodiment, the light emitter may set the divergence angle of the light beam when emitting the second light beam such that the series of second light beams it emits in one scanning cycle can cover the entire target area or a large part of the target area.
In this way, after any optical receiver around the optical transceiver 110 receives the second light beam, the second light beam can be decoded to obtain the encoded information embedded therein, such as the angle information of the second light beam with respect to the transmitting direction of the optical transceiver 110 and the depth information in the transmitting direction. Based on the angle information and the depth information, position information of the optical receiver relative to the optical transceiver 110 may be determined.
Fig. 3 illustrates a system for positioning a device using an optical beam, including an optical transceiver 110 and a device 120, in accordance with one embodiment. The optical transceiver 110 includes an optical transmitter 111 and an optical receiver 112 (also referred to herein as "first optical receiver"), the optical transmitter 111 being configured to transmit the first light beam and the second light beam, and the optical receiver 112 being configured to receive the reflected first light beam. The device 120 has one or more light receivers 121 (also referred to herein as "second light receivers") thereon for receiving the second light beams emitted by the light emitters 111.
The device 120 may be an electronic device comprising one or more optical receivers, for example, may be a cell phone, smart glasses, smart helmet, robot, car, etc. comprising one or more CPUs and a storage device, etc. The device 120 may receive the second light beam emitted by the light emitter 111 through the light receiver 121 thereon and may decode the second light beam to obtain information encoded in the second light beam, such as angle information, depth information, identification information, and the like.
In one embodiment, two or more optical receivers may be disposed on the device with a predetermined relative positional relationship therebetween. In one embodiment, at least three optical receivers may be disposed on the device, and the three optical receivers are not collinear. In one embodiment, at least four optical receivers may be disposed on the device, which may or may not be coplanar. In one embodiment, at least five optical receivers may be disposed on the device, which may or may not be coplanar. In one embodiment, any three of the four or five light receivers are not collinear.
In one embodiment, a server may also be included in the system that is coupled to the optical transceiver 110 and/or the device 120, either wired, wireless, or via a network.
Fig. 4 illustrates a control method for an optical transceiver that may transmit a first beam and a second beam and may receive a reflected first beam, according to one embodiment. The method may comprise the steps of:
step 401: the optical transceiver transmits a plurality of first light beams to a surrounding space.
The optical transceiver may have an optical transmitter and an optical receiver therein, and the optical transmitter may be configured to transmit a plurality of first optical beams to a surrounding space.
Step 402: the optical transceiver receives the reflected first light beam.
After the optical transmitter in the optical transceiver transmits the plurality of first light beams to the surrounding space, the optical receiver in the optical transceiver may receive the first light beams reflected by the surrounding objects.
Step 403: the optical transceiver determines depth information in some directions relative to the optical transceiver based on information associated with the reflected first light beam.
After the optical transceiver receives the reflected first light beam, depth information in some directions with respect to the optical transceiver, that is, distance information of an object in some directions around the optical transceiver (generally, the closest object in some directions around the optical transceiver) with respect to the optical transceiver may be determined based on information related to the reflected first light beam. For example, time of flight (TOF) of a first light beam reflected from a certain direction may be determined based on information related to the first light beam, thereby determining depth information in that direction. The determined depth information in some directions relative to the optical transceiver may be, for example, but is not limited to, depth information in the transmit direction of the first optical beam, e.g., in some embodiments, depth information in other directions may be inferred or estimated in various feasible ways (e.g., interpolation) based on the depth information in the transmit direction of the first optical beam.
Step 404: based on the depth information in the directions, the optical transceiver transmits a plurality of second light beams, each of which has encoded therein angle information of the light beam with respect to a transmission direction of the optical transceiver and depth information in the transmission direction.
Each second light beam transmitted by the optical transceiver may be a spot-shaped light beam transmitted to a certain direction. The second light beam may have embedded therein encoded information, which may include angle information of the light beam with respect to a transmission direction of the optical transceiver or optical transmitter and depth information in the transmission direction.
In this way, any optical receiver or device containing an optical receiver around the optical transceiver, after receiving the second light beam, can decode it to obtain the encoded information embedded therein, such as angle information of the second light beam with respect to the transmitting direction of the optical transceiver and depth information in the transmitting direction. Based on the angle information and the depth information, position information of the optical receiver or a device including the optical receiver with respect to the optical transceiver may be determined.
In some embodiments, the second optical beam has encoded therein not only angle information of the optical beam with respect to a transmission direction of the optical transceiver and depth information in the transmission direction, but also identification information of the optical transceiver. The identification information of the optical transceiver may be stored in a database in association with position and pose information (which may be collectively referred to as pose information) of the optical transceiver such that the identification information of the optical transceiver may be used (e.g., by querying) to obtain its pose information. The pose information of the optical transceiver may be, for example, pose information in a certain locale coordinate system (e.g., a coordinate system established for a certain room, building, campus, etc.) or a world coordinate system. In this way, the position information of the optical receiver can be determined based on the pose information of the optical transceiver and the position information of the optical receiver with respect to the optical transceiver.
Fig. 5 illustrates a method of positioning a device using an optical transceiver that may transmit a first beam and a second beam and may receive the reflected first beam, the device having one or more optical receivers thereon for receiving the second beam, according to one embodiment. The method may include the following steps (some steps are similar to those in fig. 4 and are not described again):
step 501: the optical transceiver transmits a plurality of first light beams to a surrounding space.
Step 502: the optical transceiver receives the reflected first light beam.
Step 503: the optical transceiver determines depth information in some directions relative to the optical transceiver based on information associated with the reflected first light beam.
Step 504: based on the depth information in the directions, the optical transceiver transmits a plurality of second light beams, each of which has encoded therein angle information of the light beam with respect to a transmission direction of the optical transceiver and depth information in the transmission direction.
Step 505: receiving the second light beam by a light receiver on the device and decoding the received second light beam to obtain the angle information and the depth information.
Some second light beam transmitted by the optical transceiver may be received by an optical receiver on the device and may be decoded to obtain information encoded in the second light beam, such as angle information of the second light beam with respect to the transmission direction of the optical transceiver and depth information in the transmission direction.
Step 506: determining position information of an optical receiver on the device relative to the optical transceiver according to the angle information and the depth information.
After the angle information and the depth information are obtained, the direction of the optical receiver on the device relative to the optical transceiver may be obtained according to the angle information, and the distance of the optical receiver on the device relative to the optical transceiver may be obtained according to the depth information, so that the position information of the optical receiver on the device relative to the optical transceiver may be determined according to the relative direction and the relative distance.
In one embodiment, after determining the location information of the optical receiver on the device relative to the optical transceiver, it may be directly used as the location information of the device relative to the optical transceiver. The method is suitable for scenes with low requirements on the positioning accuracy of the equipment, or suitable for equipment with small size, such as mobile phones, smart glasses and the like. In one embodiment, after determining the location information of the optical receiver on the device relative to the optical transceiver, the location information of the device relative to the optical transceiver may be determined based further thereon. For example, the position information of the device with respect to the optical transceiver may be determined based on the position information of the optical receiver on the device with respect to the optical transceiver and the installation position of the optical receiver on the device. The method is suitable for scenes with high requirements on positioning accuracy of the equipment or for equipment with large volume, such as robots, automobiles and the like.
Fig. 6 illustrates a method of positioning a device using an optical transceiver that can transmit a first beam and a second beam and can receive a reflected first beam, with at least three optical receivers on the device for receiving the second beam, the at least three optical receivers being non-collinear, according to another embodiment. The method may comprise the steps of:
step 601: the optical transceiver transmits a plurality of first light beams to a surrounding space.
Step 602: the optical transceiver receives the reflected first light beam.
Step 603: the optical transceiver determines depth information in some directions relative to the optical transceiver based on information related to the reflected first light beam.
Step 604: based on the depth information in the directions, the optical transceiver transmits a plurality of second light beams, each of which has encoded therein angle information of the light beam with respect to a transmission direction of the optical transceiver and depth information in the transmission direction.
Step 605: receiving the second light beam by each of at least three light receivers on the device and decoding the received second light beam to obtain the angle information and the depth information.
The second optical beam transmitted by the optical transceiver may be received by each optical receiver on the device and may be decoded to obtain information encoded in the second optical beam, such as angle information of the second optical beam with respect to a transmission direction of the optical transceiver and depth information in the transmission direction.
Step 606: determining positional information of each of the at least three optical receivers relative to the optical transceiver based on the angle information and the depth information.
After obtaining the angle information of the second light beam received by a certain optical receiver relative to the transmitting direction of the optical transceiver and the depth information in the transmitting direction, the direction of the optical receiver relative to the optical transceiver can be obtained according to the angle information, and the distance of the optical receiver relative to the optical transceiver can be obtained according to the depth information, so that the position information of the optical receiver relative to the optical transceiver can be determined according to the relative direction and the relative distance.
Step 607: determining position information and/or pose information of the device relative to the optical transceiver according to position information of each of the at least three optical receivers relative to the optical transceiver.
Through the position information of each optical receiver in at least three optical receivers on the equipment relative to the optical transceiver, the position information of the equipment relative to the optical transceiver can be determined, and the posture information of the equipment relative to the optical transceiver can also be determined.
Fig. 7 illustrates a method of positioning a device using an optical transceiver that may transmit a first beam and a second beam and may receive the reflected first beam, with one or more optical receivers on the device for receiving the second beam, according to another embodiment. In this embodiment, not only the angle information of the beam with respect to the transmission direction of the optical transceiver and the depth information in the transmission direction but also the identification information of the optical transceiver are encoded in each second beam. The identification information of the optical transceiver may be stored in a database in association with the pose information of the optical transceiver such that the identification information of the optical transceiver may be used to obtain its pose information. In this way, based on the pose information of the optical transceiver and the position information of the optical receiver relative to the optical transceiver, the position information of the optical receiver can be determined; alternatively, the position or pose information of the device may be determined based on the pose information of the optical transceiver and the position or pose information of the device relative to the optical transceiver. The method may comprise the steps of:
step 701: the optical transceiver transmits a plurality of first light beams to a surrounding space.
Step 702: the optical transceiver receives the reflected first light beam.
Step 703: the optical transceiver determines depth information in some directions relative to the optical transceiver based on information associated with the reflected first light beam.
Step 704: based on the depth information, the optical transceiver transmits a plurality of second light beams, each of which has encoded therein angle information of the light beam with respect to a transmission direction of the optical transceiver, depth information in the transmission direction, and identification information of the optical transceiver.
Step 705: receiving, by an optical receiver on the device, the second light beam and decoding the received second light beam to obtain the angle information, the depth information, and the identification information.
Some second light beam transmitted by the optical transceiver may be received by an optical receiver on the device and may be decoded to obtain information encoded in the second light beam, such as angle information of the second light beam with respect to a transmission direction of the optical transceiver, depth information in the transmission direction, and identification information of the optical transceiver.
Step 706: determining position information of an optical receiver on the device relative to the optical transceiver according to the angle information and the depth information.
Step 707: based on the identification information of the optical transceiver, pose information of the optical transceiver is obtained.
In one embodiment, identification information of the optical transceiver may be used to query for pose information of the optical transceiver in real space, e.g., pose information of the optical transceiver in a certain locale coordinate system or a world coordinate system.
Step 708: position information of an optical receiver on the device is determined based on pose information of the optical transceiver and position information of the optical receiver on the device relative to the optical transceiver.
After the pose information of the optical transceiver and the position information of the optical receiver on the device relative to the optical transceiver are obtained, the position information of the optical receiver, for example, the position information of the optical receiver in a certain place coordinate system or a world coordinate system, can be determined accordingly.
In one embodiment, the first optical beam may also have encoded therein angle information of the optical beam with respect to a transmission direction of the optical transceiver and depth information in the transmission direction, wherein the depth information may be obtained based on a previously transmitted optical beam by the optical transceiver. For example, the first and second beams may be beams of the same format, and the default depth information may be used when the beams are emitted for the first time, followed by continuously iteratively updating the depth information in each direction. The first light beam may be a spot light beam. In one embodiment, the first optical beam may also include identification information for the optical transceiver.
In one embodiment, the optical receiver 112 included in the optical transceiver 110 may also receive the reflected second light beam and determine or update depth information in some directions relative to the optical transceiver based on information related to the reflected second light beam. In one embodiment, the optical receiver 121 on the device 120 may also receive the first light beam.
In one embodiment of the invention, the invention may be implemented in the form of a computer program. The computer program may be stored in various storage media (e.g., hard disk, optical disk, flash memory, etc.), which when executed by a processor, can be used to implement the methods of the present invention.
In another embodiment of the invention, the invention may be implemented in the form of an electronic device. The electronic device comprises a processor and a memory in which a computer program is stored which, when being executed by the processor, can be used for carrying out the method of the invention.
References herein to "various embodiments," "some embodiments," "one embodiment," or "an embodiment," etc., indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases "in various embodiments," "in some embodiments," "in one embodiment," or "in an embodiment," or the like, in various places throughout this document are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, a particular feature, structure, or characteristic illustrated or described in connection with one embodiment may be combined, in whole or in part, with a feature, structure, or characteristic of one or more other embodiments without limitation, as long as the combination is not logically inconsistent or workable. Expressions appearing herein similar to "according to a", "based on a", "by a" or "using a" mean non-exclusive, i.e. "according to a" may cover "according to a only", and also "according to a and B", unless it is specifically stated that the meaning is "according to a only". In the present application, for clarity of explanation, some illustrative operational steps are described in a certain order, but one skilled in the art will appreciate that each of these operational steps is not essential and some of them may be omitted or replaced by others. It is also not necessary that these operations be performed sequentially in the manner shown, but rather that some of these operations be performed in a different order, or in parallel, as desired, provided that the new implementation is not logically or operationally unfeasible.
Having thus described several aspects of at least one embodiment of this invention, it is to be appreciated various alterations, modifications, and improvements will readily occur to those skilled in the art. Such alterations, modifications, and improvements are intended to be within the spirit and scope of the invention. Although the present invention has been described by way of some embodiments, the present invention is not limited to the embodiments described herein, and various changes and modifications may be made without departing from the scope of the present invention.
Claims (15)
1. A method of controlling an optical transceiver configured to transmit a first beam and a second beam and receive a reflected first beam, the method comprising:
the optical transceiver transmitting a plurality of first light beams to a surrounding space;
the optical transceiver receives the reflected first light beam;
determining depth information in some directions relative to the optical transceiver based on information related to the reflected first light beam; and
based on the depth information, the optical transceiver transmits a plurality of second light beams, wherein angle information of the second light beams relative to the transmitting direction of the optical transceiver and the depth information in the transmitting direction are encoded in the second light beams.
2. The method of claim 1, wherein the second optical beam is receivable by an optical receiver spatially isolated from the optical transceiver and decodable to obtain the angle and depth information for determining positional information of the optical receiver relative to the optical transceiver.
3. The method of claim 1, wherein the second beam also has encoded therein identification information of the optical transceiver.
4. The method of claim 3, wherein the identification information is used to obtain pose information for the optical transceiver.
5. The method of claim 1, wherein the second beam is a spot beam.
6. The method of claim 1, further comprising:
the optical transceiver receives the reflected second light beam; and
determining or updating depth information in some directions relative to the optical transceiver based on information related to the reflected second light beam.
7. The method of claim 1, wherein the first beam has encoded therein angle information and depth information in a transmit direction of the first beam relative to the optical transceiver.
8. A method of positioning a device using an optical transceiver configured to transmit a first beam of light and a second beam of light and to receive the reflected first beam of light, the device having one or more optical receivers thereon for receiving the second beam of light, the method comprising:
the optical transceiver transmitting a plurality of first light beams to a surrounding space;
the optical transceiver receives the reflected first light beam;
determining depth information in some directions relative to the optical transceiver based on information related to the reflected first light beam;
transmitting, by the optical transceiver, a plurality of second light beams on the basis of the depth information, wherein angle information of the second light beams with respect to a transmission direction of the optical transceiver and the depth information in the transmission direction are encoded in the second light beams;
receiving, by a light receiver on the device, the second light beam and decoding the received second light beam to obtain the angle information and depth information; and
and determining the position information of the optical receiver on the equipment relative to the optical transceiver according to the angle information and the depth information.
9. The method as set forth in claim 8, wherein,
wherein the device has at least three light receivers thereon for receiving the second light beam, the at least three light receivers being non-collinear,
and wherein the step of (a) is,
the receiving the second light beam by a light receiver on the device comprises: receiving the second light beam by each of the at least three light receivers on the device;
the determining positional information of an optical receiver on the device relative to the optical transceiver comprises: determining positional information for each of the at least three optical receivers with respect to the optical transceiver.
10. The method of claim 9, further comprising:
determining position information and/or pose information of the device relative to the optical transceiver according to position information of each of the at least three optical receivers relative to the optical transceiver.
11. The method of claim 8, wherein the second beam further encodes identification information of the optical transceiver, and wherein the method further comprises:
decoding the received second light beam to obtain identification information of the optical transceiver;
obtaining pose information of the optical transceiver based on the identification information of the optical transceiver; and
determining location information of an optical receiver on the device based on pose information of the optical transceiver and location information of the optical receiver on the device relative to the optical transceiver.
12. An optical transceiver configured to implement the method of any one of claims 1-7.
13. A system for positioning a device using an optical transceiver, the system comprising an optical transceiver and a device, wherein the optical transceiver is configured to transmit a first beam of light and a second beam of light and to receive the reflected first beam of light, the device having one or more optical receivers thereon for receiving the second beam of light, the system configured to implement the method of any of claims 8-11.
14. A storage medium in which a computer program is stored which, when being executed by a processor, is operative to carry out the method of any one of claims 1-11.
15. An electronic device comprising a processor and a memory, the memory having stored therein a computer program which, when executed by the processor, is operable to carry out the method of any of claims 1-11.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110919692.XA CN115932867A (en) | 2021-08-11 | 2021-08-11 | Optical transceiver and control method of optical transceiver |
| PCT/CN2022/110862 WO2023016406A1 (en) | 2021-08-11 | 2022-08-08 | Optical transceiver, and method for controlling optical transceiver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110919692.XA CN115932867A (en) | 2021-08-11 | 2021-08-11 | Optical transceiver and control method of optical transceiver |
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| CN115932867A true CN115932867A (en) | 2023-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110919692.XA Pending CN115932867A (en) | 2021-08-11 | 2021-08-11 | Optical transceiver and control method of optical transceiver |
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| Country | Link |
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| CN (1) | CN115932867A (en) |
| WO (1) | WO2023016406A1 (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2381321A1 (en) * | 1977-02-18 | 1978-09-15 | Thomson Csf | OPTOELECTRIC DETECTION AND ANGULAR LOCATION DEVICE OF A LUMINOUS OBJECT AND SYSTEM INCLUDING SUCH A DEVICE |
| CN105842659B (en) * | 2016-03-16 | 2019-05-14 | 北京国承万通信息科技有限公司 | Aided positioning system and method and indoor locating system and method |
| CN110687516B (en) * | 2018-07-06 | 2022-10-04 | 江苏慧光电子科技有限公司 | Control method, device and system for light beam scanning and corresponding medium |
| US20210208275A1 (en) * | 2020-01-02 | 2021-07-08 | Analog Devices International Unlimited Company | Angle of rotation determination in scanning lidar systems |
| CN112114329A (en) * | 2020-09-27 | 2020-12-22 | 国网辽宁省电力有限公司营口供电公司 | Unmanned aerial vehicle detection positioning device and method |
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- 2021-08-11 CN CN202110919692.XA patent/CN115932867A/en active Pending
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| WO2023016406A1 (en) | 2023-02-16 |
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