CN110868253A - A capture, alignment and tracking device for short-range wireless optical communication - Google Patents

Abstract

The invention discloses a capturing, aligning and tracking device for short-range wireless optical communication. , both ends transmit and receive beacon light at the same time, the signal light receiving light axis of terminal A and terminal B at both ends follow the beacon light scanning and moving respectively, the signal light emission of terminal A is aligned with the signal light receiving of terminal B, and the signal light of terminal A and B The optical axes of signal reception and reception are parallel to each other, and the signal light emission of terminal B is also aimed at the signal light reception of terminal A, thereby establishing a communication optical link. The device is low cost, has fast scanning, accurate capture, precise alignment and stable tracking.

Description

A capture, alignment and tracking device for short-range wireless optical communication

technical field

The present invention relates to the technical field of wireless optical communication, in particular to a large-capacity wireless optical communication system used for short-range wireless optical communication, that is, a large-capacity wireless optical communication system within 100 meters, in particular to a capture, alignment, tracking ( Acquisition, Pointing and Tacking, referred to as APT) device.

Background technique

Light Near Field Communication (LNFC) is a short-range high-capacity wireless optical communication technology. Compared with Bluetooth, ZigBee, Wi-Fi, NFC and other short-range wireless communication technologies that use electromagnetic waves as carriers, the Field optical communication (within 100 meters) has a longer communication distance and a larger communication capacity; compared with conventional wireless optical communication (communication distance is in kilometers), short-range wireless optical communication is generally not affected by rain, snow, fog, Atmospheric turbulence and many other adverse conditions, and has the advantages of small size, light weight, low power consumption, low cost and portability.

In many scenarios with close-range or cableless requirements, a technology that can automatically transmit data wirelessly at high speed is required to meet the needs of high-speed wireless transmission of large-capacity data between mobile communication devices anytime, anywhere, i.e. voice, image, high-definition The demand for video, the short-range wireless optical communication technology can just meet this demand. Similar to long-distance wireless optical communication, short-range wireless optical communication also requires an APT system to ensure accurate alignment and stable tracking of two communication terminals before dynamic communication. It is long, and there are a lot of stray light and the reflected light of the beacon itself in the environment, which has a great impact on the scanning, acquisition, alignment and tracking of the beacon, resulting in inaccurate target acquisition and tracking error; suitable for long-distance wireless optical communication. APT technology does not have the ability to solve the above problems, and in terms of volume, weight, power consumption, cost and portability, long-distance wireless optical communication technology is completely unsuitable for short-range wireless optical communication.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a capturing, aligning and tracking device for short-range wireless optical communication in view of the deficiencies of the prior art. The device is low cost, has fast scanning, accurate capture, precise alignment and stable tracking.

The technical scheme that realizes the object of the present invention is:

A capture, alignment, and tracking device for short-range wireless optical communication, comprising a terminal A and a terminal B arranged at different positions 1 to 100 meters apart,

The terminal A includes a first two-axis turntable and a first optical antenna disposed on the first two-axis turntable. The first optical antenna can follow the first two-axis turntable to perform horizontal and pitch motions, including the first two-axis turntable that is electrically connected. A miniature vision module, a first beacon light emitting unit, a second beacon light emitting unit, a first signal light emitting unit, and a first signal light receiving unit, the first two-axis turntable is provided with a first subdivision motor drive module And the first azimuth code disc, the first pitch code disc, the first azimuth motor and the first pitch motor electrically connected with the first subdivision motor drive module, the azimuth and pitch of the first two-axis turntable are respectively determined by the first azimuth motor and the first pitch motor. The first pitch motor is controlled, the azimuth scanning range is ±60°, the pitch scanning range is ±45°, and the angle is controlled by the first azimuth code wheel and the first pitch code wheel;

The terminal B includes a second two-axis turntable and a second optical antenna arranged on the second two-axis turntable. The second optical antenna can follow the second two-axis turntable to perform horizontal and pitch motions, including an electrically connected second two-axis turntable. A miniature vision module, a third beacon light emitting unit, a fourth beacon light emitting unit, a second signal light emitting unit, and a second signal light receiving unit, the second two-axis turntable is provided with a second subdivision motor drive module And the second azimuth code disc, the second pitch code disc, the second azimuth motor and the second pitch motor electrically connected with the second subdivision motor drive module, the azimuth and pitch of the second two-axis turntable are respectively determined by the second azimuth motor and the second pitch motor. The second pitch motor is controlled, the azimuth scanning range is ±60°, the pitch scanning range is ±45°, and the angle is controlled by the second azimuth code wheel and the second pitch code wheel;

The antenna panel of terminal A and the antenna panel of terminal B are arranged in a symmetrical structure with a micro-vision module, a diagonal double beacon light transmitting unit with a divergence angle of 120°, a signal light transmitting unit, and a signal light receiving unit, namely the first micro vision module. Align the third beacon light emitting unit, the first beacon light emitting unit is aligned with the second micro vision module, the first signal light emitting unit is aligned with the second signal light receiving unit, and the first signal light receiving unit is aligned with the second Signal light emitting unit, the second beacon light emitting unit forms a diagonal structure with the first beacon light emitting unit as an auxiliary beacon, and the third beacon light emitting unit forms as an auxiliary beacon and the fourth beacon light emitting unit Diagonal structure;

Terminal A and terminal B adopt double-end scanning mode, both ends transmit and receive beacon light at the same time. Filtering, anti-reflection and stray light processing are performed on the optical signal of the optical signal until the diagonal double beacon light at the opposite end is scanned, and the tracking beacon is continuously tracked and aligned. By correcting the tracking alignment position and the pre-calibrated position The deviation is zero. At this time, the signal light emission of terminal A is aligned with the signal light reception of terminal B. Since the signal receiving light axes of terminals A and B are parallel to each other, the signal light emission of terminal B is also aligned with the signal light receiving of terminal A, thereby establishing a communication light. link.

The first miniature vision module and the second miniature vision module are both OpenMV4 H7, equipped with an infrared photosensitive chip, a filter and a lens, as the beacon light receiving unit, according to the position of the opposite end beacon light spot on the photosensitive chip. , realize scanning, capturing and tracking, calculate the position deviation according to the spot centroid algorithm, provide the deviation signal to the motor to control the movement of the two-axis turntable, and then lock the target.

The first beacon light emitting unit, the second beacon light emitting unit, the third beacon light emitting unit, and the fourth beacon light emitting unit are all lasers with a 5V constant current power supply that are electrically connected to 940-980nm infrared LEDs Infrared beacon light is emitted at a divergence angle of 120°. When the transmit power is sufficient, the larger the divergence angle is, the faster the target scanning and capture speed is. The first beacon light emitting unit and the third beacon light emitting unit act as The tracking and alignment beacon functions, and the second beacon light emitting unit and the fourth beacon light emitting unit function as auxiliary tracking beacons.

The first signal light emitting unit and the second signal light emitting unit both include a single-mode fiber electrically connected by a 5V constant current power supply and a 1550nm laser and an emission angle lens respectively connected at both ends of the single-mode fiber, and the optical signal passes through the emission lens. The divergence angle of 15° is emitted, and under the premise of a certain transmit power, the smaller the divergence angle, the longer the transmission distance.

The second beacon light emitting unit is arranged diagonally with respect to the first optical antenna plane and the first beacon light emitting unit. Such a structure can effectively filter out reflected light and stray light in the environment. The optical axis of the light emitting unit is parallel to the optical axis of the first signal light emitting unit, and the optical axis of the second beacon light emitting unit is not parallel to the optical axis of the first signal light emitting unit.

The fourth beacon light emitting unit is arranged diagonally with respect to the second optical antenna plane and the third beacon light emitting unit. Such a structure can effectively filter out the reflected light and stray light in the environment. The optical axis of the light emitting unit is parallel to the optical axis of the second signal light emitting unit, and the optical axis of the fourth beacon light emitting unit is not parallel to the optical axis of the second signal light emitting unit.

The first signal light receiving unit and the second signal light receiving unit both comprise a multimode fiber electrically connected by a 5V constant current power supply and a receiving detector and a receiving lens respectively connected at both ends of the multimode fiber, and the signal light is coupled through the receiving lens into multimode fiber.

The first subdivision motor driving module and the second subdivision motor driving module drive the azimuth angle and the pitch angle of the first two-axis turntable and the second two-axis turntable according to the instructions.

The functions of the first two-axis turntable and the second two-axis turntable are driven by the first subdivision motor drive module and the second subdivision motor drive module, according to the position calculated by the first micro vision module and the second micro vision module. The deviation controls the second azimuth motor and the second pitch motor. The azimuth motor and the pitch motor can accurately adjust the antenna angle to complete the alignment at both ends. The turntable can be in the form of a stepping turntable, a servo turntable, a gyro-stabilized turntable, etc.

The first azimuth code disc and the first pitch code disc are horizontal and pitch angle sensors respectively, and their function is to detect the absolute angles of the first two-axis turntable horizontal and pitch in real time, and provide them to the micro vision module to realize the scanning algorithm.

The second azimuth code disc and the second pitch code disc are horizontal and pitch angle sensors respectively, and their function is to detect the absolute angles of the second two-axis turntable in real time, and provide them to the micro vision module to realize the scanning algorithm.

Compared with the prior art, the technical solution has:

1. The beacon transmitting unit is designed with a special structure of diagonal double beacon light, so that it can overcome the interference problems of stray light and reflected light in the near-field environment, and can be well applied in the complex near-field environment to establish a stable and reliable communication link;

2. The present invention adopts the wireless laser transmission method, and the rate can reach 10G or even higher. Compared with the traditional near-field radio communication methods (NFC, Bluetooth, wifi, etc.) Compared with long-distance wireless laser communication, it is not affected by weather factors, is not limited by the erection site, and can achieve a higher communication rate;

3. The whole set of APT system realizes all functions at a very low cost. The weight is less than 2.5KG and the power consumption is less than 15W. It has the advantages of high automation, portability and simple installation. It can establish wireless communication links anytime, anywhere for large-capacity data. transmission.

The device is low cost, has fast scanning, accurate capture, precise alignment and stable tracking.

Description of drawings:

FIG. 1 is a schematic diagram of the structure of an antenna terminal A in an embodiment;

FIG. 2 is a schematic diagram of the structure of the B-end of the antenna in the embodiment;

3 is a block diagram of the connection of each module of the antenna A end or the antenna B end in the embodiment;

FIG. 4 is a schematic diagram of the principle of interconnection of terminal A and terminal B in the embodiment.

In the figure, 1. The first optical antenna 1-1. The second optical antenna 2. The first micro vision module 2-1. The second micro vision module 3. The first beacon light emitting unit 3-1. The third beacon Light emitting unit 4. Second beacon light emitting unit 4-1. Fourth beacon light emitting unit 5. First signal light emitting unit 5-1. Second signal light emitting unit 6. First two-axis turntable 6- 1. The second two-axis turntable 7. The first signal light receiving unit 7-1. The second signal light receiving unit 8. The first subdivision motor drive module 8-1. The second subdivision motor drive module 9. The first orientation Code disc 9-1. Second azimuth code disc 10. First pitch code disc 10-1. Second pitch code disc 11. First azimuth motor 11-1. Second azimuth motor 12. First pitch motor 12-1 . Second pitch motor 13. Laser 14. Single-mode fiber 15. Emitting angle lens 16. Receiver detector 17. Multi-mode fiber 18. Receive lens 19. Photosensitive film 20. Filter 21. Lens.

Detailed ways

The content of the present invention will be further described below with reference to the accompanying drawings and embodiments, but it is not intended to limit the present invention.

Example:

3, a capture, alignment, and tracking device for short-range wireless optical communication, including a terminal A and a terminal B arranged at different positions 1-100 meters apart,

，角度由第一方位码盘9和第一俯仰码盘10控制； As shown in FIG. 1 , the terminal A includes a first two-axis turntable 6 and a first optical antenna 1 disposed on the first two-axis turntable 6 . The first optical antenna 1 can follow the first two-axis turntable 6 to operate Horizontal and pitch motions, including the electrically connected first miniature vision module 2, the first beacon light emitting unit 3, the second beacon light emitting unit 4, the first signal light emitting unit 5, and the first signal light receiving unit 7, The two-axis turntable 6 is provided with a first subdivision motor drive module 8 and a first azimuth code disc 9, a first pitch code disc 10, a first azimuth motor 11 and a first azimuth code disc 9 electrically connected to the first subdivision motor drive module 8. A pitch motor 12, the azimuth and pitch of the first two-axis turntable 6 are controlled by the first azimuth motor 11 and the first pitch motor 12 respectively, the azimuth scanning range is ±60°, and the pitch scanning range is

, the angle is controlled by the first azimuth code wheel 9 and the first pitch code wheel 10;

，角度由第二方位码 盘9-1和第二俯仰码盘10-1控制； As shown in FIG. 2 , the second two-axis turntable 6-1 of the terminal B and the second optical antenna 1-1 arranged on the second two-axis turntable 6-1, the second optical antenna 1-1 can follow The second two-axis turntable 6-1 moves horizontally and vertically, and includes a second micro-vision module 2-1 electrically connected, a third beacon light emitting unit 3-1, a fourth beacon light emitting unit 4-1, a third Two signal light emitting units 5-1, second signal light receiving units 7-1, the second two-axis turntable 6-1 is provided with a second subdivision motor driving module 8-1 and a second subdivision motor driving module 8-1 Electrically connected second azimuth code disc 9-1, second pitch code disc 10-1, second azimuth motor 11-1 and second pitch motor 12-1, the orientation of the second two-axis turntable 6-1 and pitch are controlled by the second azimuth motor 11-1 and the second pitch motor 12-1 respectively, the azimuth scanning range is ±60°, and the pitch scanning range is

, the angle is controlled by the second azimuth code wheel 9-1 and the second pitch code wheel 10-1;

The antenna panel of terminal A and the antenna panel of terminal B are arranged in a symmetrical structure with a micro-vision module, a diagonal double beacon light transmitting unit (divergence angle 120°), a signal light transmitting unit, and a signal light receiving unit, namely the first micro vision module. 2 Align the third beacon light emitting unit 3-1, the first beacon light emitting unit 3 is aligned with the second micro vision module 2-1, and the first signal light emitting unit 5 is aligned with the second signal light receiving unit 7- 1. The first signal light receiving unit 7 is aligned with the second signal light transmitting unit 5-1, the second beacon light transmitting unit 4 is used as an auxiliary beacon to form a diagonal structure with the first beacon light transmitting unit 3, and the third The beacon light emitting unit 3-1 as an auxiliary beacon forms a diagonal structure with the fourth beacon light emitting unit 4-1, as shown in FIG. 4 .

Terminal A and terminal B adopt double-end scanning mode, both ends transmit and receive beacon light at the same time. Filtering, anti-reflection and stray light processing are performed on the optical signal of the optical signal until the diagonal double beacon light at the opposite end is scanned, and the tracking beacon is continuously tracked and aligned. By correcting the tracking alignment position and the pre-calibrated position The deviation is zero. At this time, the signal light emission of terminal A is aligned with the signal light reception of terminal B. Since the signal receiving light axes of terminals A and B are parallel to each other, the signal light emission of terminal B is also aligned with the signal light receiving of terminal A, thereby establishing a communication light. link.

The first miniature vision module 2 and the second miniature vision module 2-1 are both OpenMV4 H7, and are provided with an infrared photosensitive chip 19, a filter 20 and a lens 21 as a beacon light receiving unit. The position of the image on the photosensitive chip is scanned, captured and tracked, the position deviation is calculated according to the spot centroid algorithm, and the deviation signal is provided to the motor to control the movement of the two-axis turntable, thereby locking the target.

The first beacon light emitting unit 3, the second beacon light emitting unit 4, the third beacon light emitting unit 3-1, and the fourth beacon light emitting unit 4-1 are all equipped with a 5V constant current power supply. The laser is electrically connected to 940~980nm infrared LEDs, and both emit infrared beacon light at a divergence angle of 120°. When the transmit power is sufficient, the larger the divergence angle, the faster the target scanning and capturing speed. The first beacon light emitting unit 3 The third beacon light emitting unit 3-1 is used as a tracking and alignment beacon, and the second beacon light emitting unit 4 and the fourth beacon light emitting unit 4-1 are used as auxiliary tracking beacons.

The first signal light emitting unit 5 and the second signal light emitting unit 5-1 both include a single-mode optical fiber 14 electrically connected by a 5V constant current power supply and a 1550 nm laser 13 and an emission angle lens respectively connected at both ends of the single-mode optical fiber 14. 15. The optical signal is transmitted through the transmitting lens 14 with a divergence angle of 15°. Under the premise of a certain transmit power, the smaller the divergence angle, the longer the transmission distance.

The second beacon light emitting unit 4 is arranged diagonally with respect to the plane of the first optical antenna 1 and the first beacon light emitting unit 3, such a structure can effectively filter out the reflected light and stray light in the environment, The optical axis of the first beacon light emitting unit 3 is parallel to the optical axis of the first signal light emitting unit 5 , and the optical axis of the second beacon light emitting unit 4 is not parallel to the optical axis of the first signal light emitting unit 5 .

The fourth beacon light emitting unit 4-1 is arranged diagonally with respect to the plane of the second optical antenna 1-1 and the third beacon light emitting unit 3-1, and such a structure can effectively filter out reflections in the environment light and stray light, the optical axis of the third beacon light emitting unit 3-1 is parallel to the optical axis of the second signal light emitting unit 5-1, and the fourth beacon light emitting unit 4-1 does not emit with the second signal light The optical axes of the unit 5-1 are parallel.

The first signal light receiving unit 7 and the second signal light receiving unit 7-1 both include a multimode fiber 17 electrically connected by a 5V constant current power supply, and a receiving detector 16 and a receiving lens respectively connected at both ends of the multimode fiber 17. 18, the signal light is coupled into the multimode fiber 17 through the receiving lens 18.

The first subdivision motor driving module 8 and the second subdivision motor driving module 8-1 drive the azimuth and pitch angles of the first two-axis turntable 6 and the second two-axis turntable 6-1 according to the instructions.

The function of the first two-axis turntable 6 and the second two-axis turntable 6-1 is that under the driving of the first subdivision motor drive module 8 and the second subdivision motor drive module 8-1, according to the first micro vision module 2, The position deviation calculated by the second micro vision module 2-1 controls the second azimuth motor 11-1 and the second pitch motor 12-1. The azimuth motor 11 and the pitch motor 12 can precisely adjust the antenna angle to complete the alignment at both ends. Specifically, it can be in the form of a stepping turntable, a servo turntable, a gyro-stabilized turntable, and the like.

The first azimuth code wheel 9 and the first pitch code wheel 10 are horizontal and pitch angle sensors respectively, and their function is to detect the absolute angles of the first two-axis turntable horizontal and pitch in real time, and provide them to the micro vision module to realize the scanning algorithm.

The second azimuth code wheel 9-1 and the second pitch code wheel 10-1 are horizontal and pitch angle sensors, respectively. Their function is to detect the absolute angles of the second two-axis turntable in real time, and provide them to the micro vision module to realize the scanning algorithm. .

As shown in Figure 4, it can be seen from the schematic diagram of the back assembly of terminal A and terminal B in the embodiment that both ends of terminal A and terminal B can be placed on the train and the ground or the plane and the ground (any other similar scenarios), on the terminal A and terminal B After electrical reset, the turntable is controlled to perform azimuth and pitch scanning according to the real-time angle of the code disc. Both ends of terminal A and terminal B simultaneously transmit beacon light. After one end scans the beacon light emitted by the other party, it captures the target for continuous tracking and tracking. At the same time, the peer end will also scan the beacon of the local end for continuous tracking and alignment; because the signal light receiving optical axes of terminal A and terminal B are parallel to each other, the signal light transmitting optical path and the receiving optical path follow the beacon light optical axis Align the signal light receiving light path and sending light path of the opposite end, and couple the signal light into the optical fiber or detector. When the two ends of terminal A and terminal B are precisely aligned with each other, the signal light and beacon light of terminal A and terminal B are sent and received. Coaxial, ensuring the establishment of communication links.

Claims (7)

1. An acquisition, alignment and tracking device for short-distance wireless optical communication is characterized by comprising a terminal A and a terminal B which are arranged at different positions with a distance of 1-100 meters,

the terminal A comprises a first two-axis turntable and a first optical antenna arranged on the first two-axis turntable, the first optical antenna can move horizontally and in a pitching manner along with the first two-axis turntable and comprises a first micro vision module, a first beacon light emitting unit, a second beacon light emitting unit, a first signal light emitting unit and a first signal light receiving unit which are electrically connected, the first two-axis turntable is provided with a first subdivision motor driving module, and a first azimuth code wheel, a first pitching code wheel, a first azimuth motor and a first pitching motor which are electrically connected with the first subdivision motor driving module, the azimuth and the pitching of the first two-axis turntable are respectively controlled by the first azimuth motor and the first pitching motor, the azimuth scanning range is +/-60 degrees, the pitching scanning range is +/-45 degrees, and the angle is controlled by the first azimuth code wheel and the first pitching code wheel;

the terminal B comprises a second two-axis rotary table and a second optical antenna arranged on the second two-axis rotary table, the second optical antenna can move horizontally and in a pitching manner along with the second two-axis rotary table and comprises a second micro visual module, a third beacon light emitting unit, a fourth beacon light emitting unit, a second signal light emitting unit and a second signal light receiving unit which are electrically connected, the second two-axis rotary table is provided with a second subdivision motor driving module, and a second azimuth code wheel, a second pitching code wheel, a second azimuth motor and a second pitching motor which are electrically connected with the second subdivision motor driving module, the azimuth and the pitching of the second two-axis rotary table are respectively controlled by the second azimuth motor and the second pitching motor, the azimuth scanning range is +/-60 degrees, the pitching scanning range is +/-45 degrees, and the angles are controlled by the second azimuth code wheel and the second pitching code wheel;

the antenna panel of the terminal A and the antenna panel of the terminal B are provided with a micro visual module and a diagonal double-beacon light transmitting unit according to a symmetrical structure, wherein the divergence angle is 120 degrees, the signal light transmitting unit and the signal light receiving unit are aligned to a third beacon light emitting unit, namely, the first micro visual module is aligned to a second micro visual module, the first beacon light emitting unit is aligned to a second signal light receiving unit, the first signal light receiving unit is aligned to a second signal light emitting unit, the second beacon light emitting unit is used as an auxiliary beacon to form a diagonal structure with the first beacon light emitting unit, and the third beacon light emitting unit is used as an auxiliary beacon to form a diagonal structure with a fourth beacon light emitting unit;

the terminal A and the terminal B adopt a double-end scanning mode, beacon light is emitted and received at two ends simultaneously, signal light receiving and transmitting optical axes at the two ends of the terminal A and the terminal B move along with the scanning of the beacon light respectively, the signal light emission of the terminal A is aligned to the signal light reception of the terminal B, the signal receiving and transmitting optical axes of the terminal A and the terminal B are parallel to each other, the signal light emission of the terminal B is also aligned to the signal light reception of the terminal A, and therefore a communication optical link is established.

2. The capturing, aligning and tracking device for short-range wireless optical communication according to claim 1, wherein the first micro vision module and the second micro vision module are both OpenMV 4H 7, and are provided with an infrared light sensing chip, a filter and a lens as a beacon light receiving unit, so as to realize scanning, capturing and tracking according to the position of the opposite end beacon light spot imaged on the light sensing chip, calculate the position deviation according to the light spot centroid algorithm, and provide the deviation signal to the motor to control the movement of the two-axis turntable, thereby locking the target.

3. The capturing, aligning and tracking device for short-distance wireless optical communication according to claim 1, wherein the first beacon light emitting unit, the second beacon light emitting unit, the third beacon light emitting unit and the fourth beacon light emitting unit are all composed of 940-980 nm infrared LEDs electrically connected with a laser with a 5V constant current power supply, and all emit infrared beacon light at a divergence angle of 120 °.

4. The capturing, aligning and tracking device for short-distance wireless optical communication according to claim 1, wherein the first signal light emitting unit and the second signal light emitting unit each comprise a single-mode fiber electrically connected by a 5V constant current power supply and a 1550nm laser and an emission angle lens respectively connected to both ends of the single-mode fiber, and the optical signal is emitted through the emission lens at a divergence angle of 15 °.

5. The capturing, aligning, and tracking apparatus for short-range wireless optical communication according to any one of claims 1, 3, and 4, wherein the second beacon light emitting unit is disposed diagonally to the first beacon light emitting unit with respect to the first optical antenna plane, an optical axis of the first beacon light emitting unit is parallel to an optical axis of the first signal light emitting unit, and an optical axis of the second beacon light emitting unit is not parallel to the optical axis of the first signal light emitting unit.

6. The capturing, aligning, and tracking apparatus for short-range wireless optical communication according to any one of claims 1, 3, and 4, wherein the fourth beacon light emitting unit is disposed diagonally to the third beacon light emitting unit with respect to the second optical antenna plane, an optical axis of the third beacon light emitting unit is parallel to an optical axis of the second signal light emitting unit, and an optical axis of the fourth beacon light emitting unit is not parallel to the optical axis of the second signal light emitting unit.

7. The capturing, aligning, and tracking device for short-range wireless optical communication according to claim 1, wherein the first signal light receiving unit and the second signal light receiving unit each include a multimode optical fiber electrically connected by a 5V constant current power supply, and a receiving detector and a receiving lens respectively connected to both ends of the multimode optical fiber, and the signal light is coupled into the multimode optical fiber through the receiving lens.

Images