CN107499164A - Unmanned plane charging system and charging method based on laser - Google Patents

Abstract

The present invention relates to a kind of unmanned plane charging system and charging method based on laser, charging system includes laser transmission electric supply installation and unmanned plane, the laser transmission electric supply installation includes power supply, generating laser unit, the first positioning unit, the first communication unit and horizontal tilt angle adjusting mechanism, and the unmanned plane includes unmanned plane body, photovoltaic cells, rechargeable battery, the second positioning unit, the second communication unit, photovoltaic cells pose adjustment unit and the second control unit；Charging system of the present invention, gather the positional information of laser transmission electric supply installation and unmanned plane respectively by two positioning units, photovoltaic cells are adjusted to perpendicular to incoming laser beam by photovoltaic cells pose adjustment unit, energy transmission efficiency is improved, reduces energy loss.

Description

Laser-based UAV charging system and charging method

technical field

The invention relates to the technical field of charging, in particular to a laser-based unmanned aerial vehicle charging system and charging method.

Background technique

As a kind of unmanned aircraft mainly controlled by radio remote control or by its own program, compared with manned aircraft, UAV has the advantages of small size, low cost, convenient use, low requirements for combat environment, and high battlefield survivability. Strong and other advantages, it is favored by armies all over the world. However, short battery life is one of the main disadvantages of drones.

In the prior art, solar energy and microwave-based wireless energy transmission technology are usually used to charge the onboard energy storage battery, but solar energy technology is affected by weather conditions and cannot be used at night; microwave-based wireless energy transmission technology uses electromagnetic induction of coils The conversion efficiency of electric energy is low. In order to improve the battery life of drones, using lasers for charging has become a new choice for people. As far as the current laser charging technology is concerned, there are still technical problems that need to be solved urgently, such as the large depletion coefficient of the laser angle, which makes it difficult to ensure the normal incidence conditions of the laser, which makes the energy transmission efficiency low and causes a large amount of energy loss.

Contents of the invention

The purpose of the present invention is to improve the above-mentioned deficiencies in the prior art, and provide a laser-based UAV charging system and charging method.

The first problem solved by the present invention is how to ensure the normal incidence of laser light and improve the energy transmission efficiency. Therefore, the embodiments of the present invention provide the following technical solutions:

A laser-based unmanned aerial vehicle charging system includes a laser transmission power supply device and an unmanned aerial vehicle, and the laser transmission power supply device includes a power supply, a laser transmitter unit, a first positioning unit, a first communication unit, and a horizontal-pitch angle adjustment Mechanism, the drone includes a drone body, a photovoltaic unit, a rechargeable battery, a second positioning unit, a second communication unit, a photovoltaic unit attitude adjustment unit, a photovoltaic unit attitude measurement unit and a second control unit; the power supply is a laser emission The laser unit provides electrical energy, the laser beam emitted by the laser transmitter unit is incident on the photovoltaic unit, and the photovoltaic unit converts the parallel laser beam into electrical energy to charge the rechargeable battery; the first positioning unit collects the position information of the laser transmission power supply device, and passes the first The communication unit sends to the drone, the second positioning unit collects the position information of the drone, the photovoltaic unit attitude measurement unit measures the attitude information of the photovoltaic unit, and the second control unit calculates the laser transmission through the two position information and the attitude information of the photovoltaic unit. For the mutual attitude between the power supply device and the drone, the photovoltaic unit is adjusted to be perpendicular to the incident laser beam through the photovoltaic unit attitude adjustment unit.

In the above system, the position information of the laser transmission power supply device and the UAV are respectively collected by two positioning units, and the attitude information of the photovoltaic unit is measured by the attitude measurement unit of the photovoltaic unit, and the laser position is calculated according to the two position information and the attitude information of the photovoltaic unit. The mutual attitude between the power supply device and the UAV is transmitted, and then the attitude of the photovoltaic unit is adjusted through the attitude adjustment unit of the photovoltaic unit, so that the parallel laser beam is vertically incident on the photovoltaic unit, thus improving the energy transmission efficiency and reducing energy loss.

In addition, the laser light emitted by the laser transmitter unit is output to the photovoltaic unit after being shaped into a parallel laser beam by the light collection unit, so that more laser light can be incident on the photovoltaic unit, so the utilization rate of the laser light can be improved, and the energy utilization can be further improved efficiency and avoid energy waste.

The second problem solved by the present invention is how to reduce the cost of the photovoltaic unit and improve the photoelectric conversion capability of the photovoltaic unit. Therefore, the embodiments of the present invention provide the following technical solutions:

The photovoltaic unit is a photovoltaic array composed of multiple photovoltaic modules.

The photovoltaic unit can be a photovoltaic module. In order to improve the photoelectric conversion capability of the photovoltaic unit, it is necessary to select a photovoltaic module with better performance, and a high-performance photovoltaic module is expensive. The price of an ordinary photovoltaic module is much lower than that of a high-performance photovoltaic module. By forming a photovoltaic array with multiple photovoltaic modules, not only can the cost of the photovoltaic unit be reduced, but compared with a single high-performance photovoltaic module, the photovoltaic array can also Guarantee or even improve the photoelectric conversion capability of the photovoltaic unit.

The third problem solved by the present invention is how to improve the photoelectric conversion efficiency of laser light. For this reason, the embodiments of the present invention provide the following technical solutions:

The surface of the photovoltaic array is coated with a laser total reflection film. After the parallel laser beam is incident on the photovoltaic array, the laser reflected by the photovoltaic array is reflected by the laser total reflection film and then enters the photovoltaic array again. Through multiple reflections, almost all of the laser light can be absorbed by the photovoltaic array and then converted into electrical energy, improving the photoelectric conversion efficiency of the laser.

The fourth problem solved by the present invention is how to ensure the reliability of the laser transmitter unit and reduce the cost of the laser transmitter unit. For this reason, the embodiments of the present invention provide the following technical solutions:

The laser transmitter unit is a laser transmitter array composed of multiple laser transmitters.

The laser emitter unit may be a laser emitter. In order to increase the luminous intensity of the laser emitter, it is necessary to select a laser emitter with better performance, and a high-performance laser emitter is expensive. The price of an ordinary laser transmitter is much lower than that of a high-performance laser transmitter. Compared with using a single laser transmitter, multiple laser transmitters are used to form a laser transmitter array, and a lower power laser can be used. The same or even stronger output laser can be achieved by the device, which can guarantee the performance of each laser transmitter, ensure the reliability of the charging system, prolong the service life of the laser transmitter, and increase the laser intensity of the laser transmitter unit .

The fifth problem solved by the present invention is how to improve the luminous efficiency of the laser emitter unit. For this reason, the embodiments of the present invention provide the following technical solutions:

The laser emitter array includes a plurality of pulsed emitting semiconductor lasers. That is to say, the laser emitter array consists of a plurality of pulsed semiconductor lasers. The laser transmitter adopts a pulsed light-emitting mode to avoid overheating of the laser transmitter caused by long-term work, resulting in a decrease in luminous efficiency; it also avoids long-term irradiation of the photovoltaic unit, which causes the temperature of the photovoltaic unit to be too high and reduce the efficiency. The semiconductor laser that emits pulsed light can be a pulsed laser or an ordinary semiconductor laser that works in a pulsed (periodically spaced rather than continuous) manner. Due to the high price of pulsed lasers, it is preferable to use ordinary semiconductor lasers that work in pulsed mode to reduce costs.

The sixth problem to be solved by the present invention is how to improve the converging effect of emitted laser light and improve the utilization rate of laser light. Therefore, the embodiments of the present invention provide the following technical solutions:

It also includes a light-combining unit. The light-combining unit is a light-combining mirror group composed of a plurality of light-combining mirrors. The laser output from the laser transmitter unit is reflected by the light-combining mirror group to form a parallel laser beam for output.

As an embodiment, the light converging mirror group includes an outer conical mirror and an inner conical mirror. The laser emitted by the laser emitter unit is incident on the outer conical mirror and then reflected to the inner conical mirror. After being reflected by the inner conical mirror, a parallel laser beams. The conical mirror is used, and the outer conical mirror and the inner conical mirror are used together, so that the emitted laser light can be reflected multiple times to form a parallel laser beam, which can further enhance the converging effect of the emitted laser light.

As another implementation, the light-combining mirror group includes a first plane reflector and a second plane reflector, the laser light emitted by the laser emitter unit is incident on the first plane reflector and then reflected to the second plane reflector, and passes through the second plane reflector. The parallel laser beam is formed after reflection by the plane mirror.

In another embodiment, the above-mentioned charging system also includes a three-dimensional attitude adjustment platform, which is used to realize the three-dimensional space movement of the laser transmission power supply device; the laser transmission power supply device also includes a first control unit; the second control unit collects the power generation parameters of the photovoltaic unit, The position of the parallel laser beam in the photovoltaic unit is obtained by calculating the billing parameters, and the position information is sent to the laser transmission power supply device through the second communication unit, and the first control unit calculates the attitude adjustment amount of the laser transmission device according to the position information , and adjust the attitude of the laser transmission power supply device through a three-dimensional attitude adjustment platform or a horizontal-pitch angle adjustment mechanism.

The embodiment of the present invention also provides a laser charging method for drones based on the laser charging system described in any of the above embodiments, including the following steps:

The drone sends a charging request signal to the laser transmission power supply device, and the laser transmission power supply device controls the laser transmitter unit to start emitting laser light after receiving the request signal;

The horizontal-pitch angle adjustment mechanism adjusts the attitude of the laser transmission power supply device, so that the emitted laser light can be incident on the photovoltaic unit;

The attitude adjustment unit of the photovoltaic unit adjusts the attitude of the photovoltaic unit so that the laser beam is vertically incident on the photovoltaic unit;

The photovoltaic unit receives the parallel laser beam emitted from the light converging unit, converts the laser energy into electrical energy, and outputs the electrical energy to the rechargeable battery.

In a further preferred scheme, it also includes the steps of:

The second control unit collects the power generation parameters of the photovoltaic array, calculates the position of the laser beam in the photovoltaic array from the power generation parameters, and sends the position information to the laser transmission power supply device through the second communication unit;

The first control unit calculates the attitude adjustment amount of the laser transmission power supply device according to the position information, and adjusts the attitude of the laser transmission power supply device through a three-dimensional attitude adjustment platform or a horizontal-pitch angle adjustment mechanism, so that each photovoltaic module in the photovoltaic array can Laser emission received.

For the situation where the distance is relatively short, it can be manually positioned through the indication of visible light, so that the emitted laser can be incident on the photovoltaic unit; for the situation where the distance cannot be manually positioned, it can be adjusted by collecting the power generation parameters of the photovoltaic array The posture of the laser transmission power supply device ensures that the emitted laser light is incident on the photovoltaic unit and avoids the waste of laser light.

The lasers in the laser array can all be laser emitters that emit visible light, but the visible light capability is low, so it is preferred that the laser array also includes laser emitters that emit invisible laser light, or that all of the laser arrays are laser emitters that emit invisible laser light , and additionally set a visible light laser emitter to emit a visible laser with prompting effect. In order to avoid the waste of laser light, an embodiment of the present invention provides another laser charging method, which includes the following steps:

The UAV sends a charging request signal to the laser transmission power supply device. After receiving the request signal, the laser transmission power supply device controls the laser transmitter that emits visible laser light to emit visible laser light;

The horizontal-pitch angle adjustment mechanism adjusts the attitude of the laser transmission power supply device, so that the emitted laser light can be incident on the photovoltaic unit;

A laser emitter that emits invisible laser light emits invisible laser light;

The attitude adjustment unit of the photovoltaic unit adjusts the attitude of the photovoltaic unit so that the laser beam is vertically incident on the photovoltaic unit;

The photovoltaic unit receives the laser beam, converts the laser energy into electrical energy, and outputs the electrical energy to the rechargeable battery.

In the above method, the positioning is performed by first emitting visible laser light, and then the invisible laser light is emitted to the photovoltaic unit to be converted into electrical energy after positioning. This solves the problem that the invisible laser light emitted before positioning is not absorbed by the photovoltaic unit and causes waste.

Compared with the prior art, the present invention collects the position information of the laser transmission power supply device and the UAV through two positioning units, and combines the attitude information of the photovoltaic unit attitude measurement unit to adjust the photovoltaic array to the vertical position through the photovoltaic unit attitude adjustment unit. For the incident laser beam, the energy transmission efficiency is improved and the energy loss is reduced.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.

Fig. 1 is a functional block diagram of a laser-based UAV charging system provided by an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a photovoltaic unit posture adjustment unit listed in the embodiment.

Fig. 3 is a schematic diagram of a photovoltaic array listed in the embodiment.

Fig. 4 is a schematic structural diagram of a three-dimensional attitude adjustment platform listed in the embodiment.

Fig. 5 is an optical path diagram of a photovoltaic array absorbing laser light.

Fig. 6 is a schematic diagram of light collection of the conical mirror group.

Fig. 7 is a schematic diagram of light collection of the plane reflector group listed in the embodiment.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

Example 1

Please refer to Fig. 1, the laser-based drone charging system provided in this embodiment includes a laser transmission power supply device and a drone, and the laser transmission power supply device includes a power supply, a laser transmitter array, a first positioning unit, a second positioning unit, and a laser transmission power supply device. A communication unit, a first control unit and a horizontal-pitch adjustment mechanism, the drone includes a drone, a photovoltaic array, a rechargeable battery, a second positioning unit, a second communication unit, a photovoltaic unit attitude adjustment unit, a photovoltaic unit Attitude measurement unit and second control unit.

The power supply provides electrical energy for the laser array, and the laser beam emitted by the laser emitter array is incident on the photovoltaic array. The photovoltaic array converts the parallel laser beam into electrical energy to charge the rechargeable battery, and the rechargeable battery provides the electrical energy required for the drone to work.

The first positioning unit collects the position information of the laser transmission power supply device, and sends it to the drone through the first communication unit, the second positioning unit collects the position information of the drone, and the photovoltaic unit attitude measurement unit collects the attitude information of the photovoltaic array. The second control unit calculates the mutual attitude between the laser transmission power supply device and the drone through the two position information and the attitude information of the photovoltaic array collected by the photovoltaic array measurement unit, and adjusts the attitude of the photovoltaic array through the attitude adjustment unit of the photovoltaic unit, so that the laser transmission The parallel laser beam output by the power supply device is vertically incident on the photovoltaic array. The position information here refers to the current position information to ensure that the parallel laser beam output by the laser transmission power supply device is perpendicular to the photovoltaic array at any time, and the position information is represented by three-dimensional coordinates. For example, the position of the laser transmission power supply device is (x ₁ , y ₁ , z ₁ ), and the position of the drone is (x ₂ , y ₂ , z ₂ ), then the horizontal angle of the theoretical laser transmission direction is The pitch angle is Combined with the current attitude information of the photovoltaic array collected by the attitude measurement unit of the photovoltaic unit, the required adjustment amount of the photovoltaic array can be obtained, and then adjusted by the attitude adjustment unit of the photovoltaic unit.

The first/second positioning unit may select Beidou satellite positioning system, GPS satellite positioning system or Galileo satellite positioning system.

The photovoltaic unit attitude adjustment unit includes a horizontal shaft structure and a vertical shaft structure, wherein the horizontal angle shaft structure is responsible for adjusting the horizontal angle of the photovoltaic array, and the vertical shaft structure is responsible for adjusting the pitch angle of the photovoltaic array. The specific structure of the photovoltaic unit attitude adjustment unit can adopt the solar tracking structure in the current solar power generation device, please refer to the structure shown in Figure 2. In Figure 2, the number 10 is the photovoltaic array, the number 20 is the vertical shaft structure, and the number 30 is the horizontal Rotating shaft structure, the motor drives the vertical rotating shaft structure to achieve vertical rotation, drives the horizontal rotating shaft structure to achieve horizontal rotation, and then drives the photovoltaic array to achieve vertical and horizontal position adjustment at the same time.

The laser emitter array includes a plurality of laser emitters, and the plurality of laser emitters are distributed in an array, and the shape of the array can be a circle, a regular polygon, etc., without limitation. The laser transmitter is preferably a semiconductor laser. If the laser transmitter continues to work for a long time, it will inevitably cause the laser transmitter to overheat, thereby reducing the luminous efficiency, and the laser beam irradiating the photovoltaic array for a long time will also cause the temperature of the photovoltaic array to be too high and reduce the photoelectricity. Conversion efficiency. Therefore, as a better implementation, the laser emitter array adopts a pulsed light emitting mode, and the temperature of the laser emitter and the photovoltaic array is reduced by intermittently emitting light, thereby improving efficiency.

Preferably, the wavelength of the laser light emitted by the laser emitter array is in the near-infrared band, including visible light and invisible light. Invisible laser laser transmitter, the invisible light is absorbed by the photovoltaic array and converted into electrical energy, and the visible light can indicate the position of the parallel laser beam. Using the indication function of the visible light, the horizontal angle and the horizontal angle of the laser output power supply device can be adjusted by adjusting the horizontal-pitch angle adjustment mechanism. /or pitch angle, so as to ensure that the laser output by the laser transmission power supply device can be incident on the photovoltaic array. On the other hand, visible light can also indicate the current charging laser route, and give prompts to operators and other personnel, so as to avoid being injured by laser or stimulated by laser.

In this embodiment, specifically, the horizontal-pitch angle adjustment mechanism can be an integral mechanism, which can adjust both the pitch angle and the horizontal angle; the horizontal-pitch angle adjustment mechanism can also be two independent mechanisms, which are used for Adjust horizontal and pitch angles. As an implementation manner, the horizontal-pitch angle adjustment mechanism can adopt the horizontal-pitch angle adjustment mechanism in the commonly used laser tracker at present.

Further, in this embodiment, a three-dimensional attitude adjustment platform is included at the end of the laser transmission power supply device, which is used to realize the three-dimensional space movement of the laser transmission power supply device. The second control unit collects the power generation parameters of the photovoltaic array, that is, the power generation parameters of each grid of the photovoltaic array, such as the power generation voltage, and determines the deviation of the incident laser light from the center of the photovoltaic array. As an example, for example, as shown in Figure 3, the photovoltaic array is composed of 9 photovoltaic modules arranged in a 3×3 array, b, c, e, and f in the photovoltaic array generate voltage, and other array grids have no power generation voltage, then The incident laser needs to be deviated to the upper right; if a, b, d, and e in the photovoltaic array generate voltage, and other array grids have no power generation voltage, the incident laser needs to be deviated to the upper left. The position of the parallel laser beam in the photovoltaic array is obtained by calculating the power generation parameters, and the position information is sent to the laser transmission power supply device through the second communication unit. The first control unit calculates the attitude adjustment amount of the laser transmission power supply device according to the position information, and adjusts the attitude of the laser transmission power supply device through a three-dimensional attitude adjustment platform or a horizontal-pitch angle adjustment mechanism, so that each photovoltaic module in the photovoltaic array can Laser emission received.

As an example, the three-dimensional attitude adjustment platform can adopt the structure shown in Figure 4, including a support column in the Z-axis direction, a platform in the X-axis direction and a slider in the Y-axis direction, and the support column can move along the Z-axis direction. The platform can move along the X-axis direction, the slider can slide along the Y-axis direction, and the three-dimensional attitude adjustment platform realizes the three-dimensional space movement of the laser transmission power supply device through displacement and movement.

If the distance between the laser transmission power supply device and the UAV is too long, it is difficult to achieve control through the horizontal-pitch angle adjustment mechanism at this time, because the angle adjustment accuracy is difficult to improve infinitely, for example, the angle adjustment is 1 arc second, and the position of 1000 meters produces The displacement will reach 4.8mm (and the actual amount that needs to be adjusted is less than 4.8mm). Therefore, in the specific control, you can set the adjustment threshold, and the attitude adjustment will not be performed below the adjustment threshold (no adjustment is required or even the three-dimensional attitude adjustment platform cannot be adjusted) achieve such high-precision angle adjustment), below the adjustment threshold 1, the attitude adjustment is realized by the three-dimensional attitude adjustment platform, and below the adjustment threshold 2, the attitude adjustment is realized by the horizontal-pitch angle adjustment mechanism.

In order to enhance the conversion efficiency of the photovoltaic array, as a more optimal implementation, the laser total reflection film can be coated on the surface of the photovoltaic array. The laser total reflection film is a one-way reflection film, that is, the laser is transmitted from one side of the laser total reflection film. The other side is reflective. After the parallel laser beam is incident on the photovoltaic array, part of the laser light reflected by the photovoltaic array is reflected by the laser total reflection film and then enters the photovoltaic array again. As shown in Figure 5, the symbol 40 represents the laser total reflection film, the symbol 50 represents the photovoltaic array, the thick line with the arrow represents most of the laser light absorbed by the photovoltaic array, and the thin line with the arrow represents a small part of the laser light reflected by the photovoltaic array, For the case of vertical incidence, the reflected laser light returns along the incident light path. In order to represent the reflection process, the dotted line in the figure represents the laser light during the reflection process. In addition, the laser total reflection film is coated on the surface of the photovoltaic array. In order to facilitate the display of the optical path process, the laser total reflection film and the photovoltaic array are separately installed in Figure 5. Part of the laser light that is not absorbed by the photovoltaic array but is reflected is incident on the photovoltaic array under the reflection of the laser total reflection film and is absorbed by the photovoltaic array. Even if some of it is reflected by the photovoltaic array, it will be reflected by the laser total reflection film. To the photovoltaic array, therefore, the setting of the laser total reflection film can ensure that all the laser light is absorbed by the photovoltaic array and converted into electrical energy, so that the photoelectric conversion efficiency can be improved and the waste of laser energy can be avoided.

It is easy to understand that the charging system described in this embodiment can not only be applied to unmanned aerial vehicles, but also can be applied to other electrical equipment that may be displaced during the charging process.

When performing laser charging on the drone based on the laser charging system described in this embodiment, perform the following operations:

The UAV sends a charging request signal to the laser transmission power supply device, and after receiving the request signal, the laser transmission power supply device controls the laser transmitter unit to start emitting laser light. In general, there is no need to charge the UAV in real time, so the laser transmission power supply device can be triggered to emit laser light by signaling, instead of the laser emitter unit emitting laser light without gaps all the time, resulting in waste of energy.

The horizontal-pitch angle adjustment mechanism adjusts the attitude of the laser transmission power supply device, so that the emitted laser light can be incident on the photovoltaic unit. This step is a positioning step. This method is a manual positioning method. The laser contains visible light, which can indicate the optical path of the laser transmission. The indication of the visible light can assist the horizontal-pitch angle adjustment mechanism to adjust the attitude of the laser transmission power supply device. Of course, if the emitted laser light can directly enter the photovoltaic unit, the horizontal-pitch angle adjustment mechanism does not need to adjust the attitude of the laser transmission power supply device.

The attitude adjustment unit of the photovoltaic unit adjusts the attitude of the photovoltaic unit so that the parallel laser beam is vertically incident on the photovoltaic unit. Of course, if the emitted laser light is directly and vertically incident on the photovoltaic unit, the attitude adjustment unit of the photovoltaic unit does not need to adjust the attitude of the photovoltaic unit.

The photovoltaic unit receives the parallel laser beam emitted from the light converging unit, converts the laser energy into electrical energy, and outputs the electrical energy to the rechargeable battery.

When performing positioning, an automatic method can also be used. Specifically, the second control unit collects the power generation parameters of the photovoltaic array, calculates the position of the laser beam in the photovoltaic array from the power generation parameters, and sends the position information to Laser transmission power supply device; the first control unit calculates the attitude adjustment amount of the laser transmission power supply device according to the position information, and adjusts the attitude of the laser transmission power supply device through a three-dimensional attitude adjustment platform or a horizontal-pitch angle adjustment mechanism, so that each in the photovoltaic array Each photovoltaic module can receive the emitted laser light.

Automatic positioning and manual positioning can be used alone or in combination. For example, when the emitted laser does not include visible laser, the automatic positioning method is selected. When the emitted laser includes visible laser, manual or manual and automatic positioning can be selected. to locate.

In order to avoid the waste of emitting laser before the positioning is successful, in the optimized scheme, only the visible laser is emitted during positioning, and the invisible laser is emitted after positioning; for the case where the laser array can only emit visible laser, only the visible laser is emitted during positioning. Part of the visible laser, and then emit all the visible laser after positioning.

Example 2

Please refer to Figures 6-7. Compared with Embodiment 1, the laser-based UAV charging system provided in this embodiment also includes a light-combining unit, which is a light-combining mirror composed of multiple light-combining mirrors group, the dispersed laser output from the laser transmitter unit is reflected by the light-collecting mirror group to form a parallel laser beam output. The converging mirror group enables the emitted laser to form a parallel laser beam after multiple reflections, which can enhance the converging effect of the emitted laser.

As shown in Figure 6, the converging mirror group includes an outer cone mirror and an inner cone mirror. The laser emitted by the laser emitter array is incident on the outer cone mirror and then reflected to the inner cone mirror, and is reflected by the inner cone mirror to form a parallel Laser beam. It should be noted that the outer cone mirror and the inner cone mirror are both cone mirrors. In order to indicate the distinction, they are named respectively by the arrangement orientation, that is to say, the outer cone mirror is located outside the inner cone mirror, and the inner cone mirror The mirror is located on the inner side of the outer cone mirror, as shown in Figure 6.

It is easy to understand that, according to needs, the light-collecting mirror group can include two or more outer cone mirrors and inner cone mirrors, one outer cone mirror and one inner cone mirror form a cone mirror group, and multiple cone mirrors The groups are set up in sequence, so that the incident laser light is reflected more times to form a parallel laser beam output, further enhancing the convergence effect.

As shown in Figure 7, the beam-combining mirror group includes a first plane reflector and a second plane reflector, and the laser light emitted by the laser transmitter unit is incident on the first plane reflector and then reflected to the second plane reflector, passing through the second plane The parallel laser beam is formed after reflection by the mirror. The first plane reflector and the second plane reflector can be one or more respectively, and when it is multiple, a first plane reflector and a second plane reflector form a plane reflector group, and a plurality of plane reflectors The groups are arranged sequentially or side by side, as shown in Figure 7, two plane mirror groups are arranged side by side to further enhance the laser convergence effect.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention.

Claims (10)

1. A charging system for unmanned aerial vehicle based on laser, it is characterized in that, comprises laser transmission power supply device and unmanned aerial vehicle, and described laser transmission power supply device comprises power supply, laser transmitter unit, the first positioning unit, the first communication unit And the horizontal-pitch angle adjustment mechanism, the drone includes a drone body, a photovoltaic unit, a rechargeable battery, a second positioning unit, a second communication unit, a photovoltaic unit attitude adjustment unit, a photovoltaic unit attitude measurement unit and a second control unit unit; the power supply provides electrical energy for the laser transmitter unit, the laser beam emitted by the laser transmitter unit is incident on the photovoltaic unit, and the photovoltaic unit converts the laser beam into electrical energy to charge the rechargeable battery; the first positioning unit collects the position information of the laser transmission power supply device , and sent to the UAV through the first communication unit, the second positioning unit collects the position information of the UAV, the photovoltaic unit attitude measurement unit measures the attitude information of the photovoltaic unit, and the second control unit passes the two position information and the photovoltaic unit’s position information. Attitude information calculates the mutual attitude between the laser transmission power supply device and the drone, and adjusts the photovoltaic unit to be perpendicular to the incident laser beam through the photovoltaic unit attitude adjustment unit. 2. The laser-based UAV charging system according to claim 1, wherein the photovoltaic unit is a photovoltaic array composed of a plurality of photovoltaic modules. 3. The laser-based UAV charging system according to claim 2, wherein the surface of the photovoltaic array is coated with a laser total reflection film, and after the parallel laser beam is incident on the photovoltaic array, the laser reflected by the photovoltaic array passes through the laser total reflection film. After being reflected by the reflective film, it is incident on the photovoltaic array again. 4. The laser-based unmanned aerial vehicle charging system according to claim 1, wherein the laser transmitter unit is a laser transmitter array composed of a plurality of laser transmitters. 5. The laser-based UAV charging system according to claim 4, wherein the laser emitter array comprises a plurality of pulse-emitting semiconductor lasers. 6. The unmanned aerial vehicle charging system based on laser according to claim 4, it is characterized in that, among the multiple laser emitters that form laser emitter array, comprise the laser emitter that emits visible laser and the laser that emits invisible laser launcher. 7. The unmanned aerial vehicle charging system based on laser according to claim 1, is characterized in that, also comprises three-dimensional posture adjustment platform, is used to realize the three-dimensional space movement of laser transmission power supply device; Laser transmission power supply device also includes the first control Unit; the second control unit collects the power generation parameters of the photovoltaic unit, calculates the position of the parallel laser beam in the photovoltaic unit from the billing parameters, and sends the position information to the laser transmission power supply device through the second communication unit, and the first control unit Calculate the attitude adjustment amount of the laser transmission device according to the position information, and adjust the attitude of the laser transmission power supply device through the three-dimensional attitude adjustment platform or the horizontal-pitch angle adjustment mechanism. 8. The charging method of the laser-based UAV charging system according to any one of claims 1-7, characterized in that, comprising the following steps: The drone sends a charging request signal to the laser transmission power supply device, and the laser transmission power supply device controls the laser transmitter unit to start emitting laser light after receiving the request signal; The horizontal-pitch angle adjustment mechanism adjusts the attitude of the laser transmission power supply device, so that the emitted laser light can be incident on the photovoltaic unit; The attitude adjustment unit of the photovoltaic unit adjusts the attitude of the photovoltaic unit so that the laser beam is vertically incident on the photovoltaic unit; The photovoltaic unit receives the laser beam, converts the laser energy into electrical energy, and outputs the electrical energy to the rechargeable battery. 9. The method according to claim 8, further comprising the steps of: The second control unit collects the power generation parameters of the photovoltaic array, calculates the position of the laser beam in the photovoltaic array from the power generation parameters, and sends the position information to the laser transmission power supply device through the second communication unit; The first control unit calculates the attitude adjustment amount of the laser transmission power supply device according to the position information, and adjusts the attitude of the laser transmission power supply device through a three-dimensional attitude adjustment platform or a horizontal-pitch angle adjustment mechanism, so that each photovoltaic module in the photovoltaic array can Laser emission received. 10. The charging method of the laser-based UAV charging system according to any one of claims 1-7, characterized in that, comprising the following steps: The UAV sends a charging request signal to the laser transmission power supply device. After receiving the request signal, the laser transmission power supply device controls the laser transmitter that emits visible laser light to emit visible laser light; The horizontal-pitch angle adjustment mechanism adjusts the attitude of the laser transmission power supply device, so that the emitted laser light can be incident on the photovoltaic unit; A laser emitter that emits invisible laser light emits invisible laser light; The attitude adjustment unit of the photovoltaic unit adjusts the attitude of the photovoltaic unit so that the laser beam is vertically incident on the photovoltaic unit; The photovoltaic unit receives the laser beam, converts the laser energy into electrical energy, and outputs the electrical energy to the rechargeable battery.