CN108919289B - Laser relay redirection energy transmission device for unmanned aerial vehicle - Google Patents
Laser relay redirection energy transmission device for unmanned aerial vehicle Download PDFInfo
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- CN108919289B CN108919289B CN201810762914.XA CN201810762914A CN108919289B CN 108919289 B CN108919289 B CN 108919289B CN 201810762914 A CN201810762914 A CN 201810762914A CN 108919289 B CN108919289 B CN 108919289B
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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
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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Abstract
The invention provides an unmanned aerial vehicle laser relay redirection energy transmission device, which belongs to the technical field of laser auxiliary processing and comprises an unmanned aerial vehicle carrying a redirector and a laser carrying a master control system and a transmitter, wherein a communication signal is established between the unmanned aerial vehicle and the master control system, the master control system is used for controlling the laser to generate laser with different powers, the laser is connected with the steerable transmitter through an optical fiber, the transmitter is used for tracking and aiming the steerable redirector, and the redirector is used for reflecting and focusing the laser on an acting target; the observation light path of the system is coaxial with the laser emission light path by adjusting the steering of the emitter and the steering of the redirector, and the unmanned aerial vehicle does not need to load a heavy laser, and can effectively bypass the barrier through refraction and transmit and focus the laser on the action target only by adjusting the redirector to align the action target and adjusting the emitter to track and aim the redirector.
Description
Technical Field
The invention belongs to the technical field of laser-assisted processing, and particularly relates to an unmanned aerial vehicle laser relay redirection energy transmission device.
Background
The high-power laser can be widely applied to the fields of industrial processing, national defense and military, scientific research and the like, and especially mature devices such as laser cutting, laser coating, laser welding and the like appear in the industrial aspect, thereby playing an important role in promoting the industrial development of China. In the remote transmission in-process, high power laser is propagated along the straight line, and constantly disperse in the propagation, consequently present high power laser processing equipment is used for the indoor environment in the factory building mostly, press close to the target construction by the arm, nevertheless in field, complicated topography operation demands such as woodland or main equipment overall maintenance like the long-range welding process of multiple spot, the position that needs processing often keeps away from equipment or the arm is difficult to reach the relevant position, need relay system to redirect energy transmission this moment, carry out remote processing. Utilize removal that the unmanned aerial vehicle platform can be convenient to the target area, but unmanned aerial vehicle load capacity is lighter, is difficult to hang heavier high power laser instrument, has restricted the application of laser technology at large area processing scene, and in addition, laser disperses easily at the in-process of transmission, and when long-distance transmission acted on the target, the intensity of laser will greatly reduced.
Disclosure of Invention
In order to overcome the defects in the aspects of the application of the existing high-power laser and the load capacity of the unmanned aerial vehicle, the invention provides the laser relay redirection energy transmission device of the unmanned aerial vehicle, which has the advantages of simple structure, cost saving and wide application range, realizes the energy transmission and redirection functions of a broken line and a complex light path by virtue of an unmanned aerial vehicle platform, and solves the problems that the laser is linearly transmitted and continuously diverges in the long-distance transmission process and the load of the unmanned aerial vehicle platform cannot meet the weight of a high-power laser.
The invention is realized by the following technical scheme:
an unmanned aerial vehicle laser relay redirection energy transmission device comprises an unmanned aerial vehicle, a laser and a master control system, wherein the unmanned aerial vehicle flies in the air, the laser is arranged on the ground, the unmanned aerial vehicle is in communication connection with the master control system, the laser is electrically connected with the master control system, a steerable redirector is carried on the unmanned aerial vehicle, the master control system is electrically connected with the laser, the master control system is used for controlling the laser to generate laser and adjusting the power of the laser generated by the laser, the laser is connected with a steerable transmitter through an optical fiber, the transmitter is used for tracking and aiming at the redirector, and the redirector is used for reflecting and focusing the laser on an acting target;
the system observation light path is a light path which is used for observing observation light of an action target by the redirector and transmitting the observation light to the transmitter, namely a broken line light path between the action target and the redirector and the transmitter;
the laser emission light path is a light path which is formed by emitting laser generated by the laser to the redirector through the emitter, reflecting and focusing the laser in the redirector and then projecting the laser onto an action target, namely a broken line light path between the laser-emitter-redirector-action target;
and the system observation light path is coaxial with the laser emission light path by adjusting the steering of the transmitter and the steering of the redirector.
Preferably, the transmitter is mounted on the main control system through a hollow steering device, the steering device is used for rotating in two different directions, the posture of the transmitting lens barrel in one plane is adjusted through rotating around the central line of the hollow part of the steering device, and the posture of the transmitting lens barrel in the other plane is adjusted through rotating in a direction different from the direction around the central line of the hollow part of the steering device, so that the transmitter can track and aim at a redirector on an unmanned aerial vehicle.
Preferably, a beacon laser is arranged in the redirector, and the beacon laser is used for generating beacon light in a different waveband from laser light generated by the laser.
Preferably, the transmitter includes an optical fiber collimator, an emission barrel, a dichroic beam splitter, and a band-pass mirror, the optical fiber collimator is connected with the laser through an optical fiber, the optical fiber collimator is installed on the emission barrel, the optical fiber collimator is used for converting laser transmitted in the optical fiber into collimated laser and transmitting the collimated laser into the emission barrel, the dichroic beam splitter is obliquely arranged in the emission barrel, the dichroic beam splitter is used for reflecting the collimated laser and transmitting observation light and beacon light, the band-pass mirror is arranged at the other side of the reflected laser of the dichroic beam splitter in the emission barrel, a positioning camera for receiving the beacon light and an observation camera for receiving the observation light are respectively arranged at the front side and the rear side of the mirror surface of the band-pass mirror, the band-pass mirror is used for splitting the observation light and the beacon light, so that the beacon light is reflected to the positioning camera through the band-pass mirror, the observation camera is used for observing image information of an action target in real time, and the positioning camera and the observation camera are respectively electrically connected with the master control system.
Preferably, the redirector comprises a first hollow turntable and a second hollow turntable which are connected up and down, and a receiving lens barrel arranged at the upper part of the first hollow turntable and a reflecting lens barrel arranged at the lower part of the second hollow turntable, wherein the interior of the joint of the first hollow turntable and the second hollow turntable is hollow, the postures of the receiving lens barrel and the reflecting lens barrel in a plane vertical to the central line of the hollow part are adjusted by the relative rotation between the first hollow rotary table and the second hollow rotary table around the central line of the hollow part, the receiving barrel adjusts the posture of the receiving barrel in another plane by rotating in a direction different from the plane in which the first hollow turret and the second hollow turret rotate, the reflex lens barrel adjusts the posture of the reflex lens barrel in another plane by rotating in a direction different from the plane in which the first hollow turn table and the second hollow turn table rotate.
Preferably, the redirector further comprises a reflecting mirror arranged in the receiving lens barrel and a band-pass transmitting mirror arranged in the reflecting lens barrel, the reflecting mirror is used for transmitting laser emitted by the emitter to the band-pass transmitting mirror from the interiors of the first hollow rotary table and the second hollow rotary table after being reflected, the band-pass transmitting mirror is used for transmitting beacon light and reflecting the laser, the beacon laser is arranged on the other side of the laser reflected by the band-pass transmitting mirror, and the band-pass transmitting mirror selectively transmits the beacon light emitted by the beacon laser and reflects the laser which is not in the wavelength band of the beacon light.
Preferably, the redirector further comprises a focusing lens and a range finder, the focusing lens and the range finder are arranged in the reflecting lens barrel, the focusing lens is arranged on one side of the band-pass transmission mirror, the laser is reflected by the band-pass transmission mirror and is close to the acting target, the focusing lens is used for focusing the laser, the range finder is arranged on the focusing lens, and the range finder is used for measuring the distance between the acting target and the focusing lens.
Preferably, the steering device employs a steering unit, and the steering device is used for attitude adjustment of the pitch and rotation azimuth angles of the transmission lens barrel.
Preferably, the redirector adopts a concave total reflection mirror for reflecting the light path and focusing the laser, and realizes that the laser emission light path is coaxial with the system observation light path by adjusting the posture of the concave total reflection mirror.
Preferably, the unmanned aerial vehicle is provided with a plurality of unmanned aerial vehicles, and the redirector on each unmanned aerial vehicle is aligned with different action targets or different angles of the same action target.
Preferably, the first hollow turntable and the second hollow turntable are provided with positioning units on the outer side walls thereof for keeping the emitters aligned with the redirectors;
compared with the prior art, the invention has the beneficial effects that:
the unmanned aerial vehicle provided by the invention does not need to load a heavy laser, does not need to consider the logistical maintenance requirements of complex power supply, water supply, stability and the like of an airborne platform, so that the system is easy to realize and can continuously work for a long time, and the load of the unmanned aerial vehicle is greatly reduced compared with the traditional mode that the unmanned aerial vehicle carries the laser through the unmanned aerial vehicle carrying a flexible redirector;
the redirector is adjusted to align the action target, the emitter is adjusted to track and aim the redirector, laser is accurately transmitted to the action target in a reflection mode, the action effect of remotely and accurately transmitting the laser to act on the action target is realized, although the laser transmits energy in a direct transmission mode, the barrier can be effectively bypassed through the reflection of the redirector, a special passage is not needed to be erected under the conditions of field, complex terrain and the like, the construction difficulty is simplified, the laser is transmitted by utilizing the characteristics of good flexibility and strong maneuverability of the unmanned aerial vehicle, and the multi-angle laser processing of the unmanned aerial vehicle platform is realized;
the redirector can also realize the focusing of light beams, so that laser emitted after transmission is converged again, the laser emission caused by transmission is overcome, the efficiency and effect of remote laser processing are improved, the laser power density at a remote target is enhanced, and the action effect and the operation efficiency are improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the redirector architecture of the present invention;
FIG. 3 is a schematic diagram of the internal structure of the redirector of the present invention;
FIG. 4 is a schematic diagram of the coaxial configuration of the laser emission optical path and the system observation optical path of the present invention;
FIG. 5 is a schematic view of the transmitter structure of the steering unit of the present invention;
FIG. 6 is a schematic structural diagram of an energy transmission device according to a second embodiment of the present invention;
fig. 7 is a conceptual diagram of multiple drones with multiple targets in the embodiment 3 of the present invention.
Illustration of the drawings: 1: unmanned aerial vehicle, 2: redirector, 3: emitter, 4: master control system, 5: laser, 201: mirror, 202: receiving barrel, 203: reflection lens barrel, 204: bandpass transmission mirror, 205: beacon laser, 206: focusing lens, 207: range finder, 208: first hollow turntable, 209: second hollow turn table, 301: observation camera, 302: dichroic beam splitter, 303: fiber collimator, 304: emission lens barrel, 305: bandpass mirror, 306: positioning camera, 307: a steering unit.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the description is only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in the attached figure 1, an unmanned aerial vehicle laser relay redirection energy transmission device, an unmanned aerial vehicle 1 flies to abut against an action target and hovers, the unmanned aerial vehicle 1 provides a platform close to the action target, a redirector 2 is installed at the lower part of the unmanned aerial vehicle 1, the redirector 2 enables light rays which are originally transmitted in a straight line to be transmitted along a specific broken line light path, a system observation light path of the action target, the redirector 2 and a transmitter 3 is established, the redirector 2 transmits image information of the action target to the transmitter 3 along the system observation light path, the transmitter 3 transmits laser according to a light path reversible principle to form a laser emission light path of the transmitter 3, the redirector 2 and the action target, the laser emitted by the transmitter 3 is transmitted to the action target along the laser emission light path, under the condition that the system observation light path and the laser emission light path are coaxial, the unmanned aerial, on only needing to carry on redirector 2 alright transmit the laser that laser instrument 5 produced to the effect target, need not consider the complicated power supply of airborne platform, supply water and logistics maintenance demands such as stability for the system easily realizes, more can last work for a long time, carries on nimble redirector 2 through unmanned aerial vehicle 1, has alleviateed unmanned aerial vehicle 1 load by a wide margin with unmanned aerial vehicle 1 carries on laser instrument 5's traditional mode relatively.
Unmanned aerial vehicle 1 is through communicating with main control system 4 between, sends unmanned aerial vehicle 1's gesture, positional information for main control system 4, and unmanned aerial vehicle 1 adopts fixed wing unmanned aerial vehicle 1 or rotor unmanned aerial vehicle 1, preferably takes rotor unmanned aerial vehicle 1 that the gesture is stable.
As shown in fig. 2, the redirector 2 includes a receiving lens barrel 202 and a reflecting lens barrel 203, where the receiving lens barrel 202 and the reflecting lens barrel 203 are both cylinders with one open end, the open end of the receiving lens barrel 202 faces the direction of the transmitter 3, a turntable structure composed of a mechanical turntable, a displacement table, a wedge-shaped sheet set or other turntable structures capable of achieving a rotation function may be adopted between the receiving lens barrel 202 and the first hollow turntable 208, the open end of the reflecting lens barrel 203 faces the direction of an action target, and a turntable structure composed of a mechanical turntable, a displacement table, a wedge-shaped sheet set or other turntable structures capable of achieving a rotation function may be adopted between the reflecting lens barrel 203 and the second hollow turntable 209.
The redirector 2 further comprises a reflecting mirror 201, a band-pass transmitting mirror 204, a focusing lens 206 and a range finder 207, the inner tube of the receiving lens barrel 202 is provided with the inclined reflecting mirror 201, the inner tube of the reflecting lens barrel 203 is provided with the inclined band-pass transmitting mirror 204 and the focusing lens 206, the reflecting lens barrel 203 and the band-pass transmitting mirror 204 are arranged in parallel, the range finder 207 is arranged on the inner wall of the reflecting lens barrel 203 above the focusing lens 206, the band-pass transmitting mirror 204 is set to be high-transmittance in the working waveband of the beacon laser 205, and the rest wavebands are set to be high-reflectance.
The reflector 201 is a metal mirror or a dielectric film broadband reflector 201, a thin film with high reflectivity is coated on the surface of the reflector 201, and the reflector 201 has high reflectivity for laser, beacon light and light in an observation light band.
The band-pass transmission mirror 204 transmits the beacon light, reflects the observation light and the laser, and the band-pass transmission mirror 204 adopts a dielectric film reflecting mirror 201 plated with a band-pass filtering film or a filtering mirror utilizing different transmission wave bands of the substrate material of the mirror.
The focusing lens 206 has the functions of adjusting the focal length and scanning, not only can adjust the focal length according to the distance of the action target to focus the laser energy on the action target, but also can provide the processing effect of the action target in a three-dimensional shape by additionally arranging a scanning galvanometer on the lens group or the reflecting mirror 201 group or by adjusting the displacement between the optical centers of the lenses in the lens group.
The distance meter 207 can measure the distance between the action target and the focus lens 206, and the hovering position of the unmanned aerial vehicle 1 is changed and the focus position of the focus lens 206 is adjusted according to the distance between the distance meter 207 and the action target, so as to ensure that the laser is focused on the action target, thereby improving the processing effect on the action target.
The redirector 2 is further provided with a beacon laser 205, the beacon laser 205 is located behind the bandpass transmission mirror 204, laser is transmitted in a straight line in a free space, the beacon light wave band emitted by the beacon laser 205 is different from the laser wave band emitted by the laser 5, the beacon light emitted by the beacon laser 205 is transmitted through the bandpass transmission mirror 204 and received by the transmitter 3 after being reflected by the reflecting mirror 201, the transmitter 3 sends the received beacon light intensity to the master control system 4 in the form of an electric signal, the master control system 4 determines to send a command for adjusting the posture of the transmitter 3 to the transmitter 3 according to the intensity of the beacon light, so that the system observation light path and the laser emission light path are coaxial, and the precision positioning of the light path and the high-efficiency receiving of the laser are realized; when the transmitter 3 and the receiving lens barrel 202 have a deviation, the beacon light power received by the transmitter 3 will decrease, the main control system 4 sends out a signal for adjusting the posture of the transmitter 3 and the receiving lens barrel 202 of the redirector 2 in time according to the received beacon light power, so as to ensure that the observation light path of the system and the laser emitting light path are continuously in a coaxial state, and the beacon laser 205 adopts one of a semiconductor laser 5, a solid laser 5 and a fiber laser 5.
The beacon laser 205 employs a semiconductor laser 5, and the wavelength of laser light emitted by the beacon laser 205 is 808 nm.
As shown in fig. 3, the first hollow turntable 208 and the second hollow turntable 209 constitute a coaxial double-tripod head structure, the first hollow turntable 208 and the second hollow turntable 209 are both hollow in the vertical direction, the hollow portions of the first hollow turntable 208 and the second hollow turntable 209 are communicated with the inner cylinders of the receiving lens barrel 202 and the reflecting lens barrel 203, the closed end of the receiving lens barrel 202 is connected with the upper portion of the first hollow turntable 208 through a pin, the receiving lens barrel 202 can rotate around the pin to adjust the pitch attitude of the receiving lens barrel 202 in the vertical direction, the closed end of the reflecting lens barrel 203 is connected with the lower portion of the second hollow turntable 209 through a pin, the reflecting lens barrel 203 can rotate around the pin to adjust the pitch attitude of the reflecting lens barrel 203 in the vertical direction, the first hollow turntable 208 can rotate relative to the second hollow turntable 209 to adjust the azimuth attitude of the reflecting lens barrel 203 in the horizontal direction, and the second hollow turntable 209 can rotate relative.
As shown in fig. 4, the emitter 3 includes an emission lens barrel 304, an optical fiber collimator 303, and a dichroic beam splitter 302, the emission lens barrel 304 is a cylinder with an open end, the inside of the steering unit 307 is hollow, one end of the optical fiber collimator 303 is conducted from the hollow part of the steering unit 307 to the inside of the cylinder of the emission lens barrel 304, the other end of the optical fiber collimator 303 is connected with the laser 5 through an optical fiber, and the inside of the emission lens barrel 304 is provided with the tilted dichroic beam splitter 302.
The fiber collimator 303 is used to convert the high-power laser generated by the laser 5 into collimated laser and transmit the collimated laser into the emission lens barrel 304, and the fiber laser collimator adopts an optical fiber or a hollow metal pipeline.
The dichroic beam splitter 302 is used to reflect high power laser light, transmit beacon light, and observe light, and the dichroic beam splitter 302 is a dielectric film beam splitter or a filter that absorbs with a matrix material.
The emitter 3 further comprises a band-pass reflector 305, an observation camera 301 and a positioning camera 306, the band-pass reflector 305 is arranged in the emission lens cone 304 and is positioned at the other side of the dichroic beam splitter 302 for reflecting laser, the band-pass reflector 305 and the dichroic beam splitter 302 are mutually perpendicular, the positioning camera 306 is arranged on the inner wall of the emission lens cone 304 at one side of the reflection surface of the band-pass reflector 305, the positioning camera 306 is electrically connected with the main control system 4, the observation camera 301 is arranged on the inner wall of the emission lens cone 304 at one side of the projection surface of the band-pass reflector 305, and the observation camera 301 is electrically connected with the main control system.
The band-pass mirror 305 is used to split the beacon light and the observation light, so that the beacon light is reflected to the positioning camera 306 through the band-pass mirror 305, the observation light is projected to the observation camera 301 through the band-pass mirror 305, and the band-pass mirror 305 adopts a dielectric film spectroscope or an optical filter absorbed by a substrate material.
The observation camera 301 is used to observe an image of the action target, and the observation camera 301 employs a visible light camera or an infrared camera.
The positioning camera 306 is configured to receive the intensity of the beacon light emitted by the beacon laser 205 to determine whether the transmitting lens barrel 304 and the receiving lens barrel 202 are strictly coaxial, and the positioning camera 306 is an area-array imaging camera or a single-point photodetector with a lens.
The main control system 4 is used for receiving the attitude and position information of the unmanned aerial vehicle 1 and sending a laser command for transmitting set power to the laser 5, and can be a computer or a single chip microcomputer.
The laser 5 is used to generate high-power laser light required for processing, and may be a solid-state laser 5, a fiber laser 5, or a semiconductor laser 5.
As shown in fig. 5, the closed end of the transmission lens barrel 304 is connected to the upper part of a steering unit 307 through a pin, the transmission lens barrel 304 can rotate around the pin to adjust the pitch attitude of the transmission lens barrel 304, the steering unit 307 adopts a two-axis turntable, the lower part of the steering unit 307 is mounted on the main control system 4, the steering unit 307 can rotate relative to the main control system 4 to adjust the azimuth attitude of the transmission lens barrel 304 in the horizontal direction, the transmission lens barrel 304 is used for carrying the optical path in the transmitter 3, and the transmission lens barrel 304 adopts a mechanical lens barrel or a movable lens frame.
The received attitude and position information of the unmanned aerial vehicle 1 are controlled by the main control system 4 to adjust the attitude of the transmitter 3, so that the system observation light path is ensured to be coaxial with the laser emission light path, and the redirector 2 can be positioned by adopting an optical means, such as a laser beacon, and also can be positioned by adopting an electronic means, such as a high-precision positioner or a gyroscope.
The optical axes of three optical paths of a system observation optical path, a laser emission optical path and a beacon optical path are coaxial by utilizing a dichroic beam splitter 302, an observation camera 301 is used for receiving optical image information of an acting target, the system observation optical path is a view field central axis of the observation camera 301, the working waveband of the observation camera 301 is positioned at 350-760nm, a laser 5 is an ytterbium-doped fiber laser 5, the laser 5 generates laser with the wavelength of 1080nm, the laser generated by the laser 5 is transmitted to a transmitter 3 through an optical fiber through a main control system 4, because the wavelength of the observation light is different from that of the laser, the dichroic beam splitter 302 can be adopted to adjust the laser and the observation light transmitted by the optical fiber collimator 303 to be coaxial, so that the emitter 3 has the functions of coaxially observing an action target and emitting the laser, and the observation camera 301 can monitor the effect of the action target in real time in the process of processing the action target; in order to realize observation and emission with maximum efficiency, the transmitting lens barrel 304 and the receiving lens barrel 202 are both required to be coaxial with the observation axis of the emitter 3, and by installing the band-pass mirror 305 and the positioning camera 306 in front of the observation camera 301, the posture control of the transmitting lens barrel 304 and the receiving lens barrel 202 is realized according to the intensity of the received beacon light, and the light path of the beacon light is ensured to be coaxial with the observation light path of the system and the laser emission light path.
The receiving lens barrel 202 and the transmitting lens barrel 304 are aligned by adjusting the pitch and azimuth postures of the receiving lens barrel 202 and the transmitting lens barrel 304, so that the laser transmitted by the transmitter 3 can be received by the redirector 2 and transmitted continuously; the reflecting lens barrel 203 is aligned with the action target by adjusting the pitching and azimuth postures of the reflecting lens barrel 203, so that the redirector 2 can be ensured to accurately transmit the received laser after focusing to the action target; in the adjusting process, the observation axis and the laser emission axis of the emitter 3 are calibrated to be coaxial, namely, the system is ensured to realize the operation on the target according to the reversible principle of the light path by taking the realization that the observation light path and the laser emission light path of the system are coaxial, and the realization mode that the observation axis and the emission axis are coaxial can adopt a spectrum light splitting structure.
After the angles of the emitter 3 and the redirector 2 are adjusted, a command for generating high-power laser is sent to the laser 5 by the main control system 4, the laser 5 transmits the generated high-power laser to the optical fiber collimator 303 through an optical fiber, the laser is changed into collimated laser by the optical fiber collimator 303 and is transmitted into the emitting lens barrel 304, the laser in the emitting lens barrel 304 is reflected by the dichroic beam splitter 302 in the emitting lens barrel 304 and enters the receiving lens barrel 202 of the redirector 2 through the hollow part of the steering unit 307, the laser in the receiving lens barrel 202 is reflected by the reflecting mirror 201 and enters the reflecting lens barrel 203 through the hollow parts of the first hollow turntable 208 and the second hollow turntable 209, the laser in the reflecting lens barrel 203 is reflected to the focusing lens 206 through the band-pass transmission mirror 204 in the reflecting lens barrel 203, and the laser dispersed in the transmission process is refocused by the focusing lens 206, finally, the laser is transmitted to the acting target, when the unmanned aerial vehicle 1 hovers near the target, the range finder 207 arranged beside the focusing lens 206 measures the distance between the target and the focusing lens 206, and the focal length of the focusing lens 206 is adjusted according to the distance information measured by the range finder 207, so as to ensure that the acting target is at the focal position of the laser.
Example 2
As shown in fig. 6, an unmanned aerial vehicle laser relay redirection energy transmission device is different from embodiment 1 in that: redirector 2 adopts a concave full-reflection mirror, the concave full-reflection mirror is used for reflecting light path and focusing laser, the posture adjustment through the concave full-reflection mirror makes the system observation light path and laser emission light path coaxial, emitter 3 transmits the received laser sent by laser 5 to the concave full-reflection mirror, and reflects the laser to the action target through the concave full-reflection mirror, thereby realizing that the laser bypasses the barrier to process the action target.
Example 3
As shown in fig. 7, the laser relay redirection energy transmission device for the unmanned aerial vehicle is different from the embodiments 1-2 in that: unmanned aerial vehicle 1 is provided with many, and different effect targets or the different angles of same effect target are aimed at to every unmanned aerial vehicle 1's redirector 2, adds man-hour when needs are processed different effect targets, and the angle of adjusting redirector 2 temporarily probably needs to consume time, directly switches unmanned aerial vehicle 1 who has adjusted 2 angles of redirector through the gesture of transmitter 3, can process different effect targets or the different angles of same effect target by more efficient.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (7)
1. An unmanned aerial vehicle laser relay redirection energy transmission device is characterized by comprising an unmanned aerial vehicle, a laser and a main control system, wherein the unmanned aerial vehicle flies in the air in a hanging mode, the laser is arranged on the ground, the unmanned aerial vehicle is in communication connection with the main control system, the laser is electrically connected with the main control system, a steerable redirector is mounted on the unmanned aerial vehicle, the main control system is electrically connected with the laser, the main control system is used for controlling the laser to generate laser and adjusting the power of the laser generated by the laser, the laser is connected with a steerable transmitter through an optical fiber, the transmitter is used for tracking and aiming at the redirector, and the redirector is used for reflecting and focusing the laser on an action target;
the system observation light path is a light path which is used for observing observation light of an action target by the redirector and transmitting the observation light to the transmitter, namely a broken line light path between the action target and the redirector and the transmitter;
the laser emission light path is a light path which is formed by emitting laser generated by the laser to the redirector through the emitter, reflecting and focusing the laser in the redirector and then projecting the laser onto an action target, namely a broken line light path between the laser-emitter-redirector-action target;
the system observation light path is coaxial with the laser emission light path by adjusting the steering of the transmitter and the steering of the redirector;
the transmitter is mounted on the main control system through a hollow steering unit, the steering unit is used for rotating in two different directions, the posture of the transmitting lens barrel in one plane is adjusted through rotating around the central line of the hollow part of the steering unit, and the posture of the transmitting lens barrel in the other plane is adjusted through rotating in a direction different from the direction around the central line of the hollow part of the steering unit, so that the transmitter can track and aim at a redirector on the unmanned aerial vehicle;
a beacon laser is arranged in the redirector, the transmitter is electrically connected with the master control system, and the beacon laser is used for generating beacon light which is in different wave bands with laser generated by the laser;
the transmitter comprises an optical fiber collimator, an emission lens cone, a dichroic beam splitter and a band-pass reflector, wherein the optical fiber collimator is connected with a laser through an optical fiber, the optical fiber collimator is installed on the emission lens cone, the optical fiber collimator is used for converting laser transmitted in the optical fiber into collimated laser and transmitting the collimated laser into the emission lens cone, the dichroic beam splitter is obliquely arranged in the emission lens cone and used for reflecting the collimated laser and transmitting observation light and beacon light, the band-pass reflector is arranged at the position of the other side of the laser reflected by the dichroic beam splitter in the emission lens cone, positioning cameras used for receiving the beacon light and observation cameras used for receiving the observation light are respectively arranged at the front side and the rear side of the mirror surface of the band-pass reflector, the band-pass reflector is used for splitting the observation light and the beacon light so as to enable the beacon light to be reflected to the positioning cameras through the band-, the observation camera is used for observing image information of an action target in real time, and the positioning camera and the observation camera are respectively electrically connected with the master control system.
2. The laser relay redirecting energy transmission device for unmanned aerial vehicles according to claim 1, wherein the redirector comprises a first hollow turntable and a second hollow turntable connected up and down, a receiving lens barrel mounted on the upper part of the first hollow turntable and a reflecting lens barrel mounted on the lower part of the second hollow turntable, the inner part of the joint of the first hollow turntable and the second hollow turntable is hollow, the receiving lens barrel and the reflecting lens barrel are adjusted in the plane perpendicular to the central line of the hollow part by rotating relatively around the central line of the hollow part between the first hollow turntable and the second hollow turntable, the receiving lens barrel is adjusted in the other plane by rotating in a direction different from the rotating planes of the first hollow turntable and the second hollow turntable, and the reflecting lens barrel is adjusted in the other plane by rotating in a direction different from the rotating planes of the first hollow turntable and the second hollow turntable The posture of (2).
3. The laser relay redirecting energy transmission device for the unmanned aerial vehicle according to claim 2, wherein the redirector further comprises a reflector disposed in the receiving lens barrel and a bandpass transmission mirror disposed in the reflecting lens barrel, the reflector is configured to transmit the laser emitted by the emitter to the bandpass transmission mirror from the inside of the first hollow turntable and the inside of the second hollow turntable after being reflected, the bandpass transmission mirror is configured to transmit the beacon light and reflect the laser, the beacon laser is disposed on the other side of the bandpass transmission mirror, and the bandpass transmission mirror selectively transmits the beacon light emitted by the beacon laser and reflects the laser not in the wavelength band of the beacon light.
4. The laser relay redirecting energy transmission device for the unmanned aerial vehicle as claimed in claim 3, wherein the redirector further comprises a focusing lens and a range finder, the focusing lens and the range finder are arranged in the reflection lens barrel, the focusing lens is arranged on one side of the bandpass transmission mirror, which is used for reflecting the laser light and is close to the acting target, the focusing lens is used for focusing the laser light, the range finder is arranged on the focusing lens, and the range finder is used for measuring the distance between the acting target and the focusing lens.
5. The laser relay redirection energy transmission device for the unmanned aerial vehicle according to claim 4, wherein the steering unit is a two-axis turntable, and the steering unit is used for attitude adjustment of pitching and rotating azimuth angles of the emission lens barrel.
6. The laser relay redirecting energy transmission device for unmanned aerial vehicles according to claim 1, wherein the redirector uses a concave all-mirror for reflecting light path and focusing laser light, and the redirecting and focusing functions are realized by adjusting the posture of the concave all-mirror.
7. The laser relay redirecting energy transfer device for unmanned aerial vehicles according to claim 1, wherein the unmanned aerial vehicles are provided with a plurality of frames, and the redirectors on each unmanned aerial vehicle are aimed at different targets of action or at different angles of the same target of action.
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| CN109360407A (en) * | 2018-12-26 | 2019-02-19 | 中国电子科技集团公司第三十四研究所 | A kind of unmanned plane Wireless laser remote control system and remote control method |
| CN109818295A (en) * | 2019-03-11 | 2019-05-28 | 广西电网有限责任公司防城港供电局 | A kind of high-voltage line foreign matter removing system based on unmanned plane |
| CN109960031B (en) * | 2019-04-28 | 2024-02-09 | 湖南谱峰光电有限公司 | Aerostat laser relay mirror system and simulation device and simulation method thereof |
| CN110369402B (en) * | 2019-07-02 | 2021-08-31 | 华中科技大学 | Multi-axis laser remote deicing system and method |
| CN110417458B (en) * | 2019-07-30 | 2020-04-10 | 中国矿业大学 | Joint position and time optimization method for UAV energy information double-relay system |
| CN112034877B (en) * | 2020-09-28 | 2024-03-15 | 中国电子科技集团公司第五十四研究所 | Laser-assisted unmanned aerial vehicle autonomous take-off and landing terminal, system and method |
| CN112816935A (en) * | 2021-02-02 | 2021-05-18 | 深圳光韵达光电科技股份有限公司 | Method and device for tracking and measuring target object by beacon light |
| CN115575968B (en) * | 2022-11-09 | 2023-02-28 | 陀螺人工智能(山东)有限公司 | Space obstacle distance measuring device and method based on laser distance measurement |
| TWI832773B (en) * | 2023-06-06 | 2024-02-11 | 三亞科技股份有限公司 | Light energy transmission device |
| CN118199730B (en) * | 2024-05-14 | 2024-07-26 | 中国科学院长春光学精密机械与物理研究所 | Method and device for improving receiving power of laser communication system |
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