CN113364150B - Automatic tracking unmanned aerial vehicle laser charging device and tracking method - Google Patents
Automatic tracking unmanned aerial vehicle laser charging device and tracking method Download PDFInfo
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- H—ELECTRICITY
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- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/30—Circuit arrangements or systems for wireless supply or distribution of electric power using light, e.g. lasers
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
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- H01S5/00—Semiconductor lasers
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Abstract
The invention discloses an automatic tracking unmanned aerial vehicle laser charging device and a tracking method, wherein the automatic tracking unmanned aerial vehicle laser charging device comprises: the device comprises a laser transmitting end and a laser receiving end; a plurality of laser tubes are uniformly distributed in the inner circumference of the laser emitting end, each laser tube is correspondingly provided with a light gathering reflector, and a plurality of paths of laser can be gathered to reach a bundling unit through the reflection of the light gathering reflector and is emitted out by the bundling unit; the laser receiving end is internally provided with a beam expander and a gallium arsenide array, and the beam expander is used for amplifying the diameter of the received laser beam and enabling the gallium arsenide array to convert light energy into electric energy. The problem of low integration level of the device can be solved, high-precision laser tracking is realized, and the energy conversion rate is effectively improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an automatic tracking laser charging device and a tracking method for an unmanned aerial vehicle.
Background
Along with the development of science and technology, unmanned aerial vehicle walks into civilian field gradually, but the short disadvantage of unmanned aerial vehicle duration also exposes thereupon, if increase battery capacity, then can increase unmanned aerial vehicle's load, this has restricted unmanned aerial vehicle's flexibility. If can continuously charge at unmanned aerial vehicle flight in-process, the time of endurance will have and promote by a wide margin, and unmanned aerial vehicle is solar power unmanned aerial vehicle during the long voyage in high altitude that has the most development prospect at present. But due to the instability of solar irradiation, the endurance time of the solar power unmanned aerial vehicle is limited. For further prolonging the endurance time of the unmanned aerial vehicle, the adoption of laser to replace sunlight to carry out wireless remote charging on the unmanned aerial vehicle is a new scheme.
Although the existing laser charging device is applied to remote wireless charging and dynamic tracking to a certain extent, and a certain effect is achieved, if the stable operation of the laser wireless charging is really realized, some problems still exist, and the problems are mainly reflected as follows:
1) low integration level of the device
Because the laser is a high-energy device, the high-power laser has low domestic output, large volume and high cost of high-power single-beam laser, and the heat dissipation and power supply modes need to be designed independently, so that most of the volume of the laser energy supply device is biased to the laser, and the integration level is inevitably reduced. The existing invention and the related patents all use a single beam of high-energy laser with the power of 100W, but the laser is high in cost, a power supply system and a good heat dissipation system need to be designed by the laser, the high-energy laser cannot be purchased in the common civil field, danger can be caused to personnel participating in experiments, and a special energy absorption wall needs to be independently equipped. In addition, once the single-beam high-energy laser is damaged, the laser cannot be used directly, and the laser needs to be replaced integrally.
2) Poor laser tracking precision
The camera that adopts on the wireless device that charges of current unmanned aerial vehicle laser and rotatory step motor's precision all are on the low side a bit, lead to when the device trails, and the disturbance is great to slow to the rotational response speed in specific area, aim the precision and hang down. The current relevant experiment finished product can only let unmanned aerial vehicle fly to specific region and charge, this use universality that has restricted unmanned aerial vehicle greatly, when unmanned aerial vehicle charges simultaneously, laser emission device's dynamic tracking cloud platform can't trail at a high speed and trail the precision and slightly have the deviation, lead to the direct waste of part laser or to penetrate the unmanned aerial vehicle fuselage, can cause unnecessary damage to unmanned aerial vehicle even.
3) Low photoelectric conversion efficiency
Adopt traditional monocrystalline silicon, its conversion efficiency is less than 15%, if charge for unmanned aerial vehicle, the solar panel of small size is difficult to reach unmanned aerial vehicle's power supply demand, if increase the area, then can produce unnecessary additional influence to unmanned aerial vehicle's flight performance. To the problem that photoelectric conversion efficiency is low that can't solve, ordinary monocrystalline silicon photovoltaic cell has a common fault, that is conversion efficiency is low excessively, leads to photovoltaic cell output to be not enough to maintain unmanned aerial vehicle flight, but if increase unmanned aerial vehicle's photovoltaic board photic area, then can influence unmanned aerial vehicle's flight performance.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide an unmanned aerial vehicle laser charging device capable of automatically tracking and a tracking method, which can solve the problem of low device integration level, realize high-precision laser tracking and effectively improve the energy conversion rate.
In order to achieve the purpose, the invention provides the following technical scheme:
an unmanned aerial vehicle laser charging device of automatic tracking includes: the device comprises a laser transmitting end and a laser receiving end;
a plurality of laser tubes are uniformly distributed in the inner circumference of the laser emitting end, each laser tube is correspondingly provided with a light gathering reflector, and a plurality of paths of laser can be gathered to reach a bundling unit through the reflection of the light gathering reflector and is emitted out by the bundling unit;
the laser receiving end is internally provided with a beam expander and a gallium arsenide array, and the beam expander is used for amplifying the diameter of the received laser beam and enabling the gallium arsenide array to convert light energy into electric energy.
The system comprises a laser tracking system, a laser light path tracking system and a contrast screen, wherein the laser tracking system comprises a tracking laser light path system and a contrast screen; the tracking laser optical path system comprises a tracking laser transmitter arranged on the laser transmitting end and a laser reflector arranged on the laser receiving end and used for reflecting and folding the laser part back to the laser transmitting end.
Further, the contrast light screen is arranged on the laser emitting end, and both the laser which is emitted outwards and reflected back can leave a laser spot on the contrast light.
Further, a visual camera is mounted at a position close to the contrast screen, and the visual camera can detect a coordinate difference between the laser emitting point and the laser retracing light point.
Furthermore, the laser emitting end comprises a first shell and a lining shell arranged inside the first shell, the first shell is connected with the tailstock, the lining shell is connected with an annular fixing seat, and the laser tubes are connected to the annular fixing seat.
Further, the number of the laser tubes is 10.
Furthermore, the inner side and the outer side of the laser tube are respectively provided with a heat dissipation lining part and a heat dissipation shell, and the heat dissipation shell is connected to the annular fixed seat.
Further, a fixed seat is installed in the middle of the lining shell, and the tracking laser emitter is installed on the fixed seat.
Further, the light gathering reflector is arranged between the laser tube and the tracking laser emitter, and the included angle between each light gathering reflector and the inner lining shell in the axial direction is the same.
Further, the bundling unit comprises a light-transmitting mirror arranged in the middle of the laser emission end.
Further, the laser receiving end is installed on unmanned aerial vehicle, is in including second casing and setting be used for on the second casing with the interface that unmanned aerial vehicle is connected.
Further, laser emission end installs on the cloud platform, the laser pipe is 450nm laser pipe, it includes 650nm laser pipe to track laser emitter.
A tracking method of the unmanned aerial vehicle laser charging device adopting the automatic tracking comprises the following steps:
1) initializing a related filtering algorithm;
2) reading the next frame of image, calculating the relevant filtering response of the sample set, judging whether the sample set is blocked, and if the sample set is blocked, turning to the step 3); if not, turning to the step 6);
3) initializing a particle set and sampling importance;
4) and calculating a filter response peak value of each particle, updating the weight of the particle according to the filter response peak value, resampling and outputting the optimal position estimation.
5) And estimating the position of the target according to the resampling result, and turning to the step 7).
6) And detecting the position of the target and updating the filtering template.
7) Returning to step 2) until the last frame.
By means of the unmanned aerial vehicle laser charging device, a mode that multiple groups of medium-power lasers and optical modules are adopted, large power output is achieved in a small size, and the problem of low device integration level is solved.
Through introducing a set of high power tracking laser transmitter who is different from main laser instrument in laser emission end main array, utilize its collimation nature and optical module and coordinate deviation's algorithm, with laser energy supply and laser tracking combination, further improve device integration level, the actual feasibility is higher, has solved laser tracking problem.
Through set up gallium arsenide laser receiving array at the laser receiving terminal, cooperate the beam expanding lens module, further improve laser energy conversion ability.
Drawings
FIG. 1 is a schematic structural diagram of a laser emitting end according to the present invention;
FIG. 2 is a schematic structural diagram of a laser receiving end according to the present invention;
FIG. 3 is a schematic structural diagram of a tracking laser optical path system according to the present invention;
FIG. 4 is a schematic structural diagram of a vision camera and a contrast screen according to the present invention;
FIG. 5 is a flowchart illustrating a tracking method according to the present invention.
In the figure: 1-tailstock; 2-a light gathering reflector; 3-a lining shell; 4-a first housing; 5-laser tube; 6-annular fixed seat; 7-a light-transmitting mirror; 8-a heat dissipation housing; 9-heat dissipation lining part; 10-tracking a laser emitter; 11-a fixed seat; 12-a beam expander; 13-gallium arsenide array; 14-an interface; 15-a second housing; 16-laser mirror; 17-mirror mount; 18-a visual camera; 19-contrast light screen.
Detailed Description
The technical solution of the present invention will be described in further detail with reference to specific embodiments.
Referring to fig. 1 to 4, the laser charging device for an unmanned aerial vehicle, which automatically tracks, according to the present invention, includes: a laser emitting end and a laser receiving end;
a plurality of laser tubes 5 are uniformly distributed in the inner circumference of the laser emitting end, each laser tube 5 is correspondingly provided with a light gathering reflector 2, and a plurality of paths of laser can be converged and reach a bundling unit through the reflection of the light gathering reflectors 2 and is emitted out by the bundling unit;
the laser receiving end is internally provided with a beam expander 12 and a gallium arsenide array 13, wherein the beam expander 12 is used for amplifying the diameter of the received laser beam and enabling the gallium arsenide array 13 to convert light energy into electric energy.
The laser charging device of the unmanned aerial vehicle adopts an automatic tracking mode, the laser emitting end is fixedly arranged on the cloud deck, the laser receiving end is arranged on the unmanned aerial vehicle, the unmanned aerial vehicle is charged in a mode that the laser emitting end emits laser to the laser receiving end, and the received light energy is converted into electric energy through the gallium arsenide array 13 on the laser receiving end. The driving motor is arranged on the holder (the holder and the motor are not shown in the figure), and the angle of the laser emitting end can be adjusted through a power output mode, so that the laser emitting end and the laser receiving end are kept in butt joint in the direction in a tracking mode, and the laser charging requirement is further met.
Through the form of a plurality of laser pipes 5 of inside circumference equipartition at laser emission end, constituted the laser pipe 5 array that has the function of charging, then through the spotlight reflector 2 that corresponds the certain inclination of every laser pipe 5 setting, constituted the optics module of laser, through the interconversion of laser pipe 5 array and optics module, realized the substitution to the high-energy laser of single beam high power.
In the prior art, most of the unmanned aerial vehicle charging adopts a single-beam high-energy laser form, on one hand, the laser has high power, and a heat dissipation system with large volume needs to be equipped to meet the normal use requirement; laser in use in case go wrong on the other hand, then directly lead to the unable use of laser, need carry out the overall change to the laser, will certainly cause the influence to unmanned aerial vehicle's normal charging.
By integrally providing a plurality of laser tubes 5 at the laser emitting end, it is possible to integrate the laser tubes 5 of a smaller power into a laser tube 5 assembly, and to integrate a laser beam, which is emitted from the laser emitting end in the form of a circular aperture whose shape follows the distribution shape of the laser tubes 5, by the condensing mirror 2 corresponding to each laser tube 5.
The integration level of a laser emitting end can be improved to the maximum extent by combining a plurality of laser tubes 5 and the light gathering reflector 2, and the heat dissipation problem of a single high-power laser tube 5 is solved.
In addition, through the combination of the plurality of low-power laser tubes 5, the charging laser can still be normally emitted under the condition that a single laser tube 5 or the plurality of laser tubes 5 are damaged, and the risk that the equipment cannot be normally used due to the damage of the laser tubes 5 is reduced. Meanwhile, the number of the laser tubes 5 can be adjusted according to the actual requirement of specific charging power, and various requirements of different charging working conditions are met.
The beam expander 12 and the gallium arsenide array 13 are arranged in the laser receiving end, after the laser reaches the laser receiving end, the laser beam is expanded under the action of the beam expander 12, the laser beam with the larger diameter is obtained, the diameter of the laser beam is increased, the carried energy density is reduced, the energy density reaches the range that the gallium arsenide array 13 can bear, and meanwhile, the gallium arsenide array 13 receives the laser with the larger area, so that the energy conversion rate is improved.
Through the plurality of integrated laser tubes 5 and the optical module consisting of the light gathering reflector 2, the plurality of laser tubes 5 with smaller power replace a single laser tube 5 with larger power, and the stability of the operation of the charging device is ensured. The laser beam in the form of an aperture emitted by the laser emitting end can be expanded under the action of the beam expander 12 at the laser receiving end, and the energy density can be reduced while the expansion is carried out, so that the gallium arsenide array 13 can receive the energy carried by the laser to the maximum extent, the light energy of the laser can be fully converted into electric energy, and the energy conversion rate is greatly improved.
In one embodiment, in addition to the configuration of the laser emitting end and the laser receiving end from the charging function, the laser charging device for the unmanned aerial vehicle further includes a configuration in tracking, specifically, a laser tracking system.
Specifically, the laser tracking system includes a tracking laser optical path system and a contrast optical screen 19; the tracking laser optical path system comprises a tracking laser transmitter 10 arranged on the laser transmitting end and a laser reflector 16 arranged on the laser receiving end and used for reflecting and folding the laser part back to the laser transmitting end.
The tracking laser transmitter 10 is different from the plurality of laser tubes 5 that emit the charging laser, and is provided in the middle of the laser emitting end, mainly for the purpose of emitting the tracking laser at the time of calibration. The laser tube 5 emitting the charging laser is integrally assembled by 10 less-power 450nm laser tubes, and the tracking laser emitter 10 is a single 650nm laser tube arranged on the center of the laser tube 5 distributed annularly.
Through being in the air with unmanned aerial vehicle stagnation, make laser emission end and laser receiving end dock each other in the direction, then through tracking laser emitter 10 and jet out the pursuit laser that has the calibration function, can set up in the contrast light screen 19 that laser emission was served and leave the calibration base point, surround this calibration base point and make laser emission end change orientation and carry out the ejection of laser and receive charging in the pursuit process of follow-up unmanned aerial vehicle.
The laser reflector 16 in the tracking laser optical path system is mainly used for laser feedback butt joint in the actual charging process, the laser reflector 16 is arranged on a laser receiving end and can partially reflect and fold received laser emitted by a laser emitting end so as to leave a reflected light spot on a contrast screen 19, meanwhile, when the laser is emitted by the laser emitting end, a laser light spot can be similarly left on the contrast screen 19, through a coordinate difference between a reflected light spot and a folded light spot which are left on the contrast screen 19 and a calibration base point, an offset can be obtained through calculation, the offset is converted into a pulse signal and is input into a motor, the motor realizes adjustment of the angle of the laser emitting end through rotation, and dynamic tracking of a laser receiving end is realized.
A visual camera 18 is installed at a position close to the contrast screen 19, the visual camera 18 can detect a coordinate difference between the laser emission spot and the laser retrace spot, specifically, the visual camera 18 can detect a coordinate difference between the laser emission spot and the laser retrace spot and a calibration base point respectively, and the coordinate difference is used for calculating to obtain the offset.
The vision camera 18 outputs a deviation value by comparing the coordinate difference of two light spots on the light screen, which are reflected by laser emission and feedback, outputs an interpolation pwm wave through a PI D algorithm, and drives a holder interpolation angle supporting a laser emission end, so that the laser tracking of the unmanned aerial vehicle is completed.
By the laser tracking system in the embodiment, the dynamic adjustment of the laser emitting end can be performed by monitoring the light spot of the emitted laser and the reflected laser on the contrast screen 19 in real time and the coordinate difference between the light spot and the calibration base point, so that the technical purpose of automatic tracking is realized.
In another embodiment, the laser emitting end includes a first housing 4 and an inner lining shell 3 disposed inside the first housing 4, the first housing 4 is connected with the tailstock 1, the inner lining shell 3 is connected with an annular fixing seat 6, and the plurality of laser tubes 5 are all connected to the annular fixing seat 6.
The multiple laser tubes 5 are specifically connected to the annular fixing seat 6 inside the lining shell 3, the stability of the laser tubes 5 in the operation process can be improved, the laser tubes 5 in the embodiment do not directly emit laser outwards when emitting laser, the laser tubes emit laser to the light gathering reflector 2, and the light penetrating mirror 7 arranged in the middle of the laser emitting end is emitted from the first shell 4 through the light gathering unit after being reflected. The tracking laser transmitter 10 is used for transmitting the calibration laser directly in the form of emitting the first housing 4. Install fixing base 11 at the mid-mounting of inner shell 3, track laser emitter 10 and install on fixing base 11, through will track laser emitter 10 and install at the middle part of inner shell 3, preferably install on the axle center of laser emission end, can effectively guarantee the referential of calibration base point under the characteristic of laser collimation nature, greatly improve the precision of tracking.
The inner side and the outer side of the laser tube 5 are respectively provided with a heat dissipation lining part 9 and a heat dissipation shell 8, and the heat dissipation shell 8 is connected on the annular fixed seat 6. Through the heat dissipation lining part 9 and the heat dissipation shell 8 arranged on each laser tube 5, the heat gathering can be reduced to the maximum extent, the interference on the operation of equipment is reduced, and the service life of the laser tube 5 is effectively prolonged. The heat dissipation shell 8 is connected to the annular fixing seat 6 through the clamping mode, heat can be conducted out in time through a heat conduction mode, and the operation condition of the laser emitting end is effectively improved.
In order to ensure the accuracy of forming the cluster aperture by emitting laser, the included angle between the light gathering reflector 2 corresponding to each laser tube 5 and the axial direction of the lining shell 3 is the same, preferably, the light gathering reflectors 2 are of an integral structure, the centricity of the light gathering reflectors 2 can be ensured, and the standard cluster aperture can be formed. The light gathering reflector 2 is arranged between the laser tube 5 and the tracking laser emitter 10, and can reduce the mutual interference of the standard light beam and the charging laser.
The laser receiving end is installed on unmanned aerial vehicle, including second casing 15 and set up the interface 14 that is used for being connected with unmanned aerial vehicle on second casing 15. The effective heat dissipation of laser receiving end can be guaranteed to second casing 15, and the interface 14 of being connected with unmanned aerial vehicle can adjust according to different sizes and models to satisfy the installation of different functional requirements.
The inside of the second casing 15 is further provided with a reflector base 17, which can ensure the stability of the laser reflector 16 connected to the laser receiving end, and ensure the accuracy in the tracking process.
Referring to fig. 5, the invention further provides a tracking method using the above-mentioned laser charging device for an unmanned aerial vehicle, in a normal tracking state of a particle filter fused correlation filter algorithm, a target is tracked using the correlation filter algorithm, in a tracking process, whether shielding or disappearance of the target occurs is judged in real time according to a peak-to-side lobe ratio of a filter response, and if not, tracking is continued using the correlation filter algorithm; and if the target is shielded or disappears, tracking by adopting a fusion particle filtering and related filtering algorithm.
The method specifically comprises the following steps:
1) initializing a related filtering algorithm;
2) reading the next frame of image, calculating the relevant filtering response of the sample set, judging whether the sample set is blocked, and if the sample set is blocked, turning to the step 3); if not, turning to the step 6);
3) initializing a particle set and sampling importance;
4) and calculating a filter response peak value of each particle, updating the weight of the particle according to the filter response peak value, resampling and outputting the optimal position estimation.
5) And estimating the position of the target according to the resampling result, and turning to the step 7).
6) And detecting the target position and updating the filtering template.
7) Returning to step 2) until the last frame.
Combine unmanned aerial vehicle laser charging device of automatic tracking, concrete operating procedure includes in the actual motion process:
step 1: unmanned aerial vehicle takes off and stagnates in 5 meters eminences, and the pursuit laser emitter that laser emission served simultaneously begins work, and calibration laser jets out shines on unmanned aerial vehicle laser receiving end, and the facula that the vision camera can automatic identification reflected this moment, and when laser shines the positive center of contrast light screen, the facula coordinate that the vision camera can automatic mark this moment reflected back is Q.
Step 2: unmanned aerial vehicle begins the normal executive task, and when the flight began, 10 laser tubes were all opened, and the light mirror that leads to that gets into through the spotlight reflector and have the function of restrainting integrates different laser together to the parallel light shines on gallium arsenide 3 x 3 array, can improve output current and output voltage through gallium arsenide photovoltaic array.
And step 3: the received electric energy converted from the laser needs a specific circuit structure to stabilize the voltage and equalize the current.
And 4, step 4: when laser irradiates the gallium arsenide photovoltaic array, a laser reflector is arranged at the center of the array and can reflect part of the laser back in a direction parallel to incident light.
And 5: the reflected laser forms light spots through the contrast light screen.
And 6: the vision camera carries out pretreatment, edge detection, filtering and other treatments on the light spots to extract the light spots.
And 7: the position of the light spot in the image is extracted through an algorithm, the coordinate of the best receiving point, namely the coordinate of the calibration base point Q is calculated to obtain the offset P, the offset P is converted into a PWM pulse signal and is input into a motor, and the motor controls the orientation of the laser emitting end through rotation to realize dynamic tracking.
And 8: and training an algorithm model to continuously update, so that real-time laser wireless charging tracking is realized.
It is important to point out that the invention uses 10 laser arrays of 10W to combine, then places a high-reflectivity reflecting plane mirror with a certain inclination angle on each laser, 10 lasers are reflected by the plane mirror and enter the bundling unit, and the bundling unit is internally composed of light-transmitting mirrors, after entering the bundling unit, a plurality of lasers are converged into mutually parallel laser rays, thus realizing the technical purpose of using a plurality of small-power lasers to replace a single-beam high-power laser.
The high-speed image acquisition card in the visual camera is used for capturing laser spots reflected and folded back by the laser reflector on the laser receiving end on the unmanned aerial vehicle body, and then the tracking effect is optimized through various visual tracking algorithms in the embedded system, so that the response speed of the tracking device and the precision of the tracking device are greatly improved.
By using gallium arsenide photovoltaic cells instead of ordinary monocrystalline silicon photovoltaic cells, 10 x 10mm 2 The maximum output voltage of the gallium arsenide photovoltaic cell can reach 15V, the maximum output current can reach about 3A, the conversion efficiency can reach 40%, the miniaturized charging area of the unmanned aerial vehicle is solved, and the charging efficiency of the unmanned aerial vehicle is greatly improved fundamentally.
While the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (8)
1. The utility model provides an automatic unmanned aerial vehicle laser charging device who tracks, its characterized in that includes: the device comprises a laser transmitting end and a laser receiving end;
a plurality of laser tubes are uniformly distributed in the inner circumference of the laser emitting end, each laser tube is correspondingly provided with a light gathering reflector, and a plurality of paths of laser can be gathered to reach a bundling unit through the reflection of the light gathering reflector and is emitted out by the bundling unit;
the laser receiving end is internally provided with a beam expander and a gallium arsenide array, and the beam expander is used for amplifying the diameter of the received laser beam and enabling the gallium arsenide array to convert light energy into electric energy;
the system also comprises a laser tracking system, wherein the laser tracking system comprises a tracking laser light path system and a contrast screen; the tracking laser optical path system comprises a tracking laser transmitter arranged on the laser transmitting end and a laser reflector arranged on the laser receiving end and used for reflecting and folding the laser part back to the laser transmitting end;
the contrast light screen is arranged on the laser emitting end, and both the laser which is emitted outwards and reflected back can leave laser light spots on the contrast light.
2. The laser charging device for unmanned aerial vehicle capable of automatically tracking according to claim 1, wherein a visual camera is installed at a position close to the contrast screen, and the visual camera can detect a coordinate difference between a laser emission spot and a laser retracing spot.
3. The laser charging device for unmanned aerial vehicle capable of automatically tracking according to claim 1, wherein the laser emitting end comprises a first housing and an inner lining shell arranged inside the first housing, the first housing is connected with a tailstock, the inner lining shell is connected with an annular fixing seat, and the plurality of laser tubes are connected to the annular fixing seat.
4. The laser charging device for the unmanned aerial vehicle capable of automatically tracking according to claim 3, wherein a heat dissipation lining part and a heat dissipation outer shell are respectively arranged on the inner side and the outer side of the laser tube, and the heat dissipation outer shell is connected to the annular fixing seat.
5. The laser charging device for unmanned aerial vehicle capable of automatically tracking according to claim 3, wherein a fixing base is installed in the middle of the lining shell, and the tracking laser emitter is installed on the fixing base.
6. The laser charging device for unmanned aerial vehicle capable of automatically tracking according to claim 3, wherein the light gathering reflector is arranged between the laser tube and the tracking laser emitter, and an included angle between each light gathering reflector and the inner lining shell in the axial direction is the same.
7. The laser charging device for unmanned aerial vehicle capable of automatically tracking according to claim 1, wherein the laser receiving end is mounted on the unmanned aerial vehicle and comprises a second housing and an interface arranged on the second housing and used for being connected with the unmanned aerial vehicle.
8. A tracking method using the laser charging device of an automatically tracked drone of any one of claims 1 to 7, characterized by comprising the following steps:
1) initializing a related filtering algorithm;
2) reading the next frame of image, calculating the relevant filtering response of the sample set, judging whether the sample set is shielded, and if so, turning to the step 3); if not, turning to the step 6);
3) initializing a particle set and sampling importance;
4) calculating a filter response peak value of each particle, updating the weight of the particle according to the filter response peak value, resampling, and outputting an optimal position estimation;
5) estimating the position of the target according to the resampling result, and turning to the step 7);
6) detecting the target position and updating a filtering template;
7) returning to step 2) until the last frame.
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