CN114584213B - Optical communication perception and energy transmission integrated unmanned aerial vehicle system - Google Patents
Optical communication perception and energy transmission integrated unmanned aerial vehicle system Download PDFInfo
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- H—ELECTRICITY
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- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
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- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- H—ELECTRICITY
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- H04B10/80—Optical aspects relating to the use of optical transmission for specific applications, not provided for in groups H04B10/03 - H04B10/70, e.g. optical power feeding or optical transmission through water
- H04B10/806—Arrangements for feeding power
- H04B10/807—Optical power feeding, i.e. transmitting power using an optical signal
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- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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- B64U2101/20—UAVs specially adapted for particular uses or applications for use as communications relays, e.g. high-altitude platforms
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Abstract
The invention discloses an optical communication sensing and energy transmission integrated unmanned aerial vehicle system, which comprises an optical intelligent unmanned aerial vehicle and one or more optical communication sensing and energy transmission integrated access points, wherein an optical wireless link is established between the access points and the unmanned aerial vehicle, and the optical wireless link is used for communication, positioning and energy transmission with the unmanned aerial vehicle. The implementation process comprises a pre-link stage and two stages of information and energy transmission stages: in the pre-linking stage, the optical communication sensing and energy transmission integrated access point emits a guide light beam to scan a free space, and the position of the target unmanned aerial vehicle is determined according to the reflected guide light or a feedback signal of the unmanned aerial vehicle; in the information and energy transmission stage, the optical communication perception energy transmission integrated access point transmits a communication light beam containing modulation information to the unmanned aerial vehicle, and provides energy for the unmanned aerial vehicle while maintaining high-speed communication of the unmanned aerial vehicle. Compared with the prior art, the unmanned aerial vehicle intelligent mobile access point continuous working method has the advantages that the unmanned aerial vehicle can continuously work as an intelligent mobile access point, and communication perception and energy transmission integration of the unmanned aerial vehicle is achieved.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle control, and particularly relates to an optical communication sensing and energy transmission integrated unmanned aerial vehicle system.
Background
With the development of unmanned aerial vehicle technology, miniaturized intelligent unmanned aerial vehicles have been widely used in life, such as aerial photography, position detection, and the like. However, due to the limitation of the endurance of the unmanned aerial vehicle, the unmanned aerial vehicle cannot fly and work for an ultra-long time. The existing radio frequency wireless energy transmission method also has the defects of low energy efficiency and unstable energy transmission.
The optical signal has narrow beam and high bandwidth, can not cross-talk with the radio frequency signal, and has extremely high stability and confidentiality. The high directivity of the optical signal also improves the accuracy of target positioning and the energy utilization efficiency. The optical wireless communication and energy transmission technology is used for the intelligent unmanned aerial vehicle, so that the unmanned aerial vehicle can efficiently transmit energy while providing high-speed, high-stability and high-confidentiality communication service for the unmanned aerial vehicle, the unmanned aerial vehicle can work at high efficiency in full time, and the application scene of the unmanned aerial vehicle is greatly expanded.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides an optical communication sensing and energy sensing integrated unmanned aerial vehicle system which can be used as a mobile access point working at full time, and can detect the surrounding environment in real time and perform high-speed communication.
The technical scheme is as follows: in order to achieve the above object, the present invention provides an optical communication sensing and energy-transmitting integrated unmanned aerial vehicle system, which comprises an optical intelligent unmanned aerial vehicle and one or more optical communication sensing and energy-transmitting integrated access points; the optical intelligent unmanned aerial vehicle is connected with one or more optical communication sensing and energy transmission integrated access points through an optical wireless link, and transmits communication information, position information and energy; the optical communication sensing and energy transmission integrated access point is connected with the gateway through a network cable; wherein,
the optical intelligent unmanned aerial vehicle consists of a frame, a power system and a control system; the frame comprises a body and a landing gear; the power system comprises a motor, a battery, an optical power amplifier module and a photoelectric conversion module; the control system comprises a flight control module, a positioning module, an optical signal receiving and transmitting module, a signal processing module and an image recognition and processing module;
the optical communication sensing and energy transmission integrated access point consists of an optical signal receiving and transmitting subsystem, a signal processing subsystem, a power control subsystem and a landing platform; the optical signal receiving and transmitting subsystem comprises a guiding light source, a communication light source, an optical receiver and a mechanical steering engine; the signal processing subsystem comprises a position information processing module and an optical communication module; the power control subsystem comprises an optical power amplifier module;
the implementation process of the optical communication perception energy-sensing integrated unmanned aerial vehicle system comprises a pre-link stage and an information and energy transmission stage, and specifically comprises the following steps:
firstly, a system enters a pre-linking stage, and under the condition that an optical intelligent unmanned aerial vehicle and an optical communication sensing and energy transmission integrated access point are kept relatively static, the optical communication sensing and energy transmission integrated access point emits a guide light beam to a free space to search the position of the optical intelligent unmanned aerial vehicle;
step two, the optical communication perception energy-sensing integrated access point determines the position of the optical intelligent unmanned aerial vehicle according to the guide light beam reflected by the optical intelligent unmanned aerial vehicle or the feedback signal sent by the unmanned aerial vehicle, transmits a communication beam towards the unmanned aerial vehicle, performs pre-linking with the optical intelligent unmanned aerial vehicle, and then enters the information and energy transmission stage;
step three, in the information and energy transmission stage, the optical intelligent unmanned aerial vehicle moves according to the instruction information from the optical communication sensing and energy transmission integrated access point; meanwhile, the optical intelligent unmanned aerial vehicle receives optical signals from the optical communication sensing and energy sensing integrated access point in real time, and extracts position information and instruction information from the optical signals; under the condition that a plurality of optical communication sensing and energy transmission integrated access points exist in a scene, the optical intelligent unmanned aerial vehicle analyzes the absolute position of the unmanned aerial vehicle according to the plurality of position information and sends the analyzed absolute position information to the optical communication sensing and energy transmission integrated access points;
step four, the optical signal energy received by the optical intelligent unmanned aerial vehicle, wherein one part is used for communication and positioning, and the other part supplies power to a motor or charges a battery through a photoelectric conversion module, so that the working time of the unmanned aerial vehicle is prolonged; under the environment of poor channel, the optical intelligent unmanned aerial vehicle improves the optical power proportion for communication, and under the environment of good channel, improves the optical power proportion for charging to realize the intelligent regulation and control to the received optical power.
Further, the structure of the optical intelligent unmanned aerial vehicle is as follows: the machine body in the frame is connected to a motor of the power system, and the motor of the power system and the optical power amplifier module are respectively connected to a flight control module and an optical signal receiving and transmitting module of the control system; wherein, the frame is in a structure that the landing gear is connected with the machine body; the power system has the structure that: the motor is connected to the battery, the battery is connected to the photoelectric conversion module, and the photoelectric conversion module is connected to the optical power amplifier module; the control system has the structure that: the flight control module and the optical signal receiving and transmitting module are connected to the signal processing module, and the signal processing module is connected to the positioning module and the image recognition and processing module.
Further, the structure of the optical communication sensing and energy transmission integrated access point is as follows: the landing platform is connected to a receiver of the optical signal receiving and transmitting subsystem, the receiver of the optical signal receiving and transmitting subsystem is connected to a position information processing module, an optical communication module and an optical power amplification module of the power control subsystem of the signal processing subsystem, the position information processing module of the signal processing subsystem is connected to a guiding light source and a mechanical steering engine of the optical signal receiving and transmitting subsystem, and the optical communication module of the signal processing subsystem and the optical power amplification module of the power control subsystem are connected to a communication light source of the optical signal receiving and transmitting subsystem; the mechanical steering engine of the optical signal receiving and transmitting subsystem is connected to the guiding light source and the communication light source; the optical communication module of the signal processing subsystem is also connected to the gateway.
Further, step one, the optical communication sensing and energy transmission integrated access point transmits a guiding light beam to a free space to search the position of the optical intelligent unmanned aerial vehicle, and the specific implementation mode is as follows:
the mechanical steering engine controls the laser beam emitted by the guiding light source, namely the guiding light beam, to periodically scan in free space, and meanwhile, the original positioning information o (t) is loaded on the laser beam, and the original positioning information o (t) is strictly related to time t and arrival angle theta (t), and the corresponding relation is as follows:
f：θ(t)→o(t) (1)。
further, the second step of determining, by the optical communication sensing and energy sensing integrated access point, the position of the optical intelligent unmanned aerial vehicle according to the guiding light beam reflected by the optical intelligent unmanned aerial vehicle or the feedback signal sent by the unmanned aerial vehicle, specifically includes the following steps:
step 2.1, after the optical intelligent unmanned aerial vehicle receives the guide light beam, adding optical intelligent unmanned aerial vehicle information u (t) at the end of the information of the guide light signal, and sending the modified guide light signal as a feedback signal to an optical communication perception and energy transmission integrated access point; the feedback signal o' (t) received by the optical communication sensing and sensing integrated access point is as follows:
o'(t)＝o(t-τ)+u(t-τ-τ o ) (2)
wherein τ is the sum of signal propagation delay and optical communication sensing and energy transmission integrated access point signal processing delay, τ o The information length of the intelligent unmanned aerial vehicle is the information length of the intelligent unmanned aerial vehicle;
step 2.2, the optical communication perception and energy transmission integrated access point pushes out an arrival angle theta (t) and a distance d of the optical intelligent unmanned aerial vehicle according to an original positioning signal o (t) and a delay tau in a received feedback signal o' (t): the arrival angle θ (t) is derived from equation (1); the distance d is:
wherein c is the speed of light, t p Delay is processed for the estimated optical communication sensing and energy transmitting integrated access point.
Further, the extracting the position information in the third step includes a relative distance and a direction between the optical intelligent unmanned aerial vehicle and the optical communication sensing and energy sensing integrated access point.
Further, the optical intelligent unmanned aerial vehicle drops to a landing platform of the optical communication sensing and energy transmitting integrated access point for charging in a non-working state.
The beneficial effects are that: compared with the prior art, the invention has the beneficial effects that:
compared with the traditional unmanned aerial vehicle system, the unmanned aerial vehicle system greatly improves the endurance capacity of the unmanned aerial vehicle while improving the communication transmission rate of the unmanned aerial vehicle, can enable the unmanned aerial vehicle to continuously work as an intelligent mobile access point, and expands the application scene of the unmanned aerial vehicle; compared with the existing unmanned aerial vehicle wireless energy transmission technology, the unmanned aerial vehicle wireless energy transmission system can realize the integration of communication perception energy transmission of the unmanned aerial vehicle, and has the core that the unmanned aerial vehicle can be transmitted while the communication and positioning network of the unmanned aerial vehicle is established, and the following specific points are shown:
1. the invention adopts the optical frequency band signal as the medium of communication and energy transmission, and has the advantages of rich frequency spectrum resources, high energy efficiency and strong confidentiality;
2. the invention adopts the optical positioning technology to track the position of the unmanned aerial vehicle in real time, has higher positioning precision and is very suitable for determining the position of the three-dimensional free space target;
3. the crosstalk between the optical signal and the radio frequency signal does not occur, so that the system in the invention does not interfere with the electronic equipment and is not interfered by electromagnetic waves in the environment;
4. the system can realize more functions by adding new modules to the unmanned aerial vehicle on the basis of normal operation of a communication link, and has good ductility;
5. the complexity of the whole system is low, and the optical communication sensing and energy transmission integrated access point and the intelligent unmanned aerial vehicle are easy to realize.
Drawings
FIG. 1 is a block diagram of an optical communication sensing and energy transmission integrated unmanned aerial vehicle system;
FIG. 2 is a block diagram of an optical intelligent drone;
fig. 3 is a block diagram of an optical communication sensing and energy transmitting integrated access point.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
The optical communication sensing and energy-transmitting integrated unmanned aerial vehicle system mainly comprises an optical intelligent unmanned aerial vehicle and one or more optical communication sensing and energy-transmitting integrated access points, wherein the one or more optical communication sensing and energy-transmitting integrated access points are arranged in the environment as shown in fig. 1, and the optical intelligent unmanned aerial vehicle is connected with the one or more optical communication sensing and energy-transmitting integrated access points through an optical wireless link and transmits communication information, position information and energy. The optical communication perception and energy transmission integrated access point is connected with the optical intelligent unmanned aerial vehicle through an optical wireless link and is connected with the gateway through a network cable.
As shown in fig. 2, the optical intelligent unmanned aerial vehicle is composed of a rack, a power system and a control system. The frame includes a fuselage and landing gear. The power system comprises a motor, a battery, an optical power amplifier module and a photoelectric conversion module. The control system comprises a positioning module, an image recognition and processing module, a flight control module, an optical signal receiving and transmitting module and a signal processing module. The machine body in the frame is connected to a motor of the power system, and the motor of the power system and the optical power amplifier module are respectively connected to a flight control module and an optical signal receiving and transmitting module of the control system; wherein, the frame is in a structure that the landing gear is connected with the machine body; the power system has the structure that: the motor is connected to the battery, the battery is connected to the photoelectric conversion module, and the photoelectric conversion module is connected to the optical power amplifier module; the control system has the structure that: the flight control module and the optical signal receiving and transmitting module are connected to the signal processing module, and the signal processing module is connected to the positioning module and the image recognition and processing module.
As shown in fig. 3, the optical communication sensing and energy transmission integrated access point is composed of an optical signal transceiver subsystem, a signal processing subsystem, a power control subsystem and a landing platform. The optical signal receiving and transmitting subsystem comprises a guiding light source, a communication light source, an optical receiver and a mechanical steering engine. The signal processing subsystem comprises a position information processing module and an optical communication module. The power control subsystem comprises an optical power amplifier module. The landing platform is connected to a receiver of the optical signal receiving and transmitting subsystem, the receiver of the optical signal receiving and transmitting subsystem is connected to a position information processing module, an optical communication module and an optical power amplification module of the power control subsystem of the signal processing subsystem, the position information processing module of the signal processing subsystem is connected to a guiding light source and a mechanical steering engine of the optical signal receiving and transmitting subsystem, and the optical communication module of the signal processing subsystem and the optical power amplification module of the power control subsystem are connected to a communication light source of the optical signal receiving and transmitting subsystem; the mechanical steering engine of the optical signal receiving and transmitting subsystem is connected to the guiding light source and the communication light source; the optical communication module of the signal processing subsystem is also connected to the gateway.
The steps are described in more detail below with reference to the accompanying drawings.
Firstly, the system enters a pre-linking stage, an optical communication sensing and energy transmission integrated access point emits a guide light beam to a free space to search the position of the unmanned aerial vehicle, and the unmanned aerial vehicle needs to be kept relatively static with the optical communication sensing and energy transmission integrated access point. The optical communication perception and energy transmission integrated access point can also use a camera, and the unmanned aerial vehicle position is assisted to be positioned by utilizing an image recognition technology.
In step one, one of the guided beam search drone implementations is as follows:
step 1.1, the mechanical steering engine controls the laser beam emitted by the guiding light source, namely the guiding light beam, to periodically scan in free space, and simultaneously loads original positioning information o (t) on the laser beam, wherein the original positioning information o (t) is strictly related to time t and arrival angle theta (t), and the corresponding relation is that
f:θ(t)→o(t)
Step two, the optical communication perception energy-sensing integrated access point determines the position of the unmanned aerial vehicle according to the guiding light beam reflected by the unmanned aerial vehicle or the feedback signal sent by the unmanned aerial vehicle, transmits the communication light beam towards the unmanned aerial vehicle, and is pre-linked with the unmanned aerial vehicle, and then the system enters an information and energy transmission stage.
The specific implementation mode is as follows:
and 2.1, after the optical intelligent unmanned aerial vehicle receives the guiding light signal, adding unmanned aerial vehicle information u (t) at the end of the information, and sending the modified guiding light signal to the optical communication sensing and energy sensing integrated access point as a feedback signal. The feedback signal received by the optical communication sensing and energy transmitting integrated access point is that
o'(t)＝o(t-τ)+u(t-τ-τ o )
Wherein τ is the sum of signal propagation delay and optical communication sensing and energy transmission integrated access point signal processing delay, τ o The information length of the intelligent unmanned aerial vehicle is the information length of the intelligent unmanned aerial vehicle.
Step 2.2, the optical communication perception and energy transmission integrated access point pushes out an arrival angle theta (t) and a distance d of the unmanned aerial vehicle according to an original positioning signal o (t) and a delay tau in a received feedback signal o' (t). The arrival angle theta (t) is deduced from o (t) according to the corresponding relation between theta (t) and o (t) in the step 1.1; the distance d is:
wherein c is the speed of light, t p And (3) processing delay for the estimated optical communication sensing and energy transmission integrated access point signal.
The optical communication sensing and energy transmitting integrated access point can transmit communication beams along the arrival angle theta (t) towards the opposite direction, and the transmitted optical power is adjusted according to the distance d.
And thirdly, in the information and energy transmission stage, the optical intelligent unmanned aerial vehicle can move according to instruction information from the optical communication sensing and energy transmission integrated access point. Meanwhile, the optical intelligent unmanned aerial vehicle receives optical signals from the optical communication sensing and energy sensing integrated access point in real time, and extracts position information and instruction information from the optical signals, wherein the position information comprises the relative distance and direction between the unmanned aerial vehicle and the optical communication sensing and energy sensing integrated access point. Under the condition that a plurality of access points exist in a scene, the unmanned aerial vehicle can analyze the absolute position of the unmanned aerial vehicle according to the plurality of position information, and the analyzed absolute position information is sent to the optical communication sensing and energy transmitting integrated access point.
And step four, the optical signal energy received by the unmanned aerial vehicle, wherein one part of the optical signal energy is used for communication and positioning, and the other part of the optical signal energy is directly used for supplying power to a motor or charging a battery through a photoelectric conversion module, so that the working time of the unmanned aerial vehicle is prolonged. Under the environment of poor channel, the unmanned aerial vehicle can improve the optical power proportion for communication, under the environment of good channel, improve the optical power proportion for charging to realize the intelligent regulation and control to the received optical power.
In addition, the intelligent unmanned aerial vehicle can acquire information such as images, voice and the like in real time on the basis of establishing communication and energy transmission links with the optical communication sensing and energy transmission integrated access point in the environment, and transmits the information to a user through the communication links with the optical communication sensing and energy transmission integrated access point. Meanwhile, the intelligent system can also dynamically interact with a user, and can be used for realizing more applications such as real-time nursing, health monitoring, regional cruising and the like of the old and the children by fusing artificial intelligence technology.
The optical communication sensing and energy transmission integrated access point is provided with a landing platform, and the optical intelligent unmanned aerial vehicle can drop to the access point to charge in a non-working state.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (5)
1. The optical communication sensing and energy transmission integrated unmanned aerial vehicle system is characterized by comprising an optical intelligent unmanned aerial vehicle and one or more optical communication sensing and energy transmission integrated access points; the optical intelligent unmanned aerial vehicle is connected with one or more optical communication sensing and energy transmission integrated access points through an optical wireless link, and transmits communication information, position information and energy; the optical communication sensing and energy transmission integrated access point is connected with the gateway through a network cable; wherein,
the optical intelligent unmanned aerial vehicle consists of a frame, a power system and a control system; the frame comprises a body and a landing gear; the power system comprises a motor, a battery, an optical power amplifier module and a photoelectric conversion module; the control system comprises a flight control module, a positioning module, an optical signal receiving and transmitting module, a signal processing module and an image recognition and processing module;
the optical communication sensing and energy transmission integrated access point consists of an optical signal receiving and transmitting subsystem, a signal processing subsystem, a power control subsystem and a landing platform; the optical signal receiving and transmitting subsystem comprises a guiding light source, a communication light source, an optical receiver and a mechanical steering engine; the signal processing subsystem comprises a position information processing module and an optical communication module; the power control subsystem comprises an optical power amplifier module;
the implementation process of the optical communication perception energy-sensing integrated unmanned aerial vehicle system comprises a pre-link stage and an information and energy transmission stage, and specifically comprises the following steps:
firstly, a system enters a pre-linking stage, and under the condition that an optical intelligent unmanned aerial vehicle and an optical communication sensing and energy transmission integrated access point are kept relatively static, the optical communication sensing and energy transmission integrated access point emits a guide light beam to a free space to search the position of the optical intelligent unmanned aerial vehicle;
step two, the optical communication perception energy-sensing integrated access point determines the position of the optical intelligent unmanned aerial vehicle according to the guide light beam reflected by the optical intelligent unmanned aerial vehicle or the feedback signal sent by the unmanned aerial vehicle, transmits a communication beam towards the unmanned aerial vehicle, performs pre-linking with the optical intelligent unmanned aerial vehicle, and then enters the information and energy transmission stage;
step three, in the information and energy transmission stage, the optical intelligent unmanned aerial vehicle moves according to the instruction information from the optical communication sensing and energy transmission integrated access point; meanwhile, the optical intelligent unmanned aerial vehicle receives optical signals from the optical communication sensing and energy sensing integrated access point in real time, and extracts position information and instruction information from the optical signals; under the condition that a plurality of optical communication sensing and energy transmission integrated access points exist in a scene, the optical intelligent unmanned aerial vehicle analyzes the absolute position of the unmanned aerial vehicle according to the plurality of position information and sends the analyzed absolute position information to the optical communication sensing and energy transmission integrated access points;
step four, the optical signal energy received by the optical intelligent unmanned aerial vehicle, wherein one part is used for communication and positioning, and the other part supplies power to a motor or charges a battery through a photoelectric conversion module, so that the working time of the unmanned aerial vehicle is prolonged; under the environment of poor channel, the optical intelligent unmanned aerial vehicle improves the optical power proportion for communication, and under the environment of good channel, improves the optical power proportion for charging, thereby realizing the intelligent regulation and control of the received optical power;
wherein,
step one, the optical communication sensing and energy transmission integrated access point transmits a guide light beam to a free space to search the position of the optical intelligent unmanned aerial vehicle, and the specific implementation mode is as follows:
the mechanical steering engine controls the laser beam emitted by the guiding light source, namely the guiding light beam, to periodically scan in free space, and meanwhile, the original positioning information o (t) is loaded on the laser beam, and the original positioning information o (t) is strictly related to time t and arrival angle theta (t), and the corresponding relation is as follows:
f：θ(t)→o(t) (1)；
step two, the optical communication sensing and energy transmission integrated access point determines the position of the optical intelligent unmanned aerial vehicle according to the guide light beam reflected by the optical intelligent unmanned aerial vehicle or the feedback signal sent by the unmanned aerial vehicle, and the specific steps are as follows:
step 2.1, after the optical intelligent unmanned aerial vehicle receives the guide light beam, adding optical intelligent unmanned aerial vehicle information u (t) at the end of the information of the guide light signal, and sending the modified guide light signal as a feedback signal to an optical communication perception and energy transmission integrated access point; the feedback signal o' (t) received by the optical communication sensing and sensing integrated access point is as follows:
o'(t)＝o(t-τ)+u(t-τ-τ o ) (2)
wherein τ is the sum of signal propagation delay and optical communication sensing and energy transmission integrated access point signal processing delay, τ o The information length of the intelligent unmanned aerial vehicle is the information length of the intelligent unmanned aerial vehicle;
step 2.2, the optical communication perception and energy transmission integrated access point pushes out an arrival angle theta (t) and a distance d of the optical intelligent unmanned aerial vehicle according to an original positioning signal o (t) and a delay tau in a received feedback signal o' (t): the arrival angle θ (t) is derived from equation (1); the distance d is:
wherein c is the speed of light, t p Delay is processed for the estimated optical communication sensing and energy transmitting integrated access point.
2. The optical communication sensing and energy transmission integrated unmanned aerial vehicle system according to claim 1, wherein the structure of the optical intelligent unmanned aerial vehicle is: the machine body in the frame is connected to a motor of the power system, and the motor of the power system and the optical power amplifier module are respectively connected to a flight control module and an optical signal receiving and transmitting module of the control system; wherein, the frame is in a structure that the landing gear is connected with the machine body; the power system has the structure that: the motor is connected to the battery, the battery is connected to the photoelectric conversion module, and the photoelectric conversion module is connected to the optical power amplifier module; the control system has the structure that: the flight control module and the optical signal receiving and transmitting module are connected to the signal processing module, and the signal processing module is connected to the positioning module and the image recognition and processing module.
3. The integrated optical communication sensing and energy transmission unmanned aerial vehicle system according to claim 1, wherein the structure of the integrated optical communication sensing and energy transmission access point is as follows: the landing platform is connected to a receiver of the optical signal receiving and transmitting subsystem, the receiver of the optical signal receiving and transmitting subsystem is connected to a position information processing module, an optical communication module and an optical power amplification module of the power control subsystem of the signal processing subsystem, the position information processing module of the signal processing subsystem is connected to a guiding light source and a mechanical steering engine of the optical signal receiving and transmitting subsystem, and the optical communication module of the signal processing subsystem and the optical power amplification module of the power control subsystem are connected to a communication light source of the optical signal receiving and transmitting subsystem; the mechanical steering engine of the optical signal receiving and transmitting subsystem is connected to the guiding light source and the communication light source; the optical communication module of the signal processing subsystem is also connected to the gateway.
4. The integrated optical communication and sensing unmanned aerial vehicle system according to claim 1, wherein the extracting the position information in the third step includes a relative distance and a direction between the intelligent unmanned aerial vehicle and the integrated optical communication and sensing access point.
5. The integrated optical communication sensing and energy transmission unmanned aerial vehicle system of claim 1, wherein the intelligent unmanned aerial vehicle is charged by landing on a landing platform of the integrated optical communication sensing and energy transmission access point in a non-operating state.
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