CN111873822A

CN111873822A - Unmanned aerial vehicle wireless charging system and charging method

Info

Publication number: CN111873822A
Application number: CN202010881200.8A
Authority: CN
Inventors: 丁未龙; 李岳聪; 李宁; 范亮星
Original assignee: Beijing Yupont Electric Power Technology Co ltd
Current assignee: Beijing Yupont Electric Power Technology Co ltd
Priority date: 2020-08-27
Filing date: 2020-08-27
Publication date: 2020-11-03

Abstract

The invention discloses a wireless charging system and a charging method for an unmanned aerial vehicle, wherein the system comprises: a ground terminal system and an onboard terminal system; the ground terminal system is arranged on the ground mechanism and comprises a laser positioning tracker and a laser transmitter; the airborne terminal system is arranged on the unmanned aerial vehicle and comprises an optical positioning and tracking module and a laser photovoltaic cell module; the laser positioning tracker is used for emitting first laser; the optical positioning and tracking module is used for receiving the first laser to realize primary positioning of the ground terminal system on the unmanned aerial vehicle; the laser emitter is used for emitting second laser; the laser photovoltaic cell module comprises a photovoltaic unit array, and the photovoltaic unit array is used for receiving the second laser and converting the second laser into electric energy from light energy; the laser photovoltaic cell module further comprises a charging group used for storing electric energy and supplying power to the unmanned aerial vehicle. The technical scheme provided by the invention can greatly improve the operation endurance of the unmanned aerial vehicle and realize accurate, efficient and stable infinite endurance charging.

Description

Unmanned aerial vehicle wireless charging system and charging method

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle wireless charging system and a charging method.

Background

An unmanned aerial vehicle, namely an unmanned aerial vehicle, is an unmanned aerial vehicle mainly controlled by a radio remote control device or a self-contained program, has small volume, low manufacturing cost, convenient use and low requirement on an operating environment compared with the manned aircraft, and is widely applied to the fields of reconnaissance and monitoring, ground attack, communication relay, transportation capability, disaster relief application, interference implementation and the like due to the advantages of accuracy, high efficiency, flexibility and the like. However, the disadvantage of short endurance of drones is exposed to nothing with increasing work demands.

The existing unmanned aerial vehicle has a multi-power mode, one of the mainstream is to use a battery as an energy source of the unmanned aerial vehicle, most of unmanned aerial vehicles, particularly small and medium-sized unmanned aerial vehicles, use the battery as an energy source to directly drive a rotor wing, which is a mature technology at present, but is limited by self load and battery capacity, and faces the defect of short endurance time, generally only dozens of minutes, and the unmanned aerial vehicle needs to be periodically returned to the air and landed to charge or replace the battery, so that the unmanned aerial vehicle cannot be applied to occasions with higher requirements on endurance, and frequent take-off and landing can increase the occurrence probability of accidents; in addition, a fuel engine, a hydrogen fuel cell, a solar cell and the like are used as power sources, the endurance time is different from dozens of minutes to hours, various defects exist in application, such as safety, cost and the like, and the endurance capability is a key factor limiting the application and expansion of the unmanned aerial vehicle power inspection field in the operation process.

Disclosure of Invention

The embodiment of the invention provides a wireless charging system and a charging method for an unmanned aerial vehicle, which can greatly improve the operation endurance of the unmanned aerial vehicle and realize accurate, efficient and stable infinite endurance charging.

In a first aspect, an embodiment of the present invention provides an unmanned aerial vehicle wireless charging system, including: the method comprises the following steps: a ground terminal system and an onboard terminal system; the ground terminal system is arranged on a ground mechanism and comprises a laser positioning tracker and a laser transmitter; the airborne terminal system is arranged on the unmanned aerial vehicle and comprises an optical positioning and tracking module and a laser photovoltaic cell module;

the laser positioning tracker is used for emitting first laser; the optical positioning and tracking module is used for receiving the first laser to realize primary positioning of the ground terminal system on the unmanned aerial vehicle; the laser transmitter is used for transmitting second laser; the laser photovoltaic cell module comprises a photovoltaic unit array, and the photovoltaic unit array is used for receiving the second laser and converting the second laser into electric energy from light energy; the laser photovoltaic cell module further comprises a charging group, and the charging group is used for storing the electric energy and supplying power to the unmanned aerial vehicle.

In a second aspect, an embodiment of the present invention provides a wireless charging method for an unmanned aerial vehicle, which is applied to a wireless charging system for an unmanned aerial vehicle provided in any embodiment of the present invention, where the wireless charging method for an unmanned aerial vehicle includes:

starting an optical positioning and tracking module and a laser positioning and tracking device; the laser positioning tracker transmits first laser to the optical positioning tracking module to realize primary positioning of the ground terminal system on the unmanned aerial vehicle;

starting a laser transmitter and controlling the laser transmitter to transmit second laser; the photovoltaic unit array of the laser photovoltaic cell module receives the second laser and converts the second laser into electric energy from light energy;

the charging group of the laser photovoltaic cell module stores the electric energy and supplies power to the unmanned aerial vehicle.

In the invention, a ground terminal system comprising a laser positioning tracker and a laser emitter is arranged on a ground mechanism, an airborne terminal system comprising an optical positioning tracking module and a laser photovoltaic cell module is arranged on an unmanned aerial vehicle, and the laser photovoltaic cell module consists of a photovoltaic unit array and a charging group; firstly, a laser positioning tracker emits first laser to an optical positioning tracking module to establish laser link, namely, coarse aiming tracking is carried out to realize primary positioning of the ground terminal system on the unmanned aerial vehicle; secondly, emitting second laser to a photovoltaic unit array of the laser photovoltaic cell module through a laser emitter to realize laser charging of the unmanned aerial vehicle by a ground terminal system; and finally, the photovoltaic unit array converts the second laser into electric energy by light energy, and the charging set of the laser photovoltaic cell module stores the electric energy and supplies power to the unmanned aerial vehicle. When the unmanned aerial vehicle is wirelessly charged, the ground end can be used for aiming and tracking the airborne end through coarse aiming, tracking and positioning, the laser charging efficiency is improved, the operation endurance of the unmanned aerial vehicle is greatly improved, and accurate, efficient and stable infinite endurance charging is realized.

Drawings

Fig. 1 is a block diagram of a wireless charging system for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a wireless charging system for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 3 is a block diagram of another wireless charging system for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 4 is a block diagram of another wireless charging system for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 5 is a schematic flowchart of a wireless charging method for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 6 is a schematic flowchart of another wireless charging method for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 7 is a schematic flowchart of another wireless charging method for an unmanned aerial vehicle according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

The unmanned aerial vehicle is widely applied to the fields of reconnaissance and monitoring, ground attack, communication relay, transportation capacity, disaster relief application, interference implementation and the like due to the advantages of accuracy, high efficiency, flexibility and the like, but the unmanned aerial vehicle is limited by self load and battery capacity, has short endurance time, cannot be applied to occasions with higher requirements on flight time, and has various defects of safety, cost and the like.

In order to solve the above problem, an embodiment of the present invention provides an unmanned aerial vehicle wireless charging system, including: a ground terminal system and an onboard terminal system; the ground terminal system is arranged on the ground mechanism and comprises a laser positioning tracker and a laser transmitter; the airborne terminal system is arranged on the unmanned aerial vehicle and comprises an optical positioning and tracking module and a laser photovoltaic cell module;

the laser positioning tracker is used for emitting first laser; the optical positioning and tracking module is used for receiving the first laser to realize primary positioning of the ground terminal system on the unmanned aerial vehicle; the laser emitter is used for emitting second laser; the laser photovoltaic cell module comprises a photovoltaic unit array, and the photovoltaic unit array is used for receiving the second laser and converting the second laser into electric energy from light energy; the laser photovoltaic cell module further comprises a charging group used for storing electric energy and supplying power to the unmanned aerial vehicle.

In the embodiment of the invention, a ground terminal system comprising a laser positioning tracker and a laser emitter is arranged on a ground mechanism, an airborne terminal system comprising an optical positioning tracking module and a laser photovoltaic cell module is arranged on an unmanned aerial vehicle, and the laser photovoltaic cell module consists of a photovoltaic unit array and a charging group; firstly, a laser positioning tracker emits first laser to an optical positioning tracking module to establish laser link, namely, coarse aiming tracking is carried out to realize primary positioning of the ground terminal system on the unmanned aerial vehicle; secondly, emitting second laser to a photovoltaic unit array of the laser photovoltaic cell module through a laser emitter to realize laser charging of the unmanned aerial vehicle by a ground terminal system; and finally, the photovoltaic unit array converts the second laser into electric energy by light energy, and the charging set of the laser photovoltaic cell module stores the electric energy and supplies power to the unmanned aerial vehicle. When the unmanned aerial vehicle is wirelessly charged, the ground end can be used for aiming and tracking the airborne end through coarse aiming, tracking and positioning, the laser charging efficiency is improved, the operation endurance of the unmanned aerial vehicle is greatly improved, and accurate, efficient and stable infinite endurance charging is realized.

The above is the core idea of the present invention, and the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative work belong to the protection scope of the present invention.

The embodiment of the invention provides an unmanned aerial vehicle wireless charging system, and fig. 1 is a structural block diagram of the unmanned aerial vehicle wireless charging system provided by the embodiment of the invention. As shown in fig. 1, this wireless charging system of unmanned aerial vehicle includes:

ground terminal system 11 and on-board terminal system 12; the ground terminal system 11 is arranged on a ground mechanism and comprises a laser positioning tracker 13 and a laser emitter 14; the airborne terminal system 12 is arranged on the unmanned aerial vehicle and comprises an optical positioning and tracking module 15 and a laser photovoltaic cell module 16;

the laser positioning tracker 13 is used for emitting first laser; the optical positioning and tracking module 15 is used for receiving the first laser to realize primary positioning of the ground terminal system 11 on the unmanned aerial vehicle; the laser emitter 14 is used for emitting second laser; the laser photovoltaic cell module 16 comprises a photovoltaic cell array 17, wherein the photovoltaic cell array 17 is used for receiving the second laser and converting the second laser into electric energy from light energy; the laser photovoltaic module 15 further comprises a charging group 18 for storing electrical energy and powering the drone.

Most unmanned aerial vehicles adopt batteries as energy sources, but self load is little, and battery capacity is also little, therefore the time of endurance is shorter. The existing laser charging technology can realize wireless charging of the ground end to the unmanned aerial vehicle in the flying process, but the laser charging is unstable due to the flying movement of the unmanned aerial vehicle, and the efficiency is low. The embodiment of the invention adds the step of aiming and tracking between the ground end and the airborne end, and can realize accurate, efficient and stable infinite endurance laser charging. Specifically, the wireless charging system for the unmanned aerial vehicle provided by the embodiment of the invention is composed of two subsystems, namely a ground terminal system 11 and an airborne terminal system 12, wherein the ground terminal system 11 is composed of two parts, namely a laser positioning tracker 13 and a laser emitter 14, the airborne terminal system 12 comprises an optical positioning tracking module 15 and a laser photovoltaic cell module 16, and the laser photovoltaic cell module 16 is composed of a photovoltaic cell array 17 and a charging group 18.

Specifically, ground terminal system 11 can set up in ground mechanism, can be used for the discernment location tracking to unmanned aerial vehicle, can also be used for carrying out laser wireless charging for unmanned aerial vehicle. The laser positioning tracker 13 may emit a single beam of first laser to the optical positioning tracking module 15 to establish a laser link, so as to position and identify the optical positioning tracking module 15, and perform coarse aiming tracking to achieve primary positioning. The laser emitter 14 may be a laser group emitting multiple lasers and having an adjustable output power, the laser emitter 14 first emits a second laser composed of multiple lasers to the photovoltaic unit array 17 of the laser photovoltaic cell module 16 to form a light spot, fine aiming tracking is performed to achieve more accurate positioning, and then the laser emitter 14 increases the output power of the second laser by adjusting the number of laser beams to continuously irradiate the photovoltaic unit array 17 to start laser charging for the unmanned aerial vehicle.

Specifically, airborne terminal system 12 sets up on unmanned aerial vehicle, can be used for receiving the laser that comes from ground terminal system 11 transmission, is followed by ground terminal system 11 discernment location to control ground terminal system 11 and realize stabilizing efficient laser charging. Fig. 2 is a schematic structural diagram of a wireless charging system for an unmanned aerial vehicle according to an embodiment of the present invention, and referring to fig. 2, optionally, an optical positioning and tracking module 15 is installed at a lower portion of a body of the unmanned aerial vehicle; photovoltaic unit array 17 installs in unmanned aerial vehicle's fuselage lower part.

Specifically, optics location tracking module 15, can be the single beam laser receiver who has location recognition function, can install in unmanned aerial vehicle's fuselage lower part for the first laser of single beam that receives laser positioning tracker 13 lets laser positioning tracker 13 carry out the coarse aiming tracking, makes unmanned aerial vehicle in fixed within range optional position can both be by laser positioning tracker 13 in 360 orientation search location and tracking.

Specifically, the laser photovoltaic cell module 16 is a core component of the laser charging unmanned aerial vehicle, and may be composed of a photovoltaic cell array 17 and a charging group 18. The photovoltaic unit array 17 can be installed on the lower portion of the unmanned aerial vehicle body, can be composed of at least one group of photovoltaic cell pieces, and can be used for receiving second laser emitted by the laser emitter 14 to supply power for flight operation of the unmanned aerial vehicle. The charging set 18 can be arranged inside the unmanned aerial vehicle body and electrically connected with the photovoltaic unit array 17, can be a battery pack with an electric energy storage function, and can be used for storing electric energy converted by the photovoltaic unit array 17 so as to be used for flying operation of the unmanned aerial vehicle.

Fig. 3 is a block diagram of another wireless charging system for an unmanned aerial vehicle according to an embodiment of the present invention, and referring to fig. 3, optionally, the ground mechanism is a movable mechanism for driving the ground terminal system 11 to move to track the unmanned aerial vehicle; the on-board terminal system 12 further includes: a first controller 19; the first controller 19 is electrically connected with a GPS positioning module 20 of the unmanned aerial vehicle and is used for acquiring coordinate information of the unmanned aerial vehicle; the first controller 19 is electrically connected with an acceleration sensor 21 and a gyroscope 22 of the unmanned aerial vehicle and is used for acquiring the flight attitude of the unmanned aerial vehicle; the first controller 19 is wirelessly connected with the ground mechanism and used for moving the ground mechanism according to the coordinate information and the flight attitude of the unmanned aerial vehicle, so that the optical positioning and tracking module 15 receives the first laser emitted by the laser positioning and tracking device 13.

Specifically, ground terminal system 11 sets up in ground mechanism, and ground mechanism can be mobilizable mechanism, can be used for driving ground terminal system 11 to trail the long-distance flight operation of cooperation unmanned aerial vehicle, can also initiatively avoid the various barriers that block that laser is linked between ground terminal system 11 and the unmanned aerial vehicle.

Specifically, the on-board terminal system 12 may further include: a first controller 19. The situation that the battery power is insufficient frequently occurs during flight operation, if the battery is charged during return flight and landing or the battery is replaced, the occurrence probability of accidents can be increased due to frequent take-off and landing. First controller 19 can be connected with unmanned aerial vehicle's GPS orientation module 20 electricity, can be used for acquireing unmanned aerial vehicle's current position coordinate information in real time, can also be connected with unmanned aerial vehicle's acceleration sensor 21 and gyroscope 22 electricity, can be used for acquireing unmanned aerial vehicle's current flight gesture in real time. Above-mentioned flight gesture can include unmanned aerial vehicle airspeed, flying height, face upward the head, the low head, left slope, gesture such as right slope. First controller 19 and ground mechanism wireless connection, it is exemplary, ground mechanism can include the second controller, first controller 19 can be connected with the second controller of ground mechanism, thereby make the second controller control ground mechanism, specifically according to unmanned aerial vehicle's current position coordinate information and current flight gesture removal ground mechanism, for example, when obtaining the flight gesture that unmanned aerial vehicle is the left bank, accessible second controller adjusts ground mechanism's moving mechanism, make ground terminal system 11 can follow the unmanned aerial vehicle and remove ground terminal system 11's every single move angle, make unmanned aerial vehicle's optical positioning tracker 15 just to laser positioning tracker 13, also the emission direction of also first laser is just to optical positioning tracker 15. The optical positioning and tracking module 15 can receive the first laser emitted by the laser positioning and tracking device 13, establish a laser link between the ground terminal system 11 and the airborne terminal system 12, and realize effective primary positioning between the unmanned aerial vehicle and the ground mechanism. Optionally, the ground mechanism may be provided with at least three rollers, and the movement of the ground mechanism is realized by the rollers, and the second controller may drive the rollers to rotate by the motor so as to realize the movement of the ground mechanism.

Optionally, the on-board terminal system 12 may further include: the battery management module 23 is mounted inside the unmanned aerial vehicle body; and the battery management module 23 is electrically connected with the laser photovoltaic battery module 16 and is used for converting the voltage transmitted by the laser photovoltaic battery module 16 into the power supply voltage of each component of the unmanned aerial vehicle and supplying power to each component.

The battery management module 23 is disposed inside the drone, and can convert the voltage generated by the charging group 18 into various voltages for use by the drone. Exemplarily, components such as a flight control module, an electrode and a load need different power supply voltages to drive, and the battery management door module 23 can convert the voltage output by the charging set 18 of the laser photovoltaic cell module 16 into the power supply voltage of each component, so as to ensure the electric energy required by the flight operation of the unmanned aerial vehicle.

Optionally, the battery management module 23 may also be configured to detect the battery power of the charging group 18 in real time; the on-board terminal system 12 further comprises a first controller 19; the battery management module 23 is connected to the first controller 19, and is configured to send the battery power to the first controller 19; the first controller 19 is further configured to control the laser transmitter 14 to increase the value of the second power when the battery power is less than a set power threshold and/or the consumption rate of the battery power is greater than a set speed threshold.

The battery management module 23 is further connected to the first controller 19, and can be configured to detect the battery power of the charging set 18 in real time and send the battery power to the first controller 19, and the first controller 19 is further configured to control the laser positioning tracker 13 to turn on and off and control the output power of the laser transmitter 14 according to the specific power. In this embodiment, unmanned aerial vehicle probably causes the too fast condition of power consumption rate because of operation intensity is big, for preventing that laser photovoltaic cell module 16 can't satisfy unmanned aerial vehicle's the condition of power consumption power, when the consumption rate of battery power is greater than the settlement speed threshold value, the value of 14 increase second powers of first controller 19 control laser emitter. In addition, laser photovoltaic cell module 16 is not always in for unmanned aerial vehicle charged state, but charge group 18 full charge back pause charge for unmanned aerial vehicle is only in operating condition, and at this moment, then need detect the remaining battery power in the group 18 that charges when unmanned aerial vehicle operating condition, when battery power is less than the settlement electric quantity threshold value, controllable face end subsystem 11 work, and control laser emitter 14 provides the laser charging of second power for laser photovoltaic cell module 16. It should be noted that, when the battery management module 23 monitors that the battery power of the unmanned aerial vehicle is smaller than the set power threshold, or the battery power consumption rate is greater than the set speed threshold, or the battery power is smaller than the set power threshold and the battery power consumption rate is greater than the set speed threshold, the signal indicating that the battery power is insufficient and/or the signal indicating that the power consumption rate is fast is sent to the first controller 19, the first controller 19 controls the laser positioning tracker 13 to perform rough aiming tracking and controls the laser emitter 14 to start laser wireless charging for the unmanned aerial vehicle through the second power. Battery management module 23 converts the electric energy of laser photovoltaic battery module 16 storage into the supply voltage of each part of unmanned aerial vehicle and supplies power for each part, and provides the signal when the battery power of charging group 18 is not enough and/or power consumptive speed is fast to guarantee to provide stable electric energy for the aircraft, greatly improved the duration that unmanned aerial vehicle laser is wireless charges.

In the embodiment of the invention, first, a laser positioning tracker transmits first laser to an optical positioning tracking module for coarse aiming tracking to realize primary positioning of a ground terminal system on an unmanned aerial vehicle; and secondly, emitting second laser to the photovoltaic unit array of the laser photovoltaic cell module through the laser emitter to realize laser charging of the unmanned aerial vehicle by the ground terminal system. In the embodiment, the optical positioning and tracking module is arranged at the lower part of the unmanned aerial vehicle body, so that the unmanned aerial vehicle can be searched, positioned and tracked within the effective range of 360 degrees of the laser positioning and tracking device; the photovoltaic unit array is arranged at the lower part of the unmanned aerial vehicle body, so that light energy can be converted into electric energy to supply power for flight operation of the unmanned aerial vehicle; the charging group is arranged in the unmanned aerial vehicle body to store electric energy for the unmanned aerial vehicle and supply power for all parts; the first controller is arranged at the airborne terminal system, and the moving positions and the laser emission angles of the laser positioning tracker and the laser emitter are controlled by acquiring the coordinate information and the flight attitude of the unmanned aerial vehicle, so that the blocking of obstacles or the interruption of the charging process are avoided; the battery management module converts the electric energy into the power supply voltage of each part of the unmanned aerial vehicle to supply power, and provides signals when the electric quantity of the airplane battery is insufficient and/or the power consumption rate is high, so that stable electric energy is guaranteed to be provided for the airplane. When the unmanned aerial vehicle is wirelessly charged, the ground end can be aimed and tracked at the airborne end through coarse aiming, tracking and positioning, the laser charging efficiency is improved, accurate and stable charging in the charging process is ensured, the operation endurance of the unmanned aerial vehicle is greatly improved, and accurate, efficient and stable infinite endurance charging is realized.

On the basis of the above embodiment, the structure of the wireless charging system for the unmanned aerial vehicle is further described in detail in the embodiment of the present invention, and particularly, a specific structure in a fine aiming tracking process is performed, referring to fig. 4, fig. 4 is a block diagram of another structure of the wireless charging system for the unmanned aerial vehicle provided in the embodiment of the present invention. As shown in fig. 4, optionally, the on-board terminal system 12 further includes a first controller 19 and a plurality of first photosensors 24; the first controller 19 is wirelessly connected with the laser transmitter 14 and is used for controlling the laser transmitter 14 to transmit second laser with first power after the primary positioning of the unmanned aerial vehicle; the plurality of first photo sensors 24 are uniformly arranged at the edge of the photovoltaic unit array 17 and used for judging whether a first light spot formed by the second laser with the first power covers the photovoltaic unit array 17 or not according to the voltage mutation; the first controller 19 is electrically connected with the first photosensor 24 and is used for controlling the laser emitter 14 to emit second laser with second power after the first light spot covers the photovoltaic unit array 17; the second power is greater than the first power.

In particular, the on-board terminal system 12 may further include a first controller 19 and a plurality of first photosensors 24. After the unmanned aerial vehicle finishes the primary positioning of the coarse aiming tracking, the fine aiming tracking positioning is carried out through the first light sensor 24 and the laser emitter 14: the first controller 19 wirelessly controls the laser emitter 14 to emit the second laser with the first power, the formed first light spot irradiates the photovoltaic unit array 17, at this time, even if the area of the first light spot is larger than that of the photovoltaic unit array 17, the situation that the first light spot does not completely cover the photovoltaic unit array 17 may exist, therefore, a plurality of first photo sensors 24 are uniformly arranged at the edge of the photovoltaic unit array 17, feedback is performed through a detection circuit, namely, according to voltage mutation of the plurality of first photo sensors 24, whether the first light spot formed by the second laser with the first power covers the photovoltaic unit array 17 or not can be judged, if yes, fine aiming and tracking are completed, the laser emitter 14 can be controlled to emit the second laser with the second power larger than the first power to start charging the unmanned aerial vehicle, and if not, coarse aiming, tracking and positioning are required to be returned. Two-step aiming, tracking and positioning are adopted, so that accurate positioning of the ground end and the unmanned aerial vehicle end can be realized to the maximum extent, and the charging efficiency is greatly improved.

It should be noted that the first laser emitted by the laser positioning tracker 13 may be a single laser, and may be used to establish a laser connection with the optical positioning tracking module 15 to perform primary positioning of coarse aiming tracking; the second laser with the first power emitted by the laser emitter 14 may be a plurality of laser beams with an array pattern, and the first power may be determined by the number of a small number of laser beams, and may be used for precise positioning of fine aiming tracking in cooperation with the photovoltaic cell array 17 of the laser photovoltaic cell module 16; the second laser of the second power emitted by the laser emitter 14 may be a plurality of laser beams having an array pattern, and the second power may be determined by the number of laser beams of a plurality of quantities, and may be used for irradiating the photovoltaic cell array 17 of the laser photovoltaic cell module 16 for laser wireless charging, according to which the second power needs to be greater than the first power.

With continued reference to fig. 4, optionally, the on-board terminal system 12 may further include a plurality of second photosensors 25; the plurality of second photo sensors 25 are arranged around the photovoltaic unit array 17 and used for judging whether the center of the first light spot is overlapped with the center of the photovoltaic unit array 17 or not according to the voltage mutation; the first controller 19 is electrically connected to the second photo sensor 25, and is configured to control the laser emitter 14 to emit the second laser with the second power after the first light spot covers the photovoltaic cell array 17 and the center of the first light spot coincides with the center of the photovoltaic cell array 17.

In particular, the on-board terminal system 12 may also include a plurality of second photosensors 25. After whether first facula covers photovoltaic unit array 17 is judged according to the voltage sudden change of a plurality of first light sensors 24, can also set up a plurality of second light sensors 25 around photovoltaic unit array 17, first controller 19 can also judge whether the center of first facula coincides with photovoltaic unit array 17's center according to the voltage sudden change of a plurality of second light sensors 25, set up a plurality of second light sensors 25 like this, both can guarantee that the strongest central zone of second laser intensity shines on photovoltaic unit array 17, realize the charging efficiency maximize, can also effectively avoid stronger second laser to shine other positions at the unmanned aerial vehicle fuselage, reduce the damage to unmanned aerial vehicle or near equipment. Therefore, after the primary positioning of the coarse aiming tracking is completed by the unmanned aerial vehicle, the fine aiming tracking positioning comprises the following steps: the first controller 19 wirelessly controls the laser emitter 14 to emit second laser with first power, a formed first light spot irradiates the photovoltaic unit array 17, the plurality of first photo sensors 24 are uniformly arranged at the edge of the photovoltaic unit array 17, the plurality of second photo sensors 25 are arranged around the photovoltaic unit array 17, feedback is performed through a detection circuit, namely whether the first light spot covers the photovoltaic unit array 17 is judged according to voltage mutation of the plurality of first photo sensors 24, whether the center of the first light spot coincides with the center of the photovoltaic unit array 17 is judged according to voltage mutation of the plurality of second photo sensors 25, if yes, fine aiming tracking is completed, the laser emitter 14 can be controlled to emit second laser with second power larger than the first power to start charging the unmanned aerial vehicle, and if not, coarse aiming tracking positioning needs to be returned. Adopt two steps to aim at and trail the location, the realization ground end that can maximize and the accurate location of unmanned aerial vehicle end greatly improve charge efficiency, reduce energy loss moreover and to the destruction of unmanned aerial vehicle or near other equipment of photovoltaic unit array 17, guarantee the security of charging.

Optionally, the laser transmitter 14 includes at least one set of fiber coupled semiconductor lasers; the laser transmitter 14 includes a plurality of laser beams arranged in an array; the first controller 19 is used to control the output power of the laser transmitter 14 by adjusting the number of laser beams emitting the second laser.

Specifically, the laser transmitter 14, which includes at least one set of fiber coupled semiconductor lasers, may include a plurality of laser beams arranged in an array. Preferably, the laser transmitter 14 in the embodiment of the present invention uses an 808nm laser with an output power of 200W-800W, and the output power can be adjusted by changing the number of laser beams of the second laser emitted by the laser transmitter according to actual situations. In the embodiment of the invention, when performing coarse aiming tracking, the laser positioning tracker 13 does not charge, and only transmits the first laser to the optical positioning tracking module 15 for identification tracking; after the primary positioning and aiming of the target, fine aiming and tracking are carried out, and the laser emitter 14 emits second laser with first power to the photovoltaic unit array 17; after the accurate location of target, laser emitter 14 increases transmit power and laser beam automatically, and the second laser that the transmission has the second power is to photovoltaic unit array 17, carries out the wireless charging of laser for unmanned aerial vehicle.

In the embodiment of the invention, first, a laser positioning tracker transmits first laser to an optical positioning tracking module for coarse aiming tracking to realize primary positioning of a ground terminal system on an unmanned aerial vehicle; secondly, the output power of the laser emitter which can be adjusted according to the quantity of emitted laser beams emits second laser with first power to a photovoltaic unit array of the laser photovoltaic cell module for accurate aiming tracking, whether a first light spot formed by the second laser with first power covers the photovoltaic unit array or not is judged according to the voltage mutation of a plurality of first photo sensors through feedback of a detection circuit, so that the photovoltaic unit array is positioned and tracked more accurately by the laser emitter, and in addition, whether the center of the first light spot is superposed with the center of the photovoltaic unit array or not is judged according to the voltage mutation of the plurality of second photo sensors, so that the maximized accurate positioning and tracking of the photovoltaic unit array by the laser emitter is further realized; and finally, the output power of the laser transmitter is increased by changing the number of the laser beams, the ground terminal system is charged by the aid of the second laser irradiating the photovoltaic unit array emitting the second power, and the charging group stores electric energy converted by the photovoltaic unit array and supplies power to the unmanned aerial vehicle. According to the embodiment of the invention, when tracking and aiming are carried out, only a single laser beam or a low-power laser beam is emitted through the laser positioning tracker, charging is not carried out, the number of the laser beams of the laser emitter is adjusted after aiming to increase the laser output power, two-step aiming, tracking and positioning are adopted, the utilization rate of energy sources can be improved, accurate positioning of a ground end and an unmanned aerial vehicle end can be realized to the maximum extent, the charging efficiency is greatly improved, energy loss and damage to the unmanned aerial vehicle or other equipment near a photovoltaic unit array are reduced, the charging safety is ensured, the operation endurance of the unmanned aerial vehicle is greatly improved, and accurate, efficient and stable infinite endurance charging is realized.

Based on the same concept, an embodiment of the present invention further provides a wireless charging method for an unmanned aerial vehicle, which is applicable to a wireless charging system for an unmanned aerial vehicle provided in any embodiment of the present invention, and fig. 5 is a schematic flow diagram of the wireless charging method for an unmanned aerial vehicle provided in the embodiment of the present invention, as shown in fig. 5, the wireless charging method for an unmanned aerial vehicle according to the embodiment of the present invention includes:

s110, starting an optical positioning and tracking module and a laser positioning and tracking device; the first laser is transmitted to the optical positioning and tracking module through the laser positioning and tracking device, and primary positioning of the ground terminal system on the unmanned aerial vehicle is achieved.

S120, starting the laser transmitter, and controlling the laser transmitter to transmit second laser; and the photovoltaic unit array of the laser photovoltaic cell module receives the second laser and converts the second laser from light energy into electric energy.

S130, the charging set of the laser photovoltaic cell module stores electric energy and supplies power to the unmanned aerial vehicle.

In the embodiment of the invention, a ground terminal system comprising a laser positioning tracker and a laser emitter is arranged on a ground mechanism, an airborne terminal system comprising an optical positioning tracking module and a laser photovoltaic cell module is arranged on an unmanned aerial vehicle, and the laser photovoltaic cell module consists of a photovoltaic unit array and a charging group; firstly, an optical positioning and tracking module and a laser positioning and tracking device are started, a first laser is emitted to the optical positioning and tracking module through the laser positioning and tracking device to establish a laser link, and coarse aiming tracking is carried out to realize primary positioning of the ground terminal system on the unmanned aerial vehicle; secondly, starting a laser transmitter, controlling the laser transmitter to transmit second laser, and enabling a photovoltaic unit array of the laser photovoltaic cell module to receive the second laser so as to realize that the ground terminal system charges the laser of the unmanned aerial vehicle; the charging group of the laser photovoltaic cell module stores electric energy and supplies power to the unmanned aerial vehicle. When the unmanned aerial vehicle is wirelessly charged, the ground end can be used for aiming and tracking the airborne end through coarse aiming, tracking and positioning, the laser charging efficiency is improved, the operation endurance of the unmanned aerial vehicle is greatly improved, and accurate, efficient and stable infinite endurance charging is realized.

On the basis of the above embodiment, the embodiment of the present invention further details the flow steps of the wireless charging method for the unmanned aerial vehicle, especially the flow of the method before starting the optical positioning and tracking module and the laser positioning and tracking device to perform coarse aiming tracking, and referring to fig. 6, fig. 6 is a schematic flow diagram of another wireless charging method for the unmanned aerial vehicle according to the embodiment of the present invention. Optionally, unmanned aerial vehicle wireless charging system's machine carries terminal system still includes: a first controller; the ground mechanism is a movable mechanism for driving the ground terminal system to move so as to track the unmanned aerial vehicle, and as shown in fig. 6, the wireless charging method of the unmanned aerial vehicle comprises the following steps:

s210, a first controller acquires a coordinate position of the unmanned aerial vehicle; the first controller obtains the flight attitude of the unmanned aerial vehicle.

S220, the first controller controls the ground mechanism to move according to the coordinate position and the flight attitude of the unmanned aerial vehicle, so that the optical positioning and tracking module receives the first laser emitted by the laser positioning and tracking device.

Before the optical positioning and tracking module and the laser positioning and tracking device are started, the present embodiment may further include S210 and S220, so that the first controller may control the relative positions of the airborne terminal system and the airborne terminal system according to the coordinate position and the flight attitude of the unmanned aerial vehicle, and a communication link of the first laser may be established subsequently.

S230, starting an optical positioning and tracking module and a laser positioning and tracking device; the first laser is transmitted to the optical positioning and tracking module through the laser positioning and tracking device, and primary positioning of the ground terminal system on the unmanned aerial vehicle is achieved.

S240, starting the laser transmitter, and controlling the laser transmitter to transmit second laser; and the photovoltaic unit array of the laser photovoltaic cell module receives the second laser and converts the second laser from light energy into electric energy.

And S250, the charging set of the laser photovoltaic cell module stores the electric energy and supplies power to the unmanned aerial vehicle.

In the embodiment of the invention, a first controller is arranged at a vehicle-mounted terminal system, firstly, a ground mechanism is controlled to drive a laser positioning tracker and a laser emitter to move by acquiring the coordinate information and the flight attitude of an unmanned aerial vehicle, and the laser emission angle is adjusted to avoid the blocking of obstacles or the interruption of the charging process; secondly, starting an optical positioning and tracking module and a laser positioning and tracking device, and transmitting first laser to the optical positioning and tracking module through the laser positioning and tracking device to perform coarse aiming and tracking so as to realize primary positioning of the ground terminal system on the unmanned aerial vehicle; furthermore, the laser emitter is started, the laser emitter is controlled to emit second laser, the photovoltaic unit array of the laser photovoltaic cell module receives the second laser, the laser emitter can accurately position and track the photovoltaic unit array, the second laser is converted into electric energy from light energy, and the ground terminal system can charge the laser of the unmanned aerial vehicle; the charging group of the laser photovoltaic cell module stores electric energy and supplies power to the unmanned aerial vehicle; and finally, the charging group of the laser photovoltaic cell module stores the electric energy converted by the photovoltaic unit array and supplies power to the unmanned aerial vehicle. When the unmanned aerial vehicle is wirelessly charged, the ground end can be aimed and tracked at the airborne end through coarse aiming, tracking and positioning, the laser charging efficiency is improved, accurate and stable charging in the charging process is ensured, the operation endurance of the unmanned aerial vehicle is greatly improved, and accurate, efficient and stable infinite endurance charging is realized.

On the basis of the above embodiment, the flow steps of the wireless charging method for the unmanned aerial vehicle are further described in detail in the embodiment of the present invention, and particularly, for a process of starting the laser transmitter and controlling the laser transmitter to transmit the second laser, the embodiment adds a method flow of performing fine aiming tracking on the unmanned aerial vehicle according to the laser transmitter, and referring to fig. 7, fig. 7 is a schematic flow diagram of another wireless charging method for the unmanned aerial vehicle provided by the embodiment of the present invention. Optionally, unmanned aerial vehicle wireless charging system's machine carries terminal system still includes: the system comprises a first controller, a plurality of first photo sensors and a plurality of second photo sensors; the plurality of first photo sensors are uniformly arranged at the edge of the photovoltaic unit array; a plurality of second light sensors are arranged around the photovoltaic unit array, as shown in fig. 7, the wireless charging method for the unmanned aerial vehicle comprises the following steps:

s310, starting an optical positioning and tracking module and a laser positioning and tracking device; the first laser is transmitted to the optical positioning and tracking module through the laser positioning and tracking device, and primary positioning of the ground terminal system on the unmanned aerial vehicle is achieved.

S320, starting a laser transmitter by a first controller; and controlling the laser transmitter to transmit the second laser with the first power.

S330, the first controller judges whether a first light spot formed by the second laser with the first power covers the photovoltaic unit array according to the voltage mutation of the first photo sensor, and if so, the step S340 is executed.

And S340, the first controller judges whether the center of the first light spot is coincided with the center of the photovoltaic unit array according to the voltage mutation of the second photosensor, and if so, executes S350.

S350, controlling the laser transmitter to transmit second laser with second power; the second power is greater than the first power.

The method comprises the steps of starting a laser transmitter, controlling the process of the laser transmitter to transmit second laser to specifically comprise the process of S320-S350, judging whether a first light spot formed by second laser with first power covers a photovoltaic unit array or not by a first controller according to voltage mutation of a first photo sensor to realize more accurate positioning and tracking of the laser transmitter on the photovoltaic unit array, further judging whether the center of the first light spot is overlapped with the center of the photovoltaic unit array or not by the first controller according to voltage mutation of a second photo sensor to further realize accurate positioning and tracking of the laser transmitter on the photovoltaic unit array to the maximum, finishing accurate tracking if yes, and returning to coarse aiming tracking and positioning if not.

The first controller starts a laser transmitter with output power adjustable according to the number of transmitted laser beams; and controlling the laser transmitter to transmit second laser with first power to a photovoltaic unit array of the laser photovoltaic cell module for fine aiming tracking.

S360, the charging set of the laser photovoltaic cell module stores electric energy and supplies power to the unmanned aerial vehicle.

In the embodiment of the invention, the optical positioning and tracking module and the laser positioning and tracking device are started, the ground terminal system is used for carrying out primary positioning on the unmanned aerial vehicle by transmitting first laser to the optical positioning and tracking module through the laser positioning and tracking device to carry out coarse aiming and tracking, the laser transmitter and the photovoltaic unit array are used for carrying out fine aiming and positioning, the first controller is used for controlling the laser transmitter to transmit second laser with second power to irradiate the photovoltaic unit array to realize laser charging of the ground terminal system on the unmanned aerial vehicle by changing the quantity of laser beams after the first light spot covers the photovoltaic unit array and the center of the first light spot is superposed with the center of the photovoltaic unit array. In the embodiment of the invention, when tracking and aiming are carried out, only a single laser beam or a low-power laser beam is emitted through the laser positioning tracker without charging, the number of the laser beams of the laser emitter is adjusted to increase the laser output power after aiming, and two-step aiming, tracking and positioning are adopted, so that the utilization rate of energy sources can be improved, the accurate positioning of a ground end and an unmanned aerial vehicle end can be realized to the maximum extent, the charging efficiency is greatly improved, the energy loss and the damage to the unmanned aerial vehicle or other equipment near a photovoltaic unit array are reduced, the charging safety is ensured, the operation endurance of the unmanned aerial vehicle is greatly improved, and accurate, efficient and stable infinite endurance charging is realized.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. The utility model provides a wireless charging system of unmanned aerial vehicle which characterized in that includes: a ground terminal system and an onboard terminal system; the ground terminal system is arranged on a ground mechanism and comprises a laser positioning tracker and a laser transmitter; the airborne terminal system is arranged on the unmanned aerial vehicle and comprises an optical positioning and tracking module and a laser photovoltaic cell module;

2. The unmanned aerial vehicle wireless charging system of claim 1, wherein the onboard terminal system further comprises a first controller and a plurality of first light sensors;

the first controller is wirelessly connected with the laser transmitter and is used for controlling the laser transmitter to transmit second laser with first power after primary positioning of the unmanned aerial vehicle;

the plurality of first photo sensors are uniformly arranged at the edge of the photovoltaic unit array and used for judging whether a first light spot formed by the second laser with the first power covers the photovoltaic unit array or not according to voltage mutation;

the first controller is electrically connected with the first photo sensor and is used for controlling the laser transmitter to transmit second laser with second power after the first light spot covers the photovoltaic unit array; the second power is greater than the first power.

3. The unmanned aerial vehicle wireless charging system of claim 2, wherein the onboard terminal system further comprises a plurality of second light sensors;

the plurality of second photo sensors are arranged around the photovoltaic unit array and used for judging whether the center of the first light spot is coincided with the center of the photovoltaic unit array or not according to voltage mutation;

the first controller is electrically connected with the second photo sensor and used for controlling the laser transmitter to transmit the second laser with the second power after the first light spot covers the photovoltaic unit array and the center of the first light spot is coincided with the center of the photovoltaic unit array.

4. The unmanned aerial vehicle wireless charging system of claim 2, wherein the laser transmitter comprises at least one set of fiber coupled semiconductor lasers;

the laser transmitter comprises a plurality of laser beams arranged in an array; the first controller is used for controlling the output power of the laser transmitter by adjusting the number of laser beams emitting the second laser.

5. The wireless charging system of unmanned aerial vehicle of claim 1, characterized in that: the optical positioning and tracking module is installed at the lower part of the unmanned aerial vehicle body;

the photovoltaic unit array is installed the fuselage lower part of unmanned aerial vehicle.

6. The wireless charging system of unmanned aerial vehicle of claim 1, characterized in that: the ground mechanism is a movable mechanism and is used for driving the ground terminal system to move so as to track the unmanned aerial vehicle;

the on-board terminal system further includes: a first controller; the first controller is electrically connected with a GPS positioning module of the unmanned aerial vehicle and is used for acquiring coordinate information of the unmanned aerial vehicle; the first controller is electrically connected with an acceleration sensor and a gyroscope of the unmanned aerial vehicle and is used for acquiring the flight attitude of the unmanned aerial vehicle;

the first controller is in wireless connection with the ground mechanism and used for moving the ground mechanism according to the coordinate information and the flight attitude of the unmanned aerial vehicle, so that the optical positioning and tracking module receives the first laser emitted by the laser positioning and tracking device.

7. The unmanned aerial vehicle wireless charging system of claim 1, wherein the onboard terminal system further comprises: the battery management module is installed inside the unmanned aerial vehicle body;

the battery management module is electrically connected with the laser photovoltaic battery module and used for converting the voltage transmitted by the laser photovoltaic battery module into the power supply voltage of each part of the unmanned aerial vehicle and supplying power to each part.

8. The unmanned aerial vehicle wireless charging system of claim 7, wherein the battery management module is further configured to detect a battery level of the charging set in real time;

the on-board terminal system further includes a first controller; the battery management module is connected with the first controller and used for sending the electric quantity of the battery to the first controller;

the first controller is further configured to control the laser emitter to increase a value of the second power when the battery power is less than a set power threshold, and/or when a consumption speed of the battery power is greater than a set speed threshold.

9. A wireless charging method for unmanned aerial vehicles, which is suitable for the wireless charging system for unmanned aerial vehicles according to any one of claims 1-8, and comprises:

10. The wireless charging method for unmanned aerial vehicle of claim 9, wherein the onboard terminal system of the wireless charging system for unmanned aerial vehicle further comprises: a first controller; the ground mechanism is a movable mechanism and is used for driving the ground terminal system to move so as to track the unmanned aerial vehicle;

before the optical positioning and tracking module and the laser positioning and tracking device are started, the method further comprises the following steps:

the first controller acquires a coordinate position of the unmanned aerial vehicle; the first controller acquires the flight attitude of the unmanned aerial vehicle;

the first controller controls the ground mechanism to move according to the coordinate position and the flight attitude of the unmanned aerial vehicle, so that the optical positioning and tracking module receives the first laser emitted by the laser positioning and tracking device.

11. The wireless charging method for unmanned aerial vehicle of claim 9, wherein the onboard terminal system of the wireless charging system for unmanned aerial vehicle further comprises: the system comprises a first controller, a plurality of first photo sensors and a plurality of second photo sensors; the plurality of first photo sensors are uniformly arranged at the edge of the photovoltaic unit array; the plurality of second photo sensors are arranged around the photovoltaic unit array;

the starting of the laser transmitter, the control of the laser transmitter to transmit the second laser, includes:

the first controller starts the laser transmitter; controlling the laser transmitter to transmit second laser with first power;

the first controller judges whether a first light spot formed by second laser with first power covers the photovoltaic unit array or not according to the voltage mutation of the first photo sensor;

the first controller judges whether the center of the first light spot is coincided with the center of the photovoltaic unit array or not according to the voltage mutation of the second photosensor;

the first controller controls the laser emitter to emit second laser with second power after the first light spot covers the photovoltaic unit array and the center of the first light spot is superposed with the center of the photovoltaic unit array; the second power is greater than the first power.