A wireless laser charging method and system based on a drone

Abstract

The application discloses a wireless laser charging method and system based on a UAV, relates to the technical field of UAV charging, and comprises the following steps: collimating divergent light beams into parallel light beams through a laser emitter device and expanding the diameter of the input light beams; converting the laser charging signals into electric energy through a photovoltaic array, and charging the UAV through a constant current circuit; monitoring the current and voltage in the charging process in real time through the charging control, and judging whether the charging current needs to be adjusted according to the monitored data. The application charges the UAV wirelessly without connecting a power line, judges the central position of the battery panel light spot by comparing the intensity of the laser light source and the output voltage of the photoresistor, thereby realizing accurate control of the charging process, avoiding energy waste and overcharging of the battery in the charging process, charging the UAV through a constant current circuit, avoiding the battery short circuit hidden danger caused by overcharging, and thereby ensuring the stability and safety of the UAV charging.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle charging, and particularly relates to a wireless laser charging method and system based on an unmanned aerial vehicle. BACKGROUND

[0002] With the continuous development of unmanned aerial vehicle technology, the current endurance of unmanned aerial vehicles is limited by the capacity of lithium polymer batteries and charging time. Increasing the capacity of the battery will lead to an increase in the size and weight of the unmanned aerial vehicle, thereby affecting its maneuverability and lightweight. Traditional contact charging methods require the unmanned aerial vehicle to return to the base station or home port for charging, which has some shortcomings in reliability, flexibility and convenience.

[0003] To solve these problems, researchers have proposed a wireless laser charging technology based on unmanned aerial vehicles. This technology uses laser beams to transmit energy, enabling long-distance charging of unmanned aerial vehicles. Through advanced communication, sensor, information processing and intelligent control technologies, laser energy can be accurately positioned and transmitted to the charging system of the unmanned aerial vehicle. This method not only improves the reliability and flexibility of the charging process, but also effectively shortens the charging time.

[0004] Wireless laser charging based on unmanned aerial vehicles eliminates the need to return to the base station or home port, greatly increasing the endurance of unmanned aerial vehicles. In addition, wireless laser charging also avoids the mechanical wear and tear and damage risk of physical contact charging, improving the stability and service life of the unmanned aerial vehicle.

[0005] The emergence of this technology brings greater flexibility and convenience to unmanned aerial vehicle applications in various fields, providing new opportunities for the rapid development of the unmanned aerial vehicle industry. With continuous improvement and popularization of technology, it is expected that the endurance problem of unmanned aerial vehicles will be better solved, further promoting the development of the unmanned aerial vehicle industry. SUMMARY

[0006] In view of the problems existing in the current contact charging, the present application is proposed.

[0007] Therefore, the problem to be solved by the present application is how to improve the charging efficiency of the unmanned aerial vehicle.

[0008] To solve the above technical problems, the present application provides the following technical solutions:

[0009] In a first aspect, the embodiments of the present application provide a wireless laser charging method based on a UAV, which comprises: collimating a divergent light beam into a parallel light beam by a laser emitter device, and expanding the diameter of the input light beam; comparing the output voltage of a photosensitive resistor by detecting the light source intensity of the laser, and determining the center position of the battery panel light spot; converting the laser charging signal into electrical energy by a photovoltaic array, and charging the UAV by a constant current circuit; monitoring the current and voltage in the charging process in real time by a charging control, and determining whether the charging current needs to be adjusted according to the monitored data, so as to improve the charging efficiency.

[0010] As a preferred scheme of the wireless laser charging method based on a UAV, the determination of the center position of the battery panel light spot comprises the following steps: dividing eight photosensitive resistors with the same characteristics and calibrated into four groups, each group containing two photosensitive resistors; calculating the intensity of the light source and the position of the light spot center by measuring the output voltage of the sensor, and comparing the output voltage difference of each pair of sensors; determining the position of the light spot center according to the output voltage difference, and adjusting the position of the ground turntable accordingly until the corresponding condition is met. A >U a .

[0011] As a preferred scheme of the wireless laser charging method based on a UAV, the comparison of the output voltage difference of each pair of sensors comprises the following steps: when the output voltage of the photosensitive resistor is in a linear relationship with the light source intensity, calculating the photosensitive resistor value, and the specific formula is as follows

[0012]

[0013] Wherein, R is the resistance value of the photosensitive resistor, Vref is the reference voltage, V is the output voltage of the photosensitive resistor, and I is the output current of the photosensitive resistor.

[0014] When U A >U a , it is determined that the light spot center is below the sensor A and the sensor a; when U A <U a , it is determined that the light spot center is above the sensor A and the sensor a; when U D >U d , it is determined that the light spot center is above the sensor D and the sensor d; when U D >U d , it is determined that the light spot center is below the sensor D and the sensor d.

[0015] As a preferred scheme of the unmanned aerial vehicle based wireless laser charging method, the step of converting the laser charging signal into electric energy by the photovoltaic array comprises the following steps: when the laser beam irradiates on the photovoltaic array, the light energy is converted into electric energy, and the photoelectric conversion efficiency is calculated, and the specific formula of the photoelectric conversion efficiency is as follows:

[0016]

[0017] wherein, η is the photoelectric conversion efficiency, Pout is the electric power output by the photovoltaic cell, and Pin is the light power density received by the photovoltaic cell.

[0018] According to the obtained light power density, the area of the photovoltaic array and the photoelectric conversion efficiency, the converted output electric energy is calculated, and the specific formula is as follows:

[0019] S = Pin × area × η

[0020] wherein, S is the electric current output by the photovoltaic cell, Pin is the light power density, η is the photoelectric conversion efficiency, and area is the area of the photovoltaic array, wherein the specific formula of the light power density is as follows:

[0021]

[0022] A 圆 = πr 2

[0023] A 矩 = w × h

[0024] wherein, Pin is the light power density received by the photovoltaic cell, Pt is the total power of the light source, A is the cross-sectional area of the light beam, w is the width of the rectangular light beam, h is the height of the rectangular light beam, and r is the radius of the light beam.

[0025] As a preferred scheme of the unmanned aerial vehicle based wireless laser charging method, the step of determining whether the charging current needs to be adjusted according to the monitored data comprises the following steps: when the charging current meets the charging current required in the current stage, then; when the charging current does not meet the charging current required in the current stage, then sending an instruction to the control system to adjust the power of the laser; if the current output by the photovoltaic array after the power of the laser is adjusted still meets the charging current required in the current stage, then; if the current output by the photovoltaic array after the power of the laser is adjusted still does not meet the charging current required in the current stage, then sending an instruction to the control system to finely adjust the output power of the laser by one unit until the output current meets the charging current required in the current stage; if the output current is greater than the charging current required in the current stage, then using the constant current to change the duty cycle of the switching signal through PID operation to output the set current value; if the voltage of the battery is detected to be greater than the switching voltage, then switching the charging current to the charging current in the next stage, repeating the above process until the charging in each stage is completed and the charging of the photovoltaic battery is stopped.

[0026] As a preferred scheme of the unmanned aerial vehicle based wireless laser charging method, the laser emitter device comprises the following steps: injecting energy into the photovoltaic array of the unmanned aerial vehicle through the laser; calculating the focal length of the collimator according to the beam diameter and the emission angle of the laser; and calculating the focal length of the beam expander according to the diameter of the output beam of the laser and the beam expansion angle of the target.

[0027] As a preferred scheme of the unmanned aerial vehicle based wireless laser charging method, the process of the laser comprises spontaneous emission, stimulated emission and stimulated absorption; and the specific formula of the focal length of the collimator is as follows:

[0028]

[0029] wherein F is the focal length of the collimator, D is the diameter of the input beam, and θ is the divergence angle.

[0030] The specific formula of the focal length of the beam expander is as follows:

[0031]

[0032] wherein K is the focal length of the beam expander, D is the diameter of the input beam, and S is the beam expansion angle.

[0033] In a second aspect, the embodiment of the present application provides a wireless laser charging system based on a UAV, which comprises: a transmitting module, configured to collimate a divergent light beam into a parallel light beam by a laser emitter and expand the diameter of the input light beam; a tracking module, configured to compare the output voltage of a photoresistor by detecting the light source intensity of the laser and determine the center position of the battery panel light spot; a conversion module, configured to convert the laser charging signal into electric energy by a photovoltaic array and charge the UAV by a constant current circuit; and a control module, configured to monitor the current and voltage in the charging process in real time by a charging control and determine whether the charging current needs to be adjusted according to the monitored data to improve the charging efficiency.

[0034] In a third aspect, the embodiment of the present application provides a computer device, comprising a memory and a processor, and the memory stores a computer program, wherein the computer program instructions are executed by the processor to realize the steps of the wireless laser charging method based on a UAV according to the first aspect of the present application.

[0035] In a fourth aspect, the embodiment of the present application provides a computer readable storage medium, which stores a computer program, wherein the computer program instructions are executed by the processor to realize the steps of the wireless laser charging method based on a UAV according to the first aspect of the present application.

[0036] The present application has the advantages that: the wireless UAV charging of the present application does not need to be connected to a power line or additional equipment and can be flexibly used in various environments, the center position of the battery panel light spot is determined by comparing the intensity of the laser light source and the output voltage of the photoresistor, so that the charging process can be accurately controlled, the problems of energy waste and overcharging of the battery in the charging process can be avoided, the UAV is charged by the constant current circuit, the battery short circuit hidden danger caused by overcharging is avoided, and the stability and safety of the UAV charging are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. Among them:

[0038] Figure 1 The flowchart of the wireless laser charging method based on a UAV in embodiment 1.

[0039] Figure 2 The system block diagram of the wireless laser charging method based on a UAV in embodiment 1. DETAILED DESCRIPTION

[0040] In order to make the above objectives, characteristics and advantages of the present application more obvious and comprehensible, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0041] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application, however, can be practiced in a variety of ways other than those specifically described herein, and the present application is not limited to the specific embodiments described herein as these can vary.

[0042] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. "In one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an embodiment that is independent of or mutually exclusive of other embodiments.

[0043] Embodiment 1

[0044] Reference Figures 1-2 For the first embodiment of the present application, the embodiment provides a wireless laser charging method based on a UAV, comprising,

[0045] S1: collimate the divergent light beam into a parallel light beam by the laser emitter device, and expand the diameter of the input light beam.

[0046] S1.1: inject energy into the photovoltaic array of the UAV by the laser.

[0047] Specifically, during the energy injection process, the laser will undergo three processes of spontaneous emission, stimulated emission and stimulated absorption when emitting light, so as to transfer particles from low energy level to high energy level. In order to adjust the focal length and diameter of the light beam of the laser, the collimator and the beam expander are used for adaptation.

[0048] Further, spontaneous emission is the transition of an atom from a high energy level E2 to a low energy level E1, while generating a photon. The specific formula of the photon energy is as follows:

[0049] E y = E2 - E1

[0050] Wherein, y is the frequency of light wave, E1 is the low energy level, E2 is the high energy level, E = 6.624 x 10 -34 J·S is the Planck constant.

[0051] It should be noted that the spontaneous emission of each atom is independent, which means that the state of the photon generated by spontaneous emission is random.

[0052] Further, stimulated emission is the transition of an atom from a high energy level E2 to a low energy level E1, while generating a photon. The specific formula of the photon energy is as follows: yE2-E1, the atom transits from high energy level E2 to low energy level E1, and a photon with the same state as the excitation photon is generated, under the action of frequency y, the atom absorbs a photon energy and transits from low energy level E1 to high energy level E2.

[0053] S1.2: According to the beam diameter and emission angle of the laser, the focal length of the collimator is calculated.

[0054] Specifically, the specific formula of the focal length of the collimator is as follows:

[0055]

[0056] Wherein, F is the focal length of the collimator, D is the diameter of the input beam, and theta is the divergence angle.

[0057] S1.3: According to the diameter of the laser output beam and the beam expansion angle of the target, the focal length of the beam expander is calculated.

[0058] Further, the specific formula of the focal length of the beam expander is as follows:

[0059]

[0060] Wherein, K is the focal length of the beam expander, D is the diameter of the input beam, and S is the beam expansion angle.

[0061] It should be noted that laser is generated and amplified by stimulated emission process, in order to realize stimulated emission, it is necessary to continuously inject external energy into the working substance, so that the light-emitting particles are gradually excited from low energy level to high energy level; This leads to fewer low energy level particles and more high energy level particles, which realizes the inversion of particle number.

[0062] Further, when the particle distribution in the working substance is inverted, the stimulated emission is stronger than the stimulated absorption; When the working substance encounters a beam with frequency y, the light intensity is amplified.

[0063] Specifically, if there is no incident beam, as long as there are photons with appropriate frequency in the working substance, many photons with the same state can be generated rapidly to form laser; By adjusting the parameters of the collimator and the beam expander, the best energy transmission efficiency is achieved.

[0064] S2: Compare the output voltage of the photoresistor by detecting the light source intensity of the laser, and determine the center position of the battery panel spot.

[0065] S2.1: Eight photoresistors with the same characteristics and calibrated are divided into four groups, each group containing two photoresistors.

[0066] Specifically, a group of photoresistors are selected as the north direction sensors (A and a), and another group as the south direction sensors (D and d); it should be noted that the resistance of the photoresistor decreases with the increase of the light source intensity.

[0067] S2.2: Calculate the intensity of the light source and the position of the spot center by measuring the output voltage of the sensor, and compare the output voltage difference of each pair of sensors.

[0068] Specifically, when the output voltage of the photoresistor is linearly related to the intensity of the light source, the resistance of the photoresistor is calculated:

[0069]

[0070] Where R is the resistance of the photoresistor, Vref is the reference voltage, V is the output voltage of the photoresistor, and I is the output current of the photoresistor.

[0071] Further, compare the output voltages of the two sensors, when U A > U a , it is determined that the spot center is located below the sensor A and the sensor a; when U A < U a , it is determined that the spot center is located above the sensor A and the sensor a; when U D > U d , it is determined that the spot center is located above the sensor D and the sensor d; when U D > U d , it is determined that the spot center is located below the sensor D and the sensor d.

[0072] S2.3: Determine the position of the spot center according to the output voltage difference, and adjust the position of the ground turntable accordingly.

[0073] Further, according to the judgment result, adjust the position of the ground turntable until the corresponding condition U A > U a is met.

[0074] S3: Convert the laser charging signal into electrical energy through the photovoltaic array, and charge the unmanned aerial vehicle through the constant current circuit.

[0075] Specifically, when the laser beam irradiates on the photovoltaic array, the light energy is converted into electrical energy, the proportion of the light energy converted into electrical energy by the photovoltaic cell is calculated, and the photoelectric conversion efficiency is calculated.

[0076] Further, the specific formula of the photoelectric conversion efficiency is as follows:

[0077]

[0078] Wherein, η is the photoelectric conversion efficiency, Pout is the output of the photovoltaic cell power, Pin is the photovoltaic cell received light power density.

[0079] Further, the electron hole pair in the photovoltaic cell will move to both ends after being excited by photons, forming a current, the specific formula of the current is as follows:

[0080]

[0081] Wherein, I is the output of the photovoltaic cell current, η is the photoelectric conversion efficiency, Pin is the photovoltaic cell received light power density, e is the charge of the elementary charge.

[0082] Specifically, according to the obtained light power density, the area of the photovoltaic array and the photoelectric conversion efficiency, the converted output electric energy is calculated, and the specific formula is as follows:

[0083] S = Pin x area x η

[0084] Wherein, S is the output of the photovoltaic cell current, Pin is the light power density, η is the photoelectric conversion efficiency, and area is the area of the photovoltaic array.

[0085] Further, the total power of the light source is measured using the optical power meter, the cross-sectional area of the light beam is calculated according to the shape of the light beam by measuring the radius of the light beam, and the specific formula of the light power density is as follows:

[0086]

[0087] A 圆 = πr 2

[0088] A 矩 = w x h

[0089] Wherein, Pin is the light power density, Pt is the total power of the light source, A is the cross-sectional area of the light beam, w is the width of the rectangular light beam, h is the height of the rectangular light beam, and r is the radius of the light beam.

[0090] S4: Real-time monitoring of the current and voltage during charging by charging control, and determining whether the charging current needs to be adjusted according to the monitored data to improve the charging efficiency.

[0091] S4.1: Detect the voltage and charging current of the photovoltaic cell, and determine whether the charging current meets the required charging current of the current stage.

[0092] Specifically, the charging control detects the voltage and charging current of the photovoltaic cell; determine whether the charging current meets the required charging current of each stage.

[0093] Further, when the charging current meets the required charging current of the current stage, the current charging current is maintained and the photovoltaic cell is continuously provided with corresponding electric energy; when the charging current does not meet the required charging current of the current stage, the control system is instructed to adjust the output power of the laser according to the relationship G = 34.21I m -0.07, the power of the laser is adjusted, wherein, I m represents the maximum power point current.

[0094] Further, if the output current of the photovoltaic array after the power of the laser is adjusted still meets the required charging current of the current stage, the changes of the charging current and the voltage are continuously monitored to ensure that the charging current is maintained within the required range; if the output current of the photovoltaic array after the power of the laser is adjusted still does not meet the required charging current of the current stage, the control system two is instructed to finely adjust the output power of the laser by one unit until the output current meets the required charging current.

[0095] Further, if the output current is greater than the required charging current, the constant current is used to change the duty cycle of the switching signal through PID operation to output the set current value; if it is detected that the voltage of the battery exceeds the switching voltage, the charging current is transferred to the charging current of the next stage, and the operation process is repeated until the charging of each stage is completed and the photovoltaic cell is stopped charging.

[0096] It should be noted that the function of the control system two is to change the output current of the laser to control the emission power of the laser so that the current value of the maximum output power point of the photovoltaic array meets the required current of the photovoltaic cell charging.

[0097] Further, the embodiment also provides a wireless laser charging system based on a UAV, which comprises: a transmitting module configured to collimate the divergent light beam into a parallel light beam through a laser emitter and expand the diameter of the input light beam; a tracking module configured to compare the output voltage of the light-sensitive resistor by detecting the light source intensity of the laser and determine the center position of the battery panel light spot; a conversion module configured to convert the laser charging signal into electric energy through a photovoltaic array and charge the UAV through a constant current circuit; and a control module configured to monitor the current and voltage in the charging process in real time through a charging control and determine whether the charging current needs to be adjusted according to the monitored data to improve the charging efficiency.

[0098] The embodiment also provides a computer device suitable for the wireless laser charging method based on a UAV, which comprises a memory and a processor; the memory is configured to store computer executable instructions, and the processor is configured to execute the computer executable instructions to realize the wireless laser charging method based on a UAV as proposed in the above embodiment.

[0099] The computer device can be a terminal, which comprises a processor, a memory, a communication interface, a display screen and an input device connected by a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device comprises a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner. The wireless manner can be achieved by WIFI, operator network, NFC (near field communication) or other technologies. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad or mouse, etc.

[0100] The embodiment also provides a storage medium having a computer program stored thereon, the program being executed by a processor to implement the following steps: collimating a divergent light beam into a parallel light beam by a laser emitter, and expanding the diameter of the input light beam; comparing the output voltage of a photoresistor by detecting the intensity of the light source of the laser, and judging the center position of the solar panel light spot; converting the laser charging signal into electric energy by a photovoltaic array, and charging the unmanned aerial vehicle by a constant current circuit; monitoring the current and voltage in the charging process in real time by the charging control, and judging whether the charging current needs to be adjusted according to the monitored data, so as to improve the charging efficiency.

[0101] In summary, the wireless unmanned aerial vehicle charging without connecting a power line or additional equipment can be flexibly used in various environments. The center position of the solar panel light spot is judged by comparing the intensity of the laser light source and the output voltage of the photoresistor, so that the charging process can be accurately controlled, the problems of energy waste and overcharging of the battery in the charging process can be avoided, the constant current circuit is used to charge the unmanned aerial vehicle, the risk of battery short circuit caused by overcharging is avoided, and the stability and safety of the unmanned aerial vehicle charging are ensured.

[0102] Embodiment 2

[0103] Referring to Table 1, the second embodiment of the present application provides a wireless laser charging method based on an unmanned aerial vehicle. In order to verify the beneficial effects of the present application, economic benefit calculation and simulation experiments are used for scientific demonstration.

[0104] Specifically, as shown in Table 1, in terms of laser output power, the present application achieves 100W, which is significantly higher than the 50W of the prior art, meaning that the present application can provide more powerful laser charging capability and accelerate the charging speed of the unmanned aerial vehicle; in terms of the range of beam focal length adjustment, the flexibility of the present application is stronger, and the adjustable range is from 5mm to 50mm, while the adjustable range of the prior art is only between 10mm and 30mm. This makes the present application able to adapt to the charging needs of different distances and scenes, and provide more flexible application scenarios.

[0105] Table 1 Comparison between the present application and the prior art

[0106] Parameter The present invention Prior art Invention data Prior art data Laser output power High Generally 100W 50W Beam focusing adjustment range Wide Limited 5mm-50mm 10mm-30mm Photoelectric conversion efficiency High Generally 25％ 18％ Charging current adjustment ability High Generally Real-time adjustment Limited Safety Excellent Generally Real-time temperature monitoring, avoiding overheating Certain risk Data recording and optimization Support Limited Real-time charging data recording, subsequent optimization Limited

[0107] Further, in terms of photoelectric conversion efficiency, the present application performs well, reaching 25%, while the efficiency of the prior art is 18%. This means that the present application more effectively converts light energy into electrical energy, improves charging efficiency, and reduces energy waste.

[0108] Furthermore, the present application has the ability to adjust the charging current in real time, which makes the present application able to charge at the best efficiency and improve system performance compared to the prior art. In terms of safety, the present application avoids overheating damage to the battery by monitoring the battery temperature in real time, while the prior art has certain risks in terms of safety.

[0109] Specifically, the present application supports real-time recording of data during the charging process, which can be used for subsequent analysis and optimization, while the prior art has limited support in this regard. Through the performance comparison in these aspects, the present application presents more comprehensive and outstanding characteristics in the laser charging technology.

[0110] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit it, although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application, and they should be covered in the scope of the claims of the present application.

Claims

1. A wireless laser charging method based on a drone, characterized in that: Comprising, collimating the divergent light beam into a parallel light beam and expanding the diameter of the input light beam by the laser emitting device; comparing the output voltage of the photoresistor by detecting the intensity of the light source of the laser, and judging the center position of the solar panel light spot; converting the laser charging signal into electrical energy by the photovoltaic array, and charging the unmanned aerial vehicle through the constant current circuit; monitoring the current and voltage in real time during the charging process through the charging control, and judging whether the charging current needs to be adjusted according to the monitored data to improve the charging efficiency; judging the center position of the solar panel light spot includes the following steps: dividing eight photoresistors with the same characteristics and calibrated into four groups, each group containing two photoresistors, selecting a group of photoresistors as the north direction sensor A and the north direction sensor a, and the other group as the south direction sensor D and the south direction sensor d; measuring the output voltage of the sensor to calculate the intensity of the light source and the position of the light spot center, and comparing the output voltage difference of each pair of sensors; According to the output voltage difference to judge the light spot center position, and adjust the position of the ground turntable accordingly until the corresponding condition U is met A > U a ; the step of converting the laser charging signal into electrical energy by the photovoltaic array includes the following steps: when the laser beam irradiates the photovoltaic array, the optical energy is converted into electrical energy, and the photoelectric conversion efficiency is calculated, and the specific formula of the photoelectric conversion efficiency is as follows: wherein, η is the photoelectric conversion efficiency, Pout is the output electrical power of the photovoltaic cell, and Pin is the optical power density received by the photovoltaic cell; according to the obtained optical power density, the area of the photovoltaic array and the photoelectric conversion efficiency, the converted output electrical energy is calculated, and the specific formula is as follows: S = Pin × area × η wherein, S is the output current of the photovoltaic cell, Pin is the optical power density, η is the photoelectric conversion efficiency, and area is the area of the photovoltaic array, wherein the specific formula of the optical power density is as follows: A 圆 ＝πr 2 A 矩 = w x h wherein, Pin is the optical power density received by the photovoltaic cell, Pt is the total power of the light source, A is the cross-sectional area of the light beam, w is the width of the rectangular light beam, h is the height of the rectangular light beam, and r is the beam radius; the step of judging whether the charging current needs to be adjusted according to the monitored data includes the following steps: when the charging current meets the required charging current of the current stage, the current charging current is maintained, and the corresponding electrical energy is continuously provided by the photovoltaic cell; when the charging current does not reach the required charging current of the current stage, an instruction is sent to the control system to adjust the power of the laser; if the output current of the photovoltaic array after adjusting the power of the laser reaches the required charging current of the current stage, the changes of the charging current and the voltage are continuously monitored to ensure that the charging current remains within the required range; if the output current of the photovoltaic array after adjusting the power of the laser still does not reach the required charging current of the current stage, an instruction is sent to the control system to fine-tune the output power of the laser by one unit until the output current meets the required charging current; if the output current is greater than the required charging current, the duty cycle of the switching signal is changed by PID operation to output the set current value; if it is detected that the voltage of the battery exceeds the switching voltage, the charging current is transferred to the charging current of the next stage, and the operation is repeated until each stage of charging is completed and the photovoltaic cell stops charging; The laser emitting device comprises the following steps: injecting energy into the photovoltaic array of the UAV by the laser; calculating the focal length of the collimator according to the beam diameter and the emitting angle of the laser; calculating the focal length of the beam expander according to the diameter of the output beam of the laser and the beam expansion angle of the target. 2.The unmanned aerial vehicle-based wireless laser charging method of claim 1, wherein: The comparison of the output voltage difference of each pair of sensors comprises the following steps: When the output voltage of the photoresistor is linearly related to the intensity of the light source, the value of the photoresistor is calculated, and the specific formula is as follows Where R is the resistance of the photoresistor, Vref is the reference voltage, V is the output voltage of the photoresistor, and I is the output current of the photoresistor. When U A > U a then it is determined that the center of the light spot is located below sensor A and sensor a; When U A <U a If Ua> Uaand Ua> Ua, then it is determined that the center of the light spot is located above sensor A and sensor a; When U D > U d , it is determined that the spot center position sensor D is above the sensor d. When U D When U d Then, it is determined that the spot center is located below the sensor D and the sensor d. 3.The unmanned aerial vehicle-based wireless laser charging method of claim 2, wherein: The laser includes spontaneous emission, stimulated emission, and stimulated absorption; the specific formula of the focal length of the collimator is as follows: Where F is the focal length of the collimator, D is the diameter of the input beam, and θ is the divergence angle. The specific formula of the focal length of the beam expander is as follows: Where K is the focal length of the beam expander, D is the diameter of the input beam, and S is the angle of beam expansion.

4. A wireless laser charging system based on a UAV, based on the wireless laser charging method based on a UAV according to any one of claims 1-3, characterized in that: It comprises, The emitting module is used to collimate the divergent beam into a parallel beam and expand the diameter of the input beam by the laser emitting device; The tracking module is used to compare the output voltage of the photoresistor by detecting the intensity of the light source of the laser and determine the center position of the solar panel spot; The conversion module is used to convert the laser charging signal into electrical energy by the photovoltaic array and charge the UAV by the constant current circuit; The control module is used to monitor the current and voltage in the charging process in real time by the charging control and determine whether the charging current needs to be adjusted according to the monitored data to improve the charging efficiency.

5. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that: The processor executes the computer program to realize the steps of the unmanned aerial vehicle-based wireless laser charging method according to any one of claims 1-3.

6. A computer readable storage medium having stored thereon a computer program, characterized in that: The computer program is executed by the processor to realize the steps of the unmanned aerial vehicle-based wireless laser charging method according to any one of claims 1-3.

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