Fig. 1. Schematic diagram of laser wireless power transmission system

Fig. 2. YOLOv5 universal model structure

Fig. 3. Convolutional block attention module structure

Fig. 4. Channel attention module

Fig. 5. Spatial attention module

Fig. 6. Model structure with an additional detection layer

Fig. 7. Modified network structure

Fig. 8. Centroid tracking algorithm

Fig. 9. Comparative results of ablation experiments. (a) mAP of the original model; (b) mAP of small object detection layer; (c) mAP of CBAM module;(d) mAP of the improved model

Fig. 10. Object detection results of the unmanned aerial vehicle and the photovoltaic battery array. (a) mAP of the original model; (b) mAP of the improved model; (c) precision of the original mode; (d) precision of the improved model; (e) recall of the original model; (f) recall of the improved model; (g) average loss of the original model; (h) average loss of the improved mode

Fig. 11. Detection results of the unmanned aerial vehicle and the photovoltaic battery

Fig. 12. Opto-electric conversion power