Adaptive roaming and articulated generation unit for wireless power transfer

Abstract

A wireless power delivery system includes, in part, a roaming and articulated wireless power transmission device. The roaming and articulated wireless power device includes, in part, a wireless power generation unit, an energy storage unit, a controller, and an electrically driven mobile platform. The device also includes, in part, at least one RF transmitter or an RF transmitter array adapted to radiate RF signals at the same frequency. The controller is adapted to independently control the phase of each RF transmitter. The RF transmitter array can be foldable and deployable. The mobile platform can include inertial measurement, GPS, collision sensors, and proximity sensors. The device can also include: a camera; and a wireless communication link, via which the device establishes two-way communication with a wirelessly powered recovery unit.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of application serial number 62 / 836,320 filed on April 19, 2019, application serial number 62 / 848,506 filed on May 15, 2019, and application serial number 62 / 937,917 filed on November 20, 2019 under 35 USC 119(e), the contents of all applications are incorporated herein by reference in their entirety. Technical Field

[0003] The present invention relates to wireless power transfer, and more particularly to a mobile power transfer system. Background Art

[0004] By using radio frequency (RF) and millimeter wave beamforming and focusing, non-proximity wireless power transmission enables and enhances a host of new applications. For example, the proliferation of Internet of Things (IoT) devices and sensors can be significantly accelerated by delivering power to them wirelessly and eliminating the wiring that would otherwise be required during their installation.

[0005] Another example of wireless power transmission is the wireless charging of portable personal devices such as smartphones and tablets. Wirelessly charging such devices would enhance their usability and reduce the need to carry portable batteries. In addition, many other electronic devices, from wireless mice and keyboards to thermostats and security sensors and cameras, could benefit from wireless power transfer.

[0006] The wireless power generation unit (GU) may include multiple RF sources and antennas, as well as other components such as a processing unit, an interface circuit, a communication circuit, etc. The RF energy focus may be formed at a desired location where the target device is located. An energy recovery unit disposed in the target device may be used to capture the RF energy. The recovery unit (RU) may have, among other components, measurement circuits, processing and communication circuits, etc. The RU may utilize various power recovery devices such as a rectifying antenna to collect RF energy and convert it into DC energy. Figure 1 GU 20 is shown wirelessly powering RU 40. GU 20 is shown including in part a processor 10, a controller 12, wireless communication circuitry 14, and a transmit antenna array 16. RU 40 is shown including in part a processor 30, a power detector 32, wireless communication circuitry 34, and a receive antenna array 36.

[0007] The GU is ideally adapted to transmit and transfer power quickly and efficiently in different directions and orientations without too much power spillover (i.e., power not recovered and thus wasted). The GU achieves maximum power transfer by setting a combination of the phases of the RF signal that maximizes energy concentration at the location and orientation of the RU.

[0008] For a given effective GU aperture area A G 、Effective RU aperture area A R , the distance D between GU and RU, and the signal wavelength λ, the transmission efficiency η, defined as the ratio of the power incident on the RU aperture to the power transmitted by the GU, can be approximated as:

[0009]

[0010] in

[0011]

[0012] At relatively large distances, the transmission efficiency can be estimated as r, yielding:

[0013]

[0014] Equation (3) assumes that the aperture of GU and the aperture of RU face each other and are both perpendicular to the axis connecting their centers.

[0015] The target devices to be wirelessly charged using the same GU may be in different positions and orientations relative to the GU. Therefore, some target devices may not receive power optimally due to their position and orientation. In addition, the path between the GU and the target device may be obstructed, even with the optimal phase combination and resulting constructive interference pattern. There remains a need for improved methods and systems for wireless power delivery. Summary of the invention

[0016] According to one embodiment of the present invention, a wireless power transmission system includes, in part, a roaming and articulating wireless power transmission device, which in turn includes, in part, a wireless power generation unit, an energy storage unit, a controller, and an electrically driven mobile platform. The wireless power generation unit includes, in part, at least one electromagnetic power source.

[0017] In one embodiment, the wireless power generation unit further comprises, in part, at least one RF transmitter. In one embodiment, the wireless power generation unit further comprises, in part, an array of RF transmitters adapted to radiate RF signals at the same frequency. In one embodiment, the controller is adapted to independently control the phase of each RF transmitter.

[0018] In one embodiment, the roaming and articulating wireless power transfer device further comprises one or more sensors. In one embodiment, the mobile platform comprises in part an inertial measurement unit to facilitate navigation. In one embodiment, the mobile platform comprises in part a GPS to facilitate navigation. In one embodiment, the mobile platform comprises in part a collision sensor to change the direction of movement when it hits an obstacle. In one embodiment, the mobile platform comprises in part a proximity sensor to avoid hitting an obstacle. In one embodiment, the proximity sensor uses ultrasound. In one embodiment, the proximity sensor comprises an IR sensor. In one embodiment, the device further comprises a camera.

[0019] In one embodiment, the device is adapted to locate the recovery unit by using a camera to identify a pattern printed or arranged on the power recovery unit. In one embodiment, the device also includes a wireless communication link. In one embodiment, the device establishes a two-way communication with the recovery unit via the communication link. In one embodiment, the energy storage unit is a battery. In one embodiment, the battery is rechargeable. In one embodiment, the battery is charged via a docking station.

[0020] In one embodiment, the device further comprises an inductive charging coil. In one embodiment, the docking station is adapted to inductively charge the device using the inductive charging coil. In one embodiment, the device is further adapted to locate the docking station via a beacon transmitted by the docking station. In one embodiment, the energy storage unit is a fuel cell.

[0021] In one embodiment, the power generation unit transmits electromagnetic waves in the visible or infrared spectrum to wirelessly transfer power. In one embodiment, the wireless power transfer system further includes, in part, at least one motor adapted to change the elevation angle of the wireless power generation unit. In one embodiment, the wireless power transfer system further includes, in part, a scissor lift structure adapted to change the elevation angle of the wireless power generation unit in response to the motor. In one embodiment, the wireless power transfer system further includes, in part, a telescopic boom lift structure adapted to change the elevation angle of the wireless power generation unit in response to the motor.

[0022] In one embodiment, the wireless power transfer system further comprises, in part, at least one motor adapted to change the azimuth of the wireless power generation unit. In one embodiment, the wireless power transfer system further comprises, in part, at least one motor adapted to change the elevation of the wireless power generation unit. In one embodiment, the wireless power transfer system further comprises, in part, a scissor lift structure adapted to change the elevation of the wireless power generation unit in response to the motor. In one embodiment, the wireless power transfer system further comprises, in part, a telescopic boom lift structure adapted to change the elevation of the wireless power generation unit in response to the motor.

[0023] In one embodiment, the system further comprises, in part, a lift adapted to lift the system. In one embodiment, the system further comprises, in part, a lift adapted to lift at least a portion of the wireless power generation unit. In one embodiment, the mobile platform is adapted to navigate to a location where the wireless power generation unit delivers maximum power from it to the recovery unit. In one embodiment,

[0024] In one embodiment, the system is adapted to navigate and select the azimuth, elevation and elevation of the wireless power generation unit such that the system delivers maximum power to the recovery unit. In one embodiment, the system is adapted to navigate and select the azimuth and phase of the respective RF transmitters of the wireless power generation unit such that the system delivers maximum power to the recovery unit.

[0025] In one embodiment, the controller includes a memory to store a list of recycling units that are wirelessly powered by the system. In one embodiment, the list includes a priority associated with each recycling unit. In one embodiment, the priority of each recycling unit is established based on the charge level of the recycling unit. In another embodiment, the priority of each recycling unit is established based on the distance of the recycling unit from the system.

[0026] In one embodiment, the system further includes, in part, a second roaming and articulating wireless power transfer device. The second roaming and articulating wireless power transfer device includes, in part: a wireless power generation unit including at least one electromagnetic power source; an energy storage unit; a controller; and an electrically driven mobile platform. The first wireless power generation unit and the second wireless power generation unit are configured to operate in concert to form a combined power generation unit that is larger than the first power generation unit or the second power generation unit. In one embodiment, the first device and the second device share a reference clock frequency that is wirelessly received by the first device and the second device. In one embodiment, the RF transmitter array is foldable and deployable.

[0027] In one embodiment, the RF transmitter array comprises a plurality of fan-shaped sub-arrays. In one embodiment, the RF transmitter array comprises a plurality of sub-arrays mechanically coupled to each other via a plurality of spring-loaded hinges. The system further comprises a motor and a rope configured to retract the plurality of sub-arrays. In one embodiment, the RF transmitter array comprises a plurality of telescopic sub-arrays adapted to fold and unfold using gears. In one embodiment, the RF transmitter array comprises a plurality of sub-arrays adapted to fold and unfold according to an origami pattern.

[0028] According to one embodiment of the present invention, a wireless power transfer system includes, in part, a mobile platform and a reflector. In one embodiment, the system also includes, in part, at least one motor adapted to change the elevation angle of the reflector. In one embodiment, the system also includes, in part, at least one motor adapted to change the azimuth angle of the reflector. In one embodiment, the reflector is an RF reflector. In one embodiment, the RF reflector is curved.

[0029] According to one embodiment of the present invention, a wireless power transfer system includes, in part: a wireless power generation unit, which in turn includes, in part, a plurality of RF transmitters; and a wireless power recovery unit adapted to be wirelessly charged. The wireless power recovery unit includes, in part, at least one receiving antenna having a variable orientation. In one embodiment, the wireless power recovery unit includes, in part, at least one RF receiver operating at substantially the same RF frequency as the RF transmitter.

[0030] In one embodiment, the RF transmitter and the RF receiver form a radar. In one embodiment, the system further includes, in part, an electrically driven mobile platform adapted as a mobile system to form a synthetic aperture radar. In one embodiment, the radar senses Doppler shift to detect a biosignal. In one embodiment, the biosignal is defined by breathing. In one embodiment, the biosignal is defined by a heartbeat. In one embodiment, the system is remotely operated by receiving commands sent from a remote control unit. In one embodiment, the remote control unit is a smart phone.

[0031] According to one embodiment of the present invention, a wireless power transfer system includes, in part: a wireless power generation unit, which in turn includes a plurality of RF transmitters; a base; at least one arm that mechanically couples the wireless power generation unit to the base; a first actuator that enables the wireless power generation unit to rotate around the at least one arm; and a second actuator that enables the at least one arm to rotate around the base. In one embodiment, the base includes, in part, wheels. In one embodiment, the wheels are adapted to move on tracks. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A power generation unit is shown for wirelessly powering a device as is known in the art.

[0033] Figure 2A and Figure 2B are simplified front and rear perspective views of a roaming and articulating unit adapted to wirelessly transfer power according to an exemplary embodiment of the present invention.

[0034] Figure 3 is a bottom perspective view of a roaming and articulating unit according to an exemplary embodiment of the present invention.

[0035] Figure 4 A power generation unit for wirelessly powering a device via a roaming and articulating passive unit according to an exemplary embodiment of the present invention is shown.

[0036] Figure 5 is a schematic diagram of a roaming and articulated unit including a scissor lift structure according to an exemplary embodiment of the present invention.

[0037] Figure 6 is a schematic diagram of a roaming and articulated unit including a scissor lift structure according to another exemplary embodiment of the present invention.

[0038] Fig. 7A A retractable antenna array including a plurality of sector-shaped sub-arrays according to an embodiment of the present invention is shown.

[0039] Figure 7B FIG. 1 shows a fully deployed mode according to an embodiment of the present invention. Fig. 7A Retractable antenna array.

[0040] Figure 7C A retractable antenna array including a plurality of sub-arrays according to an embodiment of the present invention is shown.

[0041] Fig.7D A retractable antenna array including a plurality of sub-arrays according to an embodiment of the present invention is shown.

[0042] Fig. 7E A retractable antenna array according to one embodiment of the present invention is shown, the retractable antenna array comprising a plurality of sub-arrays adapted to be folded and unfolded using an origami pattern.

[0043] Figure 7F An embodiment of the present invention is shown. Fig. 7E The antenna array after partial folding.

[0044] Figure 7G An embodiment of the present invention is shown. Fig. 7E The antenna array after folding.

[0045] Figure 8 A roaming and articulating unit with a self-articulating arm adapted to plug the roaming and articulating unit into a socket to charge the internal battery of the roaming and articulating unit is shown according to one embodiment of the present invention.

[0046] Fig. 9 A power generation unit according to one embodiment of the invention is shown having an array of transmitting elements and antennas adapted to rise from a top surface of a roaming and articulating unit.

[0047] Fig.10A power generation unit according to one embodiment of the invention is shown having an array of transmitting elements and antennas adapted to be raised from a top surface of a touring and articulating unit via a scissor lift structure.

[0048] Fig.11 Shown are multiple locations from which a roaming and articulating unit transmits power to a target device in accordance with one embodiment of the present invention.

[0049] Fig. 12A Various components of a roaming and articulating unit according to an exemplary embodiment of the present invention are shown.

[0050] Fig. 12B Various components of a roaming and articulating unit according to an exemplary embodiment of the present invention are shown.

[0051] Fig.13 is a flow chart for wirelessly charging a target device through a roaming and articulating unit according to one embodiment of the present invention.

[0052] Fig.14 A plurality of roaming and articulating units are shown, according to one embodiment of the present invention, moved in close proximity to one another to form a relatively large transmission aperture.

[0053] Fig.15A A power generation unit with a transmitter array mounted on a base via an arm according to one embodiment of the invention is shown.

[0054] Fig. 15B A power generation unit having a transmitter array mounted on a base via a plurality of arms according to one embodiment of the invention is shown.

[0055] Fig.16 A power generation unit according to one embodiment of the invention is shown having a transmitter array mounted on a base having wheels adapted to move on tracks.

[0056] Fig.17 A power generation unit according to one embodiment of the present invention is shown having a transmitter array and a plurality of sensors mounted on a base via a plurality of arms.

[0057] Fig.18 is a flow chart for wirelessly powering a device according to one embodiment of the present invention.

[0058] Fig.19 is a flow chart for wirelessly powering a device according to one embodiment of the present invention. DETAILED DESCRIPTION

[0059] According to one aspect of the present invention, a roaming and articulated generation unit (RAGU) actively searches for a target device and moves to an optimal position and orientation to wirelessly power the target device. The RAGU can charge multiple target devices simultaneously or during different time periods. The RAGU can prioritize power delivery based on charging status (such as the power requirements of the target device). After wirelessly charging one or a group of devices during a first time period, the RAGU is adapted to search for a new target device, move to another optimal position and orientation (relative to the new device), and begin wirelessly transmitting power to the new target device.

[0060] The RAGU may have an internal energy storage unit that is charged, for example, using a wall outlet, a docking station, or from another wireless power generation unit (GU). The docking station may have electrical connectors and wiring that connect the RAGU to an external power source (e.g., a wall outlet), or the RAGU may be inductively charged. The device powered by the RAGU may be fixed, mobile, or another RAGU. In one embodiment, the RAGU may provide power to a target device by sending electromagnetic waves (RF, millimeter waves, light) or by sending sound waves.

[0061] In an embodiment where waves (e.g., sound waves, RF, millimeter waves, or light) are used to deliver power, the RAGU includes an array of transmitting elements that operate coherently and in unison to generate a focused beam so as to achieve a lensing effect. In such an embodiment, energy is focused on the RU by adjusting the phase of the individual transmitting elements of the transmitter array. In addition, in such an embodiment, power can be transmitted wirelessly using, for example, a directional wave source (such as a horn antenna, a dish antenna) or alternatively a collimated light source or a laser. The following description of an embodiment of the present invention is provided with reference to a wireless power delivery system that generates and focuses RF signals. However, it should be understood that embodiments of the present invention are equally applicable to millimeter waves, sound waves, light waves, etc.

[0062] Figure 2A and Figure 2B 1 is a simplified front and rear perspective view of a RAGU 100 according to an exemplary embodiment of the present invention. The RAGU 100 may be a motor-driven, wheel-based mobile wireless power transfer system, which is shown as including, in part, a base 102 and a transmit antenna array 112. The base 102 is adapted to move along an x-axis and a y-axis on a ground surface, and to rotate along a z-axis, as shown. The antenna array includes, in part, a transmit antenna array 104 adapted to focus a radio frequency signal on a target device. The RAGU 100 also includes, in part, an articulation unit 114, which may be a cross-scissor-type unit, such as Figure 2A and Figure 2BAs shown, the antenna array 112 is adapted to adjust the height, orientation and tilt of the antenna array. Thus, the RAGU 100 is adapted to optimize its position and orientation relative to the target device through a combination of translational and rotational movements and through the articulation of its antenna array 112. Although not shown, in some embodiments, the antenna array as a wave source for powerless transmission can be moved using, for example, a gimbal.

[0063] According to some embodiments of the present invention, the RAGU may include a multimodal sensing unit. For example, in some embodiments, the RAGU may include (not shown) infrared (IR) distance and proximity sensors, ultrasonic sensors, optical cameras for visual sensing, radar, lidar, GPS, contact sensors, microphones, inertial measurement unit (IMU) sensors, electric field disturbance sensors, cameras, etc. Such sensors enable the RAGU to not only navigate through limited spaces such as homes, offices, stores, warehouses, etc. and provide mapping of such spaces, but also to identify living objects and other sensitive areas where the nature and amount of power to be transmitted may need to be controlled.

[0064] According to an embodiment of the present invention, the RAGU can be powered by an internal energy source (e.g., a rechargeable battery, a fuel cell), or by an external power source to enable its movement, sensing, power delivery, and other operations. The RAGU can use a docking station to receive power from a wall outlet. In some embodiments, the RAGU can be wirelessly powered by another RAGU.

[0065] The RAGU can be charged wirelessly via proximity inductive charging. Figure 3 1 is a bottom perspective view of a RAGU 150 according to one embodiment of the present invention. The RAGU 150 is shown as partially including an inductive coil 152, which is used for inductive charging when the RAGU is moved to a charging pad not shown in the figure. In some embodiments, the RAGU can wirelessly power a target device while positioned in a dock or on a charging pad. When not in a dock or charging pad, the RAGU performs various sensing and wireless power transfer operations via its battery and internal power supply.

[0066] According to another aspect of the present invention, a roaming and articulated passive unit (RAPU) facilitates the transfer of wireless power generated by another GU or RAGU to one or more target devices. The RAPU may be a reflector, a refractor, or include multiple metasurfaces to redirect an RF energy beam generated by a RAGU or another fixed RF wireless power generation unit (GU). For example, if the path from a GU or RAGU to a target device is blocked by an object, the RAPU is adapted to move to a position that enables the RF beam to be redirected to the target device. Figure 42 shows a GU 200 attempting to wirelessly power a target device 210. The GU 200 is a fixed unit that is assumed to be mounted on, for example, a ceiling. The path of RF power from the GU 200 to the device 210 is Figure 4 2 is shown as being blocked by object 220. To enable wireless power transfer, RAPU 230 is moved to a new position, as shown, so that the RF power generated by GU 200 and reflected by reflector 235 of the RAPU reaches target device 210 unimpeded.

[0067] As mentioned above, in addition to translational and rotational movement, the RAGU may also have an articulation mechanism adapted to lift, reorient and tilt the antenna array. Figure 5 1 shows a RAGU 100 including a cross-scissor 135 adapted to raise the antenna array 112 from the base 102 and thereby enhance its reach. The cross-scissor 135 may also change the orientation and tilt of the antenna array. In yet other embodiments, the RAGU 100 may use the cross-scissor 135 (e.g., Figure 6 As shown) or use any other lifting mechanism to lift the entire thing off the ground 138.

[0068] In some embodiments, the transmission aperture of the RAGU can be changed dynamically. For example, the aperture can be expanded in a fan-shaped configuration, accordion-like, or according to an origami pattern. The mechanically retractable, foldable, and adjustable aperture of the RAGU makes it more compact, thereby making it easier to move around and through corners, uneven ground, step heights, and hard-to-reach areas.

[0069] Fig. 7A A retractable antenna array 300 including eight exemplary sectored sub-arrays 3021, 3022, ... 3028 is shown according to an embodiment of the present invention. Fig. 7A The array 300 is shown in a retracted mode, while Figure 7B The antenna array 300 is shown in a fully deployed mode. The sectored antenna array is retracted and deployed using motors 310. Each sub-array is shown as including a plurality of transmit elements 104.

[0070] Figure 7C A retractable antenna array 300 is shown including four exemplary rectangular sub-arrays 3021, 3022 ... 3024 according to one embodiment of the present invention. The retractable antenna array 325 includes a spring loaded hinge 318. Each sub-array is shown to include a plurality of transmit elements 104. Figure 7C The antenna array 325 is shown in an unfolded (unfolded) mode. It should be understood that the antenna array 325 can be placed in a folded mode using the motor 310 and the tether 315.

[0071] Fig.7DA retractable antenna array 335 is shown including four exemplary rectangular sub-arrays 3021, 3022, ... 3024 according to one embodiment of the present invention. The retractable antenna array 335 includes gears 338 and motors 40 that enable the antenna array to be retracted or deployed. Each sub-array is shown to include a plurality of transmit elements 104. Fig.7D The antenna array 335 is shown in the deployed mode. It should be understood that the antenna array 335 can be placed in the folded mode using the motor 340 and the gear 338.

[0072] Fig. 7E A retractable antenna array 300 is shown according to another embodiment of the present invention comprising six exemplary rectangular sub-arrays 3021, 3022 ... 3026. The retractable antenna array 335 is adapted to be folded and unfolded using an origami pattern. Figure 7F A partially folded antenna array 345 is shown. Figure 7G Shown after further folding Figure 7G Antenna array 345.

[0073] The RAGU is adapted to monitor its energy state and locate and identify various power sources for charging its internal energy storage system, such as a docking station, an inductive charging pad, or a wall outlet. In one embodiment, the RAGU uses its image acquisition system (such as a camera) or other sensor to locate the wall outlet. A self-articulating arm arranged within the RAGU can insert a wire into the outlet to start the charging process. In order to find the wall outlet, the RAGU uses a camera and an image recognition algorithm. Once the electrical outlet is located, the RAGU moves toward the outlet. The articulated arm includes a linear stage that adjusts the height of the plug and a rotating mechanism that adjusts the angle of the plug to the angle of the outlet. Once the imaging system confirms that the plug is aligned with the outlet, the RAGU moves toward the wall until the plug is inserted into the wall outlet. Figure 8 A RAGU 100 is shown having a self-articulating arm 165 adapted to plug a connector 167 arranged at the end of the arm 165 into a socket in order to charge the internal battery of the RAGU.

[0074] In some embodiments, the roaming and articulating unit is adapted to receive a GU as an attachment, thereby forming a RAGU. The roaming and articulating unit can be used for various applications other than wireless power delivery. When the user decides to use the roaming and articulating unit to wirelessly deliver power to a target device, the user mounts the GU on the top surface of the roaming and articulating unit. Fig. 9GU 200 (with antenna array 112) is shown positioned to be mounted on top surface 168 of roaming and articulating unit 160. When so mounted, an electrical connector (not shown) disposed on back surface 202 of GU 200 is electrically connected to a corresponding connector (not shown) disposed on top surface 168 of roaming and articulating unit to provide electrical power to GU 200. In some embodiments, the mounting assembly includes a mechanism for raising and lowering the GU, such as a cross-scissors, as shown. Fig.10 shown.

[0075] In order to position itself for maximum power delivery, in an exemplary embodiment, the RAGU transmits power to the target device multiple times from a first position, wherein each such transmission occurs after the RAGU rotates a certain amount. After each such rotation and transmission, the RAGU waits to receive information from the target device indicating the amount of power recovered by the target device. Therefore, the RAGU knows the amount of power recovered by the target device for each rotation amount at the first position. The RAGU then moves to a second position closer to the target device along an angular rotation that provides maximum power delivery to the target device. The RAGU then repeats the process of transmitting power from the second position to the target device multiple times, each time after rotating a certain amount and receiving information from the target device indicating the amount of power recovered by the target device. The RAGU then moves toward the target device from the second position along an angular rotation that provides maximum power delivery to the target device. The RAGU continues to repeat the following process: transmitting power, rotating in place, receiving information indicating the received power level returned from the device, and determining the best direction to move to until it finds the desired power delivery position. In one embodiment, the travel distance of the RAGU between each two consecutive positions is determined by the relative amount of power recovered (or received) by the target device. For example, when the power received by the device is relatively low, the RAGU travels a relatively long distance. Conversely, when the power received by the device is relatively high, the RAGU travels a relatively short distance.

[0076] According to another exemplary embodiment, in order to find a suitable position for powering the target device, the RAGU transmits power to the target device multiple times from the initial position, wherein each such transmission occurs after the RAGU rotates a certain amount. After each such rotation and transmission, the RAGU waits to receive information from the target device indicating the amount of power recovered by the device. The RAGU then moves to a second position in a direction different from the direction in which the maximum power is provided. When in the second position, the RAGU transmits power to the target device multiple times, wherein each such transmission occurs after the RAGU rotates a certain amount. After each such rotation and transmission from the second position, the RAGU waits to receive information from the target device indicating the amount of power recovered by the device. With knowledge of two different angles from two different positions that produce maximum power delivery, the RAGU uses a trilateral measurement algorithm to approximate the optimal position of the target device and moves to the optimal position to power the device. The trilateral measurement algorithm can also be performed when multiple RAGUs that communicate with each other are used to wirelessly charge devices in a shorter period of time.

[0077] Focusing of electromagnetic waves by the RAGU on the target device can be performed together with mechanical movement of the RAGU. In other words, in addition to controlling and changing the phase of the individual transmitting elements of the antenna array, mechanical movement of the RAGU and its antenna array can also be used to achieve the focusing operation. The mechanical movement can occur simultaneously with the phase adjustment, or after the electromagnetic phase and amplitude adjustment is performed.

[0078] Fig.11 A first position A is shown, from which the RAGU transmits power to a target device N times (N is an integer greater than 1), each time after a given amount of rotation about the Z axis while remaining at point A. It is assumed that in the N power transfers from point A, the maximum power transfer as recorded by the target device and relayed back to the RAGU occurs along direction P1. The RAGU then moves to a new position B along a direction different from P1. While remaining at point B, the RAGU transmits power to the target device M times (M is an integer greater than 1 and may or may not be equal to N), each time after a given amount of rotation about the Z axis. It is assumed that in the M power transfers from point B, the maximum power transfer as recorded by the target device and relayed back to the RAGU occurs along direction P2. Based on this information, the RAGU estimates that the target device is located at point T where lines drawn along directions P1 and P2 intersect. The process described herein and the information obtained in determining the location of the target device and / or the optimal angle for powering the target represent a measured radiation pattern of the RAGU and can be used for subsequent calibration and control of the RAGU.

[0079] Fig. 12AVarious components of a RAGU 400 are shown in accordance with an exemplary embodiment of the present invention. RAGU 400 is shown as including, in part, a wireless power transmitter 402, a battery 404, a wireless transceiver 406, a processing and control unit 408, a plurality of sensors 410, and one or more mechanical actuators 412.

[0080] The wireless power transmitter 402 includes a transmit antenna array (such as Figure 2A The antenna array 112 shown) and the control device are also Figure 2A 4. The wireless transceiver 106 is configured to establish a communication link with the target device and includes a wireless transmitter and receiver. For example, information representing the amount of power received by the target device from the RAGU is provided back to the RAGU via the wireless transceiver 406. The processing and control unit 408 is configured to control the phase of the transmitting element 104, determine the angle and / or position at which the RAGU charges the target device, control the action of the actuator 412, control the linear and rotational movement of the RAGU, process data received by the sensor, etc., among other functions. The sensor 410 may include an inertial measurement unit (IMU), which in turn may include an accelerometer, a gyroscope, a magnetometer, and other sensors (such as GPS, Doppler radar, one or more cameras, LIDAR, ultrasound, collision sensors, odometers, etc.) to determine the position and orientation of the RAGU relative to, for example, the target device, walls, furniture, and any other objects located within the limited area where the RAGU is located. The actuator 412 is adapted to, among other things, raise and lower the RAGU or its antenna array, tilt the antenna array, fold / unfold the antenna array, plug the RAGU into a wall outlet, etc., as described above. Fig. 12B 4 shows various components of a RAGU 450 according to another embodiment of the present invention. RAGU 450 is similar to RAGU 400, except that RAGU 450 includes an inductive charging receiver 414 for inductively charging the RAGU, also as described above with reference to Figure 3 described.

[0081] A Doppler radar arranged in some embodiments of the RAGU measures the speed of the RAGU relative to stationary objects. The RAGU may also use the Doppler radar to determine the relative angle of the RAGU relative to walls, furniture and other objects. The Doppler radar may also be used, for example, to maintain a certain distance from a wall, or to run parallel to a wall. The Doppler radar may also be used to map a room by sending an RF signal and detecting reflections from walls, furniture, etc. in the room. The Doppler shift of the signal caused by the movement of the RAGU may also be used to locate obstacles present in the room.

[0082] As the RAGU, which includes a Doppler radar, roams, it can create a synthetic aperture. Thus, the RAGU can operate as a synthetic aperture radar with a synthetic aperture as large as the room it roams, thereby creating an accurate holographic image of the room. This is accomplished by using beamforming via the RAGU's transmit antenna array, via its wireless transceiver (see Fig. 12A ), its translational motion, and its Doppler radar, the RAGU can detect the location of people (and / or other living organisms and pets) in a room and map their presence by processing the Doppler shift caused by subtle movements of the skin (such as those due to a heartbeat). For example, using Doppler radar, the RAGU can detect if a person has fallen, if the heart rate of an individual occupant of a residence has changed significantly, and so on.

[0083] By creating a holographic image of a room and mapping the positions of its human occupants, RAGU is further adapted to find optimal positions for many other devices that may be placed in the room, such as speakers. For example, in one embodiment, RAGU may carry the speakers around the room while playing music through them, while actively finding the ideal positions of the speakers by mapping the people in the room. To achieve this, RAGU uses its Doppler radar to detect the positions of people. The Doppler radar then provides information representing the degree of balance and thereby the optimal positions of the speakers by detecting the vibrations produced on the skin of a person by the sound waves generated by the speakers. For example, RAGU's Doppler radar may identify a pair of optimal positions for a pair of speakers, which, for example, cause the same skin vibrations when the speakers transmit sound waves.

[0084] In some applications, the loudspeaker may have its own motor vehicle. RAGU may find a suitable position for such a loudspeaker by detecting the vibrations generated on a person's skin when the loudspeaker is moved to different positions. By comparing the detected vibration levels with the values ​​generated during the calibration phase, RAGU may thereby find the optimal position of the loudspeaker. Thus, in contrast to conventional audio systems that rely on microphones to perform equalization and determine the optimal position of a loudspeaker system, the Doppler radar of RAGU according to an embodiment of the invention uses the vibrations of a person's skin to find the optimal position of a loudspeaker system in order to achieve sound equalization. The loudspeaker may also be charged by the RAGU.

[0085] In some embodiments, the RAGU uses the information it receives from its Doppler radar, as well as the information it receives from other sensors such as cameras, LIDAR, ultrasound, collision sensors, odometers, etc. to map the locations where it charges devices. By comparing the mapping data generated by the RAGU from each trip around a limited area with mapping data from previous trips, the RAGU adapts to build a highly accurate and advanced model of the walls, chairs, toys, doors, etc. within the area in which it operates. This in turn enables the RAGU to efficiently reach known devices and locate the optimal location for maximum power transfer to each such device.

[0086] Fig.13 5 is a flowchart 500 showing how a RAGU charges a target device according to one embodiment of the present invention. At 502, a target device (also referred to herein as a recycling device, recycling unit, or RU) sends a power request. At 504, the RAGU generates a priority list of devices to be charged. At 506, the RAGU moves to the first RU whose charging priority is determined to be the highest. At 508, the RAGU optimizes its position, orientation, and tilt to focus the beam generated by its transmit antenna array toward the first device. At 510, the RAGU charges the first device and crosses the first device off its charging list. At 512, the RAGU determines whether it has enough charge to power the next device on the priority list. If the RAGU determines at 512 that it has enough charge to power the next device, then at 514, the RAGU moves to the next device, and at 508, the RAGU optimizes its position, orientation, and tilt to focus the beam generated by its transmit antenna array toward the next device, and then repeats the process at 510. If the RAGU determines at 512 that it does not have enough charge to power the second device, the RAGU moves to a charging station at 516 and charges its battery at 518. Thereafter, the RAGU moves to the next device at 514 and repeats the process at 508, as described above.

[0087] In some embodiments, the RAGU may use various mechanisms to identify the RU, such as a predetermined pattern (black and white, grayscale, and / or color) that may be recognized by a camera or image capture acquisition device disposed in the RAGU. In yet other embodiments, the RAGU may use a barcode or any other label having a recognizable shape or pattern and formed on the RU to identify the RU. In some embodiments, the RAGU may also have a receive antenna array that may be used in conjunction with its transmit antenna array to perform a single static, dual static, or multi-static sensing radar for mapping and location identification.

[0088] According to one aspect of the invention, the RAGU is controlled by a smartphone application. The application enables, among other things, the user to assign priorities, e.g., according to which target devices are to be charged, and / or provide instructions to the RAGU as to when to operate and when not to operate in certain areas of the user's home / office / store. For example, the user may instruct the RAGU not to charge devices in the living room and kitchen before 10 p.m., or may instruct the RAGU not to operate in the living room on the upcoming weekend because a friend will be sleeping on the couch. This enables the user to keep track of their devices and the RAGU when they are away from their home or out of town.

[0089] Through the app, the user can also inform the RAGU of the location in which the RAGU is operating, such as home, office, etc. For example, a user may decide to take his / her RAGU to the office during the day and bring it home at night. The app enables the user to do this so that the RAGU knows its whereabouts and can therefore use its previously stored mapping data to charge the device.

[0090] According to an embodiment of the present invention, the RAGU is also adapted to track how often it charges various devices and communicate this information to the user via the application. For example, if a smoke detector that previously requested to be charged by the RAGU every 6 months changes to making such a request every 6 weeks, its battery may need to be replaced. By recording such data and reporting it to the user via the application, the user is aware that the smoke detector battery may need to be replaced.

[0091] In one embodiment, the RAGU may be an aerial vehicle, such as a balloon, drone, etc. In other embodiments, the GU may be mounted on an aerial vehicle and wirelessly power the target device using its internal battery or the battery of an onboard device, which may be a photovoltaic cell covering the surface of the aerial vehicle. Such embodiments are adapted to provide power to any flying or stationary device.

[0092] According to embodiments of the present invention, the RAGU may perform many other functions and operate as other devices, such as a mobile speaker that plays music, a security sensor, a wireless router and hub, room mapping, warehouse inventory updates, baby and health monitoring, etc. In addition, the antenna array of the GU or RAGU is a phased array, which, when coupled with a receiver array formed by multiple target devices (or a receiver array arranged in a single target device), forms a phased array radar that can be used for navigation, sensing and other applications.

[0093] In still other embodiments, the GU may be mounted on the surface of a submarine and use energy mechanically harvested from water waves to power other devices and the submarine beyond reach.

[0094] The RAGU and / or RAPU are adapted to work in cooperation with other RAGUs and / or RAPUs. For example, multiple RAGUs may operate synchronously and in unison to provide a larger transmission aperture than that of a single RAGU. To achieve this, for example, two or more RAGUs navigate and position themselves in close proximity to each other, thereby forming a larger transmission aperture. Fig.14 Three RAGUs 1001, 1002, and 1003 are shown, which are moved very close to each other to form a relatively large transmission aperture. In other words, the transmission aperture of the combined antenna arrays 1121, 1122, and 1123 is larger than the transmission aperture of each of the individual antenna arrays 1121, 1122, and 1123. Synchronization between RAGUs 1001, 1002, and 1003 can be achieved in several different ways. For example, in one embodiment, a reference clock signal wirelessly transmitted by one of the GUs, RAGUs / RAPUs, or another wired or wireless device via an optical or RF transmitter can be used to synchronize the local clocks of the RAGUs so that they operate in unison to jointly form a separate effective aperture, thereby enhancing wireless power transfer efficiency and power levels. In other words, according to an embodiment of the present invention, collaboration between RAGUs provides enhanced range, power, and efficiency.

[0095] In one embodiment, when multiple RAGUs and RAPUs are deployed, one of the RAGUs or RAPUs may act as a master, while the remaining RAGUs and RAPUs operate as slaves. In such an embodiment, the master will provide all or part of the instructions and control to the slaves. In other embodiments, multiple RAGUs and RAPUs operate in a decentralized and self-organizing manner to operate as a swarm intelligence system.

[0096] According to one aspect of the invention, the recovery device / unit may be a roaming and articulated recovery unit (RARU). Thus, the RARU can reposition and reorient itself to maximize power reception and recovery. For example, the RARU may be incorporated into a wall-mounted remote power supply device and adjust the angle of its receive antenna array based on the height at which the device is mounted on the wall or the minimum distance at which the RAGU can approach the RARU.

[0097] In one embodiment, the GU antenna array may be mounted on a movable arm similar to that which supports a desk lamp. Fig.15A A GU 600 is shown comprising a transmitter array 112 mounted on a base 610 via an arm 602. The GU 600 is adapted to change its height, tilt and orientation using actuators 615 and 625 to wirelessly power a RU 605, according to one embodiment of the invention. Fig. 15BA GU 650 according to another embodiment of the invention is shown, which is adapted to change its height, tilt and orientation using actuators 615, 625, 635 and 645. In some other embodiments not shown, the number of actuators and the number of moving arms may be less than or more than four, depending on the desired degrees of freedom.

[0098] In some embodiments, as described above, the GU can be moved using, for example, wheels. The GU can use tracks to move around freely. Fig.16 GU 700 is shown having a base 610 including wheels adapted to move on tracks 604, 606. GU 700 is shown including actuators 615, 625, and 645. Fig.17 GU 750 is shown including the transmit array 112, actuators 615, 625, 645, and base 610. GU 750 is also shown including a plurality of sensors collectively designated 752.

[0099] Recovery units (e.g. Fig.15A and Fig. 15B The RU 605 shown transmits information such as the amount of received power, the distribution of RF power on its antenna, orientation (by using the RU's IMU sensor), requested power level, etc. to the GU. The GU determines the optimal direction of movement of the GU, the orientation, tilt, height of the transmit array 112, and causes the actuators to achieve such optimal direction, orientation, tilt, and height based on the information received from the RU and information from its own sensors 752 (including, for example, IMU, proximity sensor, radar (ultrasound, RF or LIDAR), etc.). The estimated position of the GU relative to the RU can be used to determine the optimal orientation of the GU to obtain optimal power transmission to one or more RUs.

[0100] Fig.18 800 is a flow chart for wirelessly powering a RU according to one embodiment of the present invention. After the RU indicates that it is ready to charge at 802, the RU sends a power request at 804. At 806, the GU focuses its RF beam on the RU. At 808, the RU reports its orientation, position, along with the power it receives from the GU and the focal spot size of the power to the GU. If the RF beam is determined to meet the predetermined focus condition at 810, no adjustment of the GU is required, and the GU continues to charge the RU until charging is completed at 812.

[0101] If the RF beam is determined at 810 to not satisfy the predetermined focus condition, then the actuator is engaged at 814. This causes the GU transmitter to adjust its various positioning parameters, such as height, orientation, tilt, etc. At 816, the GU beam is refocused. If it is determined at 818 that the beam focus is improved, as reported by the RU, then the process moves to 810. If it is determined at 818 that the beam focus is not improved, then the actuation direction is restored at 820, followed by actuation at 814, and the process is repeated.

[0102] Fig.19 850 is a flowchart for wirelessly powering a RU according to another embodiment of the present invention. After the RU indicates that it is ready to charge at 802, the RU sends a power request at 804. At 852, the RU sends information indicating its position and orientation to the GU. If the GU determines at 854 that the RU is within the GU charging zone, then at 856, the GU determines the optimal position and orientation of its transmitter array. Then at 858, the GU actuator is engaged, causing the GU to focus its RF beam on the RU at 860. The GU power remains focused on the RU until the RU is charged, after which the process ends at 870. If the GU determines at 854 that the RU is not within the GU charging zone, then at 862, the GU sends a signal to the RU that wireless charging is not possible, after which the process ends at 870.

[0103] It should be understood that any robotic control algorithm including but not limited to PID controllers, gradient descent, artificial intelligence, genetic algorithms, or simulated annealing can be used to direct actuator movement based on input from the RU and sensors to position the GU for optimal power delivery to the RU and navigation around the object. The calculation of the mechanical orientation and electronic phase settings can be based on a least mean square (LMS) maximization or a highest priority power allocation method.

[0104] In some embodiments, using a subset of sensors (e.g., radar, LIDAR, ultrasound, electric field disturbance sensors, etc.), the RAGU can detect the movement of other objects around it to change its position and transmit RF power accordingly. For example, when a hand is detected moving close to the RU, the RAGU processor will shut off the RF power transmission before the user's hand reaches the RF beam, thereby causing the actuator to move the transmitter away from the RU and enable the user to safely pick up the phone. The RAGU can use voice activated commands to start / stop charging, move toward a specific RU to be charged, move away, etc.

[0105] When multiple RUs are to be charged, the RAGU may use any number of techniques to power the RUs. In an exemplary embodiment, the RAGU positions the transmitter to charge the RU with the highest priority at maximum efficiency and power transfer level, while powering other RUs at a lower rate. The priority of the RUs may change dynamically during the charging process, for example, as the charging state of the RU changes. The change in RU priority enables the RAGU to move when necessary to efficiently power another RU that has received the highest priority.

[0106] In another exemplary embodiment, the RAGU positions its transmitter array at a location where the wireless power transfer efficiency is at least proportional to the priority of the RU to be charged. For example, a RU with a low priority may receive an efficiency level higher than a predefined efficiency level due to its proximity to another RU with a high priority.

[0107] In some embodiments, the RAGU may include a light that operates as a desk lamp. The light may also be used as a status indicator. For example, the light source may change color, flash, or dim to indicate, for example, that the transmitter is charging the device, that the transmitter is in idle mode, etc. The illumination source may also be used as an indicator of the coverage area of ​​the wireless power transfer system, where a RU placed in the illuminated area will be charged.

[0108] The above embodiments of the present invention are illustrative and non-restrictive. The embodiments of the present invention are not limited by the type of device that can be wirelessly charged. In view of this disclosure, other additions, subtractions or modifications are obvious and are intended to fall within the scope of the appended claims.

Claims

1. A wireless power transfer system, comprising a first roaming and articulated wireless power transfer device, wherein the first roaming and articulated wireless power transfer device comprises: A wireless power generation unit comprising an electromagnetic power source for generating and transmitting radiated radio frequency, RF, electromagnetic waves, and further comprising an RF transmitter array adapted to radiate RF signals at the same frequency; Energy storage unit; Controller; as well as Electric drive mobile platform; The wireless power transmission system further comprises a second roaming and articulated wireless power transmission device, wherein the second roaming and articulated wireless power transmission device comprises: a wireless power generation unit comprising at least one electromagnetic power source; Energy storage unit; Controller; and an electrically driven mobile platform, wherein the first roaming and articulating wireless power transfer device and the second roaming and articulating wireless power transfer device are configured to operate in unison so as to form a combined power generation unit that is larger than a wireless power generation unit of the first roaming and articulating wireless power transfer device or a wireless power generation unit of the second roaming and articulating wireless power transfer device; Wherein, the first roaming and articulating wireless power transfer device and the second roaming and articulating wireless power transfer device share a reference clock frequency wirelessly received by the first roaming and articulating wireless power transfer device and the second roaming and articulating wireless power transfer device.

2. The system according to claim 1, wherein: The controller is adapted to independently control the phase of each RF transmitter.

3. The system according to claim 1, wherein: The wireless power transfer system further includes one or more sensors.

4. The system according to claim 1, wherein: The mobile platform includes an inertial measurement unit to facilitate navigation.

5. The system according to claim 1, wherein: The mobile platform includes GPS to facilitate navigation.

6. The system according to claim 1, wherein: The mobile platform includes a collision sensor to change the moving direction when it hits an obstacle.

7. The system according to claim 1, wherein: The mobile platform includes proximity sensors to avoid hitting obstacles.

8. The system according to claim 7, wherein: The proximity sensor uses ultrasound.

9. The system according to claim 7, wherein: The proximity sensor includes an IR sensor.

10. The system according to claim 1, wherein: The wireless power transfer system also includes a camera.

11. The system according to claim 10, wherein: The wireless power transfer system is adapted to locate the power recovery unit by identifying a pattern printed or arranged on the power recovery unit using the camera.

12. The system of claim 1, wherein: The wireless power transfer system also includes a wireless communication link.

13. The system according to claim 12, wherein: The wireless power transfer system establishes bidirectional communication with a recovery unit via the communication link.

14. The system of claim 1, wherein: The energy storage unit is a battery.

15. The system of claim 14, wherein: The battery is rechargeable.

16. The system of claim 15, wherein: The battery is charged via the docking station.

17. The system of claim 16, wherein: The wireless power transfer system also includes an inductive charging coil.

18. The system of claim 17, wherein: The docking station is adapted to inductively charge the wireless power transfer system using the inductive charging coil.

19. The system of claim 16, wherein: The wireless power transfer system is further adapted to locate the docking station via a beacon transmitted by the docking station.

20. The system of claim 1, wherein: The energy storage unit is a fuel cell.

21. The system of claim 1, wherein: The wireless power generation unit sends radiated electromagnetic waves in the visible or infrared spectrum to transfer power wirelessly.

22. The system of claim 1, further comprising at least one motor adapted to change an elevation angle of the wireless power generation unit.

23. The system of claim 22, further comprising a scissor lift structure adapted to change the elevation angle in response to the motor.

24. The system of claim 22, further comprising a telescoping boom lift structure adapted to change the elevation angle in response to the motor.

25. The system of claim 1, further comprising at least one motor adapted to change an azimuth angle of the wireless power generation unit.

26. The system of claim 1, further comprising at least one motor adapted to change the elevation of the wireless power generation unit.

27. The system of claim 26, further comprising a scissor lift structure adapted to change the elevation in response to the motor.

28. The system of claim 26, further comprising a telescoping boom lift structure adapted to change the elevation in response to the motor.

29. The system of claim 1, further comprising a lift adapted to lift the system.

30. The system of claim 1, further comprising a lift adapted to lift at least a portion of the wireless power generation unit.

31. The system of claim 1, wherein: The mobile platform is adapted to navigate to a location where the wireless power generation unit delivers maximum power therefrom to a recovery unit.

32. The system of claim 1, wherein: The system is adapted to navigate and select an azimuth, elevation and elevation angle of the wireless power generating unit to deliver maximum power to a recovery unit.

33. The system of claim 2, wherein: The system is adapted to navigate and select the azimuth and phase of the respective RF transmitters of the wireless power generating units so as to deliver maximum power to the recovery unit.

34. The system of claim 1, wherein: The controller includes a memory to store a list of recycling units to be wirelessly powered.

35. The system of claim 34, wherein: The list includes a priority level associated with each of the recycling units.

36. The system of claim 35, wherein: The priority of each recovery unit is established according to the charge level of the recovery unit.

37. The system of claim 35, wherein: The priority of each recovery unit is established based on the distance of the recovery unit from the wireless power transfer system.

38. The system of claim 1, wherein: The RF transmitter array is foldable and deployable.

39. The system of claim 38, wherein: The RF transmitter array includes a plurality of sector-shaped sub-arrays.

40. The system of claim 38, wherein: The RF transmitter array includes a plurality of sub-arrays mechanically coupled to each other via a plurality of spring-loaded hinges, and the system further includes a motor and a cord configured to retract the plurality of sub-arrays.

41. The system of claim 38, wherein: The RF transmitter array includes a plurality of telescoping sub-arrays adapted to be folded and unfolded using gears.

42. The system of claim 38, wherein: The RF transmitter array includes a plurality of sub-arrays adapted to fold and unfold according to an origami pattern.

43. The system of claim 1, further comprising: Reflector.

44. The system of claim 43, further comprising at least one motor adapted to change the elevation angle of the reflector.

45. The system of claim 43, further comprising at least one motor adapted to change the azimuth angle of the reflector.

46. ​​The system of claim 43, wherein: The reflector is an RF reflector.

47. The system of claim 46, wherein: The RF reflector is curved.

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