A compact large-angle wireless energy transmission tracking and aiming device and method

Abstract

The present invention discloses a compact large-angle wireless energy transmission tracking and aiming device and method, comprising an energy transmitting end and an energy receiving end. The energy transmitting end comprises an energy transmitter (1), a first prism (2), a second prism (3), a first motor (4), a second motor (5), a detector (6), and a controller (7); the energy receiving end comprises an energy converter (8). A rotating double prism structure is used as a wireless energy transmission tracking and aiming device to solve the problems of large moment of inertia and large volume of a two-dimensional turntable during tracking and aiming, and small tracking and aiming range of a two-dimensional deflection mirror. The present invention uses a rotating double prism as a tracking and aiming device for wireless energy transmission, while ensuring energy transmission, to achieve a compact and lightweight system structure.

Description

Technical Field

[0001] The present invention belongs to the field of wireless energy transmission, and in particular relates to a compact large-angle wireless energy transmission tracking and aiming device and method. Background Art

[0002] Wireless energy transmission technology refers to the use of microwaves, lasers, etc. as carriers to provide energy sources from the transmitting end to the receiving end without relying on energy transmission lines. It has the advantages of low cost, few environmental restrictions, and easy maintenance.

[0003] The tracking and aiming device in the traditional wireless energy transmission system adopts a two-dimensional turntable or a two-dimensional deflection mirror. In the existing patent (see the patent of Shi Dele, Li Zhenyu and others: CN102273162A), a two-dimensional turntable is used as a tracking, aiming and energy emission device, but the two-dimensional turntable is large in size and weight, has a large moment of inertia, and has low tracking accuracy. Although the two-dimensional deflection mirror is compact and light in structure, it has a small deflection range and is not suitable for large-angle deflection of energy beams. The rotating biprism changes the emission direction of the energy beam by rotating independently around the axis. It has the advantages of small moment of inertia, compact structure, and the ability to achieve large-angle deflection of large-caliber energy beams. It can be used as a tracking and aiming device in the wireless energy transmission system. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a compact large-angle wireless energy transmission tracking and aiming device and method, so as to realize the compact and lightweight structure of the tracking and aiming device in wireless energy transmission and realize large-angle deflection of the transmitted energy beam.

[0005] The technical solution adopted by the present invention is: a compact large-angle wireless energy transmission tracking and aiming device, including an energy transmitting end and an energy receiving end, the energy transmitting end includes an energy transmitter 1, a first prism 2, a second prism 3, a first motor 4, a second motor 5, a detector 6, and a controller 7; the energy receiving end includes an energy converter 8, the energy transmitter 1 transmits a scanning energy beam and a power supply energy beam, the first prism 2 and the second prism 3 are respectively fixed to the first motor 4 and the second motor 5, the first motor 4 and the second motor 5 receive the control information fed back by the detector 6 to the controller 7 to drive the first prism 2 and the second prism 3 to rotate to a given position, the scanning energy beam reaches the energy receiving end and is reflected back to the energy transmitting end, and is received by the detector 6, the rotation angles of the first prism 2 and the second prism 3 are calculated according to the alignment error amount on the detector 6, and are sent to the controller 7 as control information; when the error amount on the detector 6 is reduced to within the tracking error range, the tracking and aiming of the energy transmitting end and the energy receiving end are completed.

[0006] A compact large-angle wireless energy transmission tracking and aiming method, using the above-mentioned compact large-angle wireless energy transmission tracking and aiming device, the specific steps of completing the tracking and aiming of the energy transmitting end and the energy receiving end are:

[0007] Step 1) The controller 7 controls the rotation angles of the first prism 2 and the second prism 3 so that the energy beam is deflected by the first prism 2 and the second prism 3 respectively to scan and locate the energy receiving end. When the detector receives information from the energy receiving end, the energy transmitting end switches to the tracking process;

[0008] Step 2) During the tracking process, the rotation angles Δθ1 and Δθ2 of the first prism 2 and the second prism 3 are calculated according to the error amounts Δx and Δy of the detector 6 on the energy transmitting end, and sent to the controller 7 to control the first motor 4 and the second motor 5 to drive the first prism 2 and the second prism 3 to rotate to the calculated angles. This step is repeated many times until the error amount of the detector 6 is reduced to within the tracking error range, and the alignment process between the energy transmitting end and the receiving end is completed;

[0009] Step 3) After the energy transmitting end locks the energy receiving end, the system switches to energy transmission mode. At this time, the energy transmitter 1 transmits the energy supply energy beam, which is deflected by the rotating dual prism and reaches the energy receiving end. The energy converter 8 converts the energy supply energy into electrical energy to complete the energy transmission.

[0010] Furthermore, it can be used for array-type wireless energy transmission to achieve many-to-one and many-to-many transmission during the energy transmission process.

[0011] Furthermore, the detector can be installed in parallel with the rotating double prism according to the transmission energy distance, or installed behind the rotating double prism to receive the target information deflected by the rotating double prism.

[0012] Furthermore, the energy transmitter may be a laser transmitter, a microwave transmitter or an LED.

[0013] The principle of the present invention is: a compact large-angle wireless energy transmission tracking and aiming device, the device includes an energy transmitting end and an energy receiving end, wherein the energy transmitting end includes an energy transmitter, a first prism, a second prism, a first motor, a second motor, a detector, and a controller, and the energy receiving end includes an energy converter. The energy transmitter of the energy transmitting end is used to generate a scanning energy beam and a power supply energy beam. The first motor is fixedly connected to the first prism and provides rotational kinetic energy to the first prism; the second motor is fixedly connected to the second prism and provides rotational kinetic energy to the second prism. The detector receives information from the energy receiving end and feeds it back to the controller. The controller solves the feedback information and provides control quantities to the first motor and the second motor. The energy converter of the energy receiving end converts the power supply energy beam from the energy transmitting end into electrical energy for use and storage by the energy receiving end.

[0014] A compact large-angle wireless energy transmission tracking and aiming method, the specific steps of the tracking and aiming are:

[0015] 1) The energy transmitter first transmits a scanning energy beam to the rotating dual prism;

[0016] 2) Rotate the dual prism to start the scanning mode, the controller provides control quantities to the first motor and the second motor respectively, and the first motor and the second motor provide rotational kinetic energy to the first prism and the second prism, so that the first prism and the second prism rotate continuously to the control quantity, and at this time, the outgoing energy beam after the scanning energy beam passes through the first prism and the second prism scans the energy receiving end;

[0017] 3) After the scanning energy beam reaches the energy receiving end, it is reflected back to the energy receiving end and the energy information is received by the detector. At this time, the rotating double prism completes the scanning function and enters the tracking and aiming process;

[0018] 4) During the tracking and aiming process, the controller calculates the rotation amounts Δθ1 and Δθ2 of the first prism and the second prism required to reduce the detector error to within the tracking error range according to the error amounts Δx and Δθy fed back by the detector. The controller sends control voltages to the first motor and the second motor respectively, so that the first motor and the second motor drive the first prism and the second prism to rotate Δθ1 and Δθ2. This step is repeated to make the error amount of the scanning energy beam in the detector meet the tracking requirements, and the alignment of the two ends is completed;

[0019] 5) The energy transmitter then emits a power supply energy beam, which is deflected by the rotating double prism in step 4 and received by the energy receiving end, thus achieving energy transmission at both ends.

[0020] The advantages of the present invention compared with the prior art are:

[0021] 1. The compact large-angle wireless energy transmission tracking and aiming device and method proposed in the present invention have a compact structure, small moment of inertia, strong dynamic response capability, and can realize large-angle deflection of large-caliber energy beams, thereby ensuring the lightweight design of the entire system structure, compared with the traditional two-dimensional turntable and two-dimensional deflection.

[0022] 2. The compact, large-angle wireless energy transmission tracking and aiming device and method proposed in the present invention can be used for array-type wireless energy transmission, realizing many-to-one and many-to-many transmission between the energy transmitting end and the energy receiving end, and ensuring that the energy transmission system structure is compact and flexible.

[0023] 3. The compact, large-angle wireless energy transmission tracking and aiming device and method proposed in the present invention can transmit energy in different bands. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1A schematic diagram of the composition principle of a compact large-angle wireless energy transmission tracking and aiming device and method;

[0025] Figure 2 It is a schematic diagram of the array type wireless energy transmission structure;

[0026] Figure 3 A control schematic diagram of a compact, large-angle wireless energy transmission tracking and aiming device;

[0027] Figure 4 A working diagram of a compact large-angle wireless energy transmission tracking and aiming device and method;

[0028] In the figure, 1 is an energy transmitter, 2 is a first prism, 3 is a second prism, 4 is a first motor, 5 is a second motor, 6 is a detector, 7 is a controller, and 8 is an energy converter. DETAILED DESCRIPTION

[0029] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] The present invention provides a compact large-angle wireless energy transmission tracking and aiming device, the structure of which is as follows Figure 1 As shown, it is divided into an energy transmitting end and an energy receiving end. The energy transmitting end includes an energy transmitter 1, a first prism 2, a second prism 3, a first motor 4, a second motor 5, a detector 6, and a controller 7; the energy receiving end includes an energy converter 8. The energy transmitter 1 generates a scanning energy beam in the tracking and aiming process, and a functional energy beam in the energy transmission process. The first prism 2 and the second prism 3 form a rotating double prism to change the deflection angle of the emitted energy beam. The first motor 4 and the second motor 5 provide rotational momentum to the first prism 2 and the second prism 3, so that the outgoing energy beam reaches the expected position after being deflected by the rotating double prism. The detector 6 receives information from the energy receiving end. The energy converter 8 receives the energy supply energy beam and converts the energy supply energy into electrical energy for use by the receiving end.

[0031] See also Figure 2 , Figure 3 , Figure 4 , a compact large-angle wireless energy transmission tracking and aiming method, the specific steps are:

[0032] 1) After receiving the energy supply instruction, the energy transmitting end first scans and captures the energy receiving end. The energy transmitter 1 transmits a scanning energy beam to the rotating dual prism;

[0033] 2) The rotating dual prism in scanning mode determines the initial position of the energy receiving end, including the azimuth angle θ and the pitch angle Φ of the energy receiving end, according to the first-order paraxial approximation method in the beam pointing analytical solution. Specifically, the first prism 2 and the second prism 3 are rotated continuously, and the scanning is stopped when the detector 6 receives the scanning energy beam information reflected by the energy transmitting end, and the controller 7 records the rotation angle θ1 of the first prism 2 and the rotation angle θ2 of the second prism.

[0034]

[0035]

[0036] Wherein δ1 and δ2 are the deflection angles of the light beam by the first prism 2 and the second prism 3;

[0037] δ1=α1(n1-1)

[0038] δ2=α2(n2-1)

[0039] Wherein, α1 and α2 are the vertex angles of the first prism 2 and the second prism 3, respectively. In this embodiment, the vertex angles of the first prism 2 and the second prism 3 are both 7.5°. n1 and n2 are the refractive indices of the first prism 2 and the second prism 3, respectively. In this embodiment, the refractive indices of the first prism 2 and the second prism 3 are both 1.5.

[0040] 3) According to the real-time error values ​​Δx and Δy on the detector 6, the rotation matrix method is used to calculate the compensation rotation angle Δθ1 of the first prism 2 and the compensation rotation angle Δθ2 of the second prism 3;

[0041] First, the error values ​​Δx and Δy are transformed into the coordinate system of the first prism 2 and the second prism 3 to obtain the error values ​​Δx1 and Δy1 in the rotating biprism coordinate system:

[0042]

[0043] Then the errors Δx1 and Δy1 in the rectangular coordinate system are converted into the azimuth error ΔΘ and the elevation error ΔΦ in polar coordinates:

[0044]

[0045]

[0046] Finally, according to the azimuth error Δθ and the elevation error ΔΦ, the compensation rotation angle Δθ1 of the first prism 2 and the compensation rotation angle Δθ2 of the second prism 3 are solved:

[0047]

[0048]

[0049] Where G(s) is a PI controller, which is K Θ , K Φ They are proportional gains in the azimuth direction and the elevation direction, and are both 0.2 in this embodiment.

[0050] The first motor 4 drives the first prism 2 to rotate to θ1+Δθ1, and the second motor 5 drives the second prism 3 to rotate to θ2+Δθ2. The above operation is repeated to reduce the error of the scanning energy beam on the detector 6 to within the tracking error range, and the energy transmitter tracks and aims at the energy receiver to ensure real-time alignment of the two ends. For the control principle, see Figure 3 ;

[0051] 4) After the energy transmitting end is aligned with the energy receiving end, the energy transmitter 1 transmits the energy supply beam. At this time, the rotation angle of the first prism 2 is θ1+Δθ1, and the rotation angle of the second prism 3 is θ2+Δθ2. The energy supply beam is deflected by the first prism 2 and the second prism 3 respectively and reaches the energy receiving end. The energy converter 8 converts the energy supply beam into electrical energy for use and storage by the energy receiving end.

[0052] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technology can understand and think of any changes or substitutions within the technical scope disclosed by the present invention, which should be included in the scope of the present invention.

Claims

1. A compact large-angle wireless energy transmission tracking and aiming device, characterized in that: The invention comprises an energy transmitting end and an energy receiving end. The energy transmitting end comprises an energy transmitter (1), a first prism (2), a second prism (3), a first motor (4), a second motor (5), a detector (6), and a controller (7). The energy receiving end comprises an energy converter (8). The energy transmitter (1) transmits a scanning energy beam and an energy supply energy beam. The first prism (2) and the second prism (3) are respectively fixedly connected to the first motor (4) and the second motor (5). The first motor (4) and the second motor (5) receive control information fed back to the controller (7) by the detector (6) to drive the first prism (2) and the second prism (3) to rotate to a given position. After the scanning energy beam reaches the energy receiving end, it is reflected back to the energy transmitting end and received by the detector (6). The rotation angles of the first prism (2) and the second prism (3) are calculated according to the alignment error amount on the detector (6) and sent to the controller (7) as control information. When the error amount on the detector (6) is reduced to within the tracking error range, the tracking and aiming of the energy transmitting end and the energy receiving end are completed.

2. A compact large-angle wireless energy transmission tracking and aiming method, using the compact large-angle wireless energy transmission tracking and aiming device according to claim 1, characterized in that: The specific steps to complete the tracking and aiming of the energy transmitter and the energy receiver are: Step 1), the controller (7) controls the rotation angles of the first prism (2) and the second prism (3), so that the energy beam is deflected by the first prism (2) and the second prism (3) respectively to scan and locate the energy receiving end, and when the detector receives information from the energy receiving end, the energy transmitting end switches to the tracking process; Step 2), during the tracking process, the rotation angles Δθ1 and Δθ2 of the first prism (2) and the second prism (3) are calculated based on the error amounts Δx and Δy of the detector (6) on the energy transmitting end, and are sent to the controller (7), and the first motor (4) and the second motor (5) are controlled to drive the first prism (2) and the second prism (3) to rotate to the calculated angles. This step is repeated multiple times until the error amount of the detector (6) is reduced to within the tracking error range, and the alignment process between the energy transmitting end and the receiving end is completed; Step 3), after the energy transmitting end locks the energy receiving end, the system switches to the energy transmission mode. At this time, the energy transmitter (1) transmits the energy supply energy beam, which is deflected by the rotating double prism and reaches the energy receiving end. The energy converter (8) converts the energy supply energy into electrical energy, completing the energy transmission.

3. A compact large-angle wireless energy transmission tracking and aiming method according to claim 2, characterized in that: It can be used for array-type wireless energy transmission to achieve many-to-one and many-to-many transmission during the energy transmission process.

4. A compact large-angle wireless energy transmission tracking and aiming method according to claim 2, characterized in that: The detector can be installed in parallel with the rotating double prism or behind the rotating double prism according to the transmission energy distance, and receives the target information deflected by the rotating double prism.

5. A compact large-angle wireless energy transmission tracking and aiming method according to claim 2, characterized in that: The energy transmitter may be a laser transmitter, a microwave transmitter or an LED.

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