A microwave wireless power transmission system and mobile power transmission device

Abstract

The application discloses a microwave wireless energy transmission system and a mobile energy transmission device, and the system comprises: an energy supply module for providing microwave energy; a transmitting phased array module for tracking and transmitting microwave to a mobile energy receiving end in real time; an optoelectronic turntable module for realizing first alignment with the energy receiving end through a direction backtracking technology; a control module for issuing a control command to the optoelectronic turntable module, obtaining measured azimuth and elevation angles of the optoelectronic turntable module and transmitting the azimuth and elevation angles to a servo turntable module; the servo turntable module is used for receiving the azimuth and elevation angles of the optoelectronic turntable module and tracking the energy receiving end by using an optical flow method; and a positioning and orientation module is used for performing real-time tracking of the energy receiving end by using an optoelectronic tracking technology based on the tracking result of the servo turntable module and the result of the first alignment, performing second alignment and realizing microwave wireless energy transmission.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of microwave wireless energy transmission, in particular to a microwave wireless energy transmission system and a mobile energy transmission device. BACKGROUND

[0002] Microwave wireless energy transmission (MPT) proposes a future energy solution, aiming to convert the high-efficiency collected solar energy in space into electricity through wireless transmission and integrate it into the power grid. This vision is the key to driving the realization of the "double carbon" goal, which will expand human energy from the ground to space and extend the power transmission mode from wired to wireless. The development of this technology will revolutionize the energy field and lead the international frontier technology development in future energy and aerospace fields.

[0003] For the positioning and tracking of moving targets, the direction backtracking technology and the photoelectric tracking technology have different advantages and disadvantages in specific environments. The former is suitable for positioning the signal source of the received target in a larger range and is suitable for the first positioning; the latter is suitable for tracking and locking the moving target after the first positioning because the light propagation is less disturbed than the radio signal propagation. Overall, this portable omnidirectional microwave wireless energy supply vehicle not only benefits the related scientific research in the field of MPT, but also provides new power supply guarantee for wireless sensor networks, dynamic working unmanned aerial vehicles and emergency power supply in complex environments in disaster areas. Further combining with the full-metal transmitting array technology can greatly reduce the cost of the transmitting antenna, and in principle prevent the performance degradation of the antenna in extreme environments. The liquid metal receiving antenna is convenient for conformal with the target carrier and use in the field environment, which will make the future MPT application more flexible and convenient. SUMMARY

[0004] In order to solve the above technical problems, the present application provides a microwave wireless energy transmission system, which comprises: an energy supply module, a transmitting phased array module, an optoelectronic turntable module, a control module, a servo turntable module and a positioning and orientation module.

[0005] The energy supply module is used for providing microwave energy.

[0006] The transmitting phased array module is used for tracking and transmitting microwaves in real time for the mobile energy receiving end.

[0007] The optoelectronic turntable module is used for realizing the first alignment with the energy receiving end through the direction backtracking technology.

[0008] The control module is used for issuing control commands to the optoelectronic turntable module, obtaining the measured azimuth and elevation angle of the optoelectronic turntable module, and transmitting them to the servo turntable module.

[0009] The servo turntable module is used for receiving the azimuth and elevation angle of the optoelectronic turntable module and tracking the energy receiving end using the optical flow method.

[0010] The positioning and orientation module is configured to perform real-time tracking of the energy receiving end using photoelectric tracking technology based on the results of the first alignment and tracking results of the servo turntable module, perform second alignment, and realize microwave wireless energy transmission.

[0011] Preferably, the photoelectric turntable module comprises a signal preprocessing submodule, a signal conversion submodule, and an alignment submodule.

[0012] The signal preprocessing submodule is configured to filter and amplify the guide signal of the energy receiving end to obtain a preprocessed signal.

[0013] The signal conversion submodule is configured to mix the preprocessed signal with the microwave signal transmitted by the transmitting phased array module, obtain an intermediate frequency signal after filtering and mixing, and convert the intermediate frequency signal into a digital signal after sampling.

[0014] The alignment submodule is configured to calculate the spatial coordinates of the energy receiving end and realize the first alignment of the photoelectric turntable module and the energy receiving end.

[0015] Preferably, the alignment submodule comprises a static alignment unit and a dynamic alignment unit.

[0016] The static alignment unit uses the position information of the vehicle-mounted GPS and the energy receiving end GPS to perform positioning and realize the first alignment of the static energy receiving end.

[0017] The dynamic alignment unit calculates the spatial coordinates of the energy receiving end using direction backtracking technology and realizes the first alignment of the dynamic alignment unit.

[0018] Preferably, the working process of the dynamic alignment unit comprises:

[0019] The Г-shaped guide signal receiving antenna is arranged on the transmitting phased array module antenna, and the guide signal transmitting antenna is loaded on the mobile receiving end antenna. The spatial phase of the guide signal transmitted by the receiving end lags behind with the increase of the propagation distance during the propagation process. The guide signal transmitted by the fixed position is propagated to the guide signal receiving antennas located at different positions of the Г shape. Due to the different propagation distances, the phases of the guide signals received by the transmitting end antennas are also different.

[0020] The phase difference of the guide signal S ym is taken as the conjugate of the feeding phase difference. The signal radiated by the receiving end antenna is propagated to the mobile target position and the Г-shaped receiving center reference antenna S 00 The phase difference of the signal radiated by the receiving end antenna and the Г-shaped receiving center reference antenna is:

[0021] ;

[0022] Computing the pilot signal S ym The phase difference of the conjugate pilot signal radiated from the position to the spatial search point relative to the reference antenna to the same spatial search point, The distance from the mth antenna in the y direction to the y axis; the average value of the absolute value of the phase difference has the following relationship:

[0023] ;

[0024] Wherein, And The phase difference of each pilot signal receiving antenna located on the two arms of the pilot signal receiving antenna, i.e. x The axis and y The spatial coordinate identification function of the energy receiving end is defined as:

[0025] ;

[0026] The coordinates of the maximum value are the positions of the dynamic energy receiving end .

[0027] Preferably, the control module comprises a drive controller and an angle sensor;

[0028] The drive controller is used to issue control commands to the motor and the photoelectric turntable module, so as to generate motor rotation, zoom focusing and field switching actions;

[0029] The angle sensor is used to measure the azimuth and elevation angle of the photoelectric turntable after the action of the drive controller.

[0030] Preferably, the servo turntable module comprises a measurement receiving sub-module, an angle offset obtaining sub-module and an automatic tracking sub-module;

[0031] The measurement receiving sub-module is used to receive the azimuth and elevation angle obtained by the angle sensor;

[0032] The angle offset obtaining sub-module is used to calculate the offset angle of the energy receiving end and the optical axis based on the azimuth and elevation angle;

[0033] The automatic tracking sub-module is used to track the energy receiving end using the optical flow method.

[0034] Preferably, the working process of the automatic tracking sub-module specifically comprises:

[0035] The dynamic motion of the energy receiving end is captured using the optical flow method, and the optical flow equation is expressed as:

[0036] ;

[0037] Wherein, and is the gradient of the image in the direction of x and y directions; is the rate of change of the image over time; is the pixel displacement of the moving object to be solved in the image;

[0038] The least square method is applied to the local area to minimize the error to obtain the Lucas-Kanade equation group, and the pixel displacement is solved:

[0039] ;

[0040] wherein, represents the pixel coordinates in the local area, n represents the number of pixels in the local area.

[0041] Preferably, the transmitting phased array module is composed of 64 transceiving channels, covering the frequency band of 5.8GHz.

[0042] The application also provides a mobile energy transmission device, which carries the microwave wireless energy transmission system.

[0043] Compared with the prior art, the application has the following beneficial effects:

[0044] The application discloses a microwave wireless energy transmission system and a mobile energy transmission device, breaks the fixed mindset of the transmitting end of the traditional microwave energy supply system, and aims to create an engineered demonstration application of the mobile MPT. The wireless energy supply vehicle is equipped with a 50kW motor to realize the supply of 10kW microwave energy. The transmitting antenna realizes mechanical scanning azimuth: 0°~360° and mechanical scanning pitch: 0°~90° by means of a high-precision mechanical turntable. The GPS module, direction backtracking technology and photoelectric tracking technology can accurately position the position of the moving energy receiving end, and finally realize dynamic tracking energy supply for the moving target in cooperation with the phased array transmitting antenna. In order to adapt to the complex and changeable environment and improve the transmitting performance, the phased array antenna of the application can realize the transformation of various special transmitting beams by means of theoretical derivation and phase synthesis method, including far-field focusing beam, near-field focusing beam, Bessel beam, Airy beam and spiral beam, which will improve the near-field transmitting efficiency and be suitable for new applications such as obstacle avoidance and mobile multi-target energy supply. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the present application, the following briefly introduces the drawings needed in the embodiments. Obviously, the drawings described in the following embodiments are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0046] Figure 1 System structure diagram of the embodiment of the present application;

[0047] Figure 2 Arrangement structure diagram of the Г-shaped guide signal receiving antenna of the embodiment of the present application;

[0048] Figure 3 System architecture diagram of the direction backtracking technology framework of the embodiment of the present application;

[0049] Figure 4 System architecture diagram of the photoelectric tracking technology framework of the embodiment of the present application;

[0050] Figure 5 Schematic diagram of the thermal imaging camera of the embodiment of the present application;

[0051] Figure 6 Structure schematic diagram of the modified vehicle adopted by the embodiment of the present application. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0053] In order to make the above objectives, characteristics and advantages of the present application more apparent, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0054] Embodiment one

[0055] The mobile microwave energy transmission system mainly consists of a 50kW motor, a transmitting phased array module, a modified vehicle, a photoelectric turntable module, a servo turntable, a positioning and orientation module, a control module, and system supporting cables. The mobile microwave energy transmission system is mobile in the sense that the transmitting phased array module antenna is deployed on the mobile energy transmission device, and the transmitting antenna is matched with a two-dimensional servo turntable, so that the position and the angle of emission of the transmitting end can be changed. Furthermore, for the moving energy receiving end, the direction backtracking technology and the photoelectric tracking technology are used, so that the transmitting end can realize real-time tracking of the moving target. The mobile microwave wireless energy transmission system, as shown in FIG. 1, specifically includes an energy supply module, a transmitting phased array module, a photoelectric turntable module, a control module, a servo turntable module, and a positioning and orientation module. Figure 1

[0056] ​The energy supply module is used for providing microwave energy; the emission phased array module is used for tracking the mobile energy receiving end in real time and emitting microwave; the phased array emission antenna comprises 256 subarrays, and can be further expanded on this basis. By increasing the aperture of the phased array, a super-narrow emission beam is realized, and the near-field space transmission efficiency of the microwave energy flow is greatly improved. The emission assembly is composed of 64 transceiving channels, covers a frequency band of 5.8 GHz, and is physically composed of one power amplification module, 16 power amplification modules and 64 power amplification modules. The functions such as power amplification output of the radio frequency signal are realized.

[0057] The photoelectric turntable module is used for realizing the first alignment with the energy receiving end by using the direction backtracking technology.

[0058] The present application uses the direction backtracking technology to track the mobile target in real time: the guide signal of the receiving antenna is filtered and amplified, and then mixed with the local signal, the mixed output is filtered to obtain an intermediate frequency signal, and the intermediate frequency signal is converted into a digital signal through sampling. The spatial coordinates of the receiving antenna are obtained through a spatial coordinate recognition algorithm to realize the first alignment of the photoelectric turntable module.

[0059] The advantage of direction backtracking is that the signal source can be accurately positioned in a large range, but it is affected by the factors of multipath effect, signal attenuation and antenna array complexity. Considering that the positioning accuracy of direction backtracking is lower than that of photoelectric tracking technology, the present application first uses the direction backtracking technology to roughly position the target, and the system framework of the direction backtracking technology is as shown in Figure 3

[0060] The photoelectric turntable module comprises a signal preprocessing submodule, a signal conversion submodule and an alignment submodule; the preprocessing submodule is used for filtering and amplifying the guide signal of the energy receiving end to obtain a preprocessed signal; the signal conversion submodule is used for mixing the preprocessed signal with the microwave signal emitted by the emission phased array module, filtering the mixed signal to obtain an intermediate frequency signal, and converting the intermediate frequency signal into a digital signal through sampling; and the alignment submodule is used for calculating the spatial coordinates of the energy receiving end to realize the first alignment of the photoelectric turntable module with the energy receiving end.

[0061] The alignment submodule comprises a static alignment unit and a dynamic alignment unit:

[0062] The static alignment unit uses the position information of the vehicle-mounted GPS and the energy receiving end GPS to position, and realizes the first alignment of the static energy receiving end; the dynamic alignment unit uses the direction backtracking technology to calculate the spatial coordinates of the energy receiving end, and realizes the first alignment of the dynamic alignment unit.

[0063] The working process of the dynamic alignment unit comprises:

[0064] As Figure 2 ​As shown, the Г-shaped guide signal receiving antenna is arranged on the transmitting phased array module antenna, the guide signal transmitting antenna is loaded on the mobile receiving end antenna, the spatial phase of the guide signal transmitted by the receiving end lags behind with the increase of the propagation distance in the propagation process, the guide signal transmitted by the fixed position transmitting end propagates to the guide signal receiving antennas located at different positions of the Г-shaped antenna, due to the different propagation distances, the phases of the guide signals received by the transmitting end antennas are also different;The phase difference of the guide signals S ym The phase difference of the guide signals S 00 The phase difference of the signals transmitted by the Г-shaped receiving center reference antenna and the receiving antenna at the mobile target position is:

[0065]

[0066] The phase difference of the guide signals S ym The phase difference of the guide signals

[0067]

[0068] Wherein, And The phase difference of each guide signal receiving antenna located on the two arms of the Г-shaped antenna, i.e. x The axis and y The spatial coordinate identification function of the energy receiving end is defined as:

[0069]

[0070] The coordinates of the maximum value are the positions of the dynamic energy receiving end .

[0071] The control module is used for issuing control commands to the photoelectric turntable module, obtaining the measured azimuth and elevation angle of the photoelectric turntable module, and transmitting the azimuth and elevation angle to the servo turntable module;The control module includes a drive controller and an angle sensor;The drive controller is used to issue control commands to the motor and the photoelectric turntable module, so as to generate motor rotation, zoom focusing and field switching actions;The angle sensor is used to measure the azimuth and elevation angle of the photoelectric turntable after the action of the drive controller.

[0072] ​The servo turntable module is used for receiving the azimuth and elevation angle of the optoelectronic turntable module, and tracking the energy receiving end using the optical flow method; the servo turntable module comprises a measurement receiving sub-module, an angle offset obtaining sub-module and an automatic tracking sub-module; the measurement receiving sub-module is used for receiving the azimuth and elevation angle obtained by the angle sensor; the angle offset obtaining sub-module is used for calculating the offset angle of the energy receiving end and the optical axis direction based on the azimuth and elevation angle; and the automatic tracking sub-module is used for tracking the energy receiving end using the optical flow method.

[0073] The positioning and orientation module is used for performing real-time tracking of the energy receiving end using the optoelectronic tracking technology based on the results of the first alignment and the tracking results of the servo turntable, performing the second alignment, and realizing the microwave wireless energy transmission. The system framework of the optoelectronic tracking technology is as shown in Figure 4

[0074] The optoelectronic tracking system has higher precision because the interference on the light propagation is relatively smaller than that on the radio signal propagation, and the optical sensor can provide high-resolution image information. Therefore, it is widely used for tracking moving targets such as aircrafts, missiles, etc.

[0075] The initial control signal of the optoelectronic turntable module is obtained through the direction backtracking system, so that the first alignment with the target can be realized, and the real-time optoelectronic tracking of the moving target can be realized through image recognition, thereby improving the accuracy of the direction backtracking positioning. The optoelectronic turntable module adopts high-definition visible light and uncooled thermal imaging dual-band detection, has the ability of full-area, full-time, full-dimensional discovery, tracking, identification and monitoring of ground and low-altitude targets, and through the optoelectronic equipment tracking system, the further alignment of the transmitting array and the receiving array in the microwave wireless energy transmission system can be automatically completed, and the efficient transmission of microwave wireless energy is realized.

[0076] The optoelectronic equipment mainly comprises a visible light camera (used for detecting the visible light image of the target), a thermal imaging camera (used for obtaining the infrared image of the target), a high-precision turntable, a supporting device and the like. The thermal imaging camera is as shown in Figure 5 ​As shown, the photoelectric observation subsystem composed of high-definition visible light lens and infrared lens can transmit the processed video information through video network coding; the drive controller of the main control system can issue control commands to the photoelectric turntable module driver and photoelectric detection system, so that they drive the corresponding motors to produce rotation, zoom focusing, field switching and other actions; the angle sensor measures the azimuth and elevation angle of the turntable mechanism in real time, and after processing, it communicates with the servo control in the main control system, and the servo system judges and compares, and is linked with the drive control, so that the offset angle of the target and the optical axis pointing can be accurately calculated. The background image processing module receives the video images output by the visible light or thermal image camera, processes the images, and outputs the target miss distance in real time, and then feeds back to the servo control system, and then drives the turntable to automatically track the target in real time, and completes the launch array tracking receiving array. The control command video information, measurement information and state information can be converted into network signals by the coding module for remote transmission and control.

[0077] Wherein, for tracking moving targets, the present application specifically uses the optical flow method in the motion estimation technology. The optical flow method is a computer vision technology for estimating the pixel displacement between adjacent frames in an image sequence, thereby calculating the moving target information in a three-dimensional scene. In the present application, the optical flow method is used to capture the dynamic motion of the energy receiving end. Of course, other algorithms can also be included in the system framework of the present application.

[0078] The working process of the automatic tracking sub-module specifically includes:

[0079] The optical flow method is used to capture the dynamic motion of the energy receiving end, and the optical flow equation is expressed as:

[0080]

[0081] Wherein, and are the gradients of the image in the x and y directions; x and y are the gradients of the image in the x and y directions; is the rate of change of the image over time; is the pixel displacement of the moving target to be solved in the image; the least squares method is applied to the local area to minimize the error, and the Lucas-Kanade equation set is obtained, and the pixel displacement is solved:

[0082]

[0083] Wherein, represents the pixel coordinates in the local area, n represents the number of pixels in the local area.

[0084] In summary, the mobile target alignment of the application is realized by the direction backtracking system and the photoelectric tracking system, the direction backtracking system realizes the first and rough positioning, and the photoelectric tracking system realizes the further accurate positioning and tracking.

[0085] When the energy receiving end position information is determined, the beam tracking of the application mainly tracks the energy supply through the two-dimensional servo turntable, wherein the transmitting array scans the space: ≤±10°, the mechanical scanning azimuth: 0°~360°, and the mechanical scanning pitch: 0°~90°.

[0086] Although the phased array transmitting antenna can also realize the transmitting beam scanning function, the maximum transmitting efficiency can be achieved when the antenna array is out, so the phased array mainly realizes the transmitting beam change through the theoretical derivation and the phase synthesis method, including the near-field focusing beam, the Bessel beam and the three-dimensional spiral beam, which will improve the near-field transmitting efficiency and be suitable for the new type of applications such as obstacle avoidance and mobile multi-target energy supply.

[0087] For the long-distance energy receiving end, the far-field focusing beam can be used, and the position of each unit on the transmitting antenna array is The phase distribution in the Cartesian coordinate system can be calculated by the following formula:

[0088]

[0089] The free space wave number representing the design frequency is And The pitch angle and the azimuth angle of the far-field focusing beam, respectively, the above angles can be used as the calibration of the direction of the two-dimensional servo turntable.

[0090] For the near-distance single energy receiving end, the near-field focusing beam based on the geometrical optics can be used to realize the higher efficiency of energy transmission. The position of each unit on the transmitting antenna array is The phase distribution in the Cartesian coordinate system can be calculated by the following formula:

[0091]

[0092] In the formula, is the near-field energy receiving focus position vector, is the position vector of each unit on the antenna array, is the free space wave number of the design frequency.

[0093] For the near-distance multiple energy receiving ends on a straight line, the Bessel beam can be used to realize the mutual offset of the radial component of the electric field vector and the superposition of the longitudinal component, so as to further enhance the electric field intensity on the central axis, reduce the scattering characteristics of the original incident wave, and form a transmitting beam with quasi-non-diffractive characteristics. The phase distribution of the transmitting antenna array can be calculated by the following formula:

[0094]

[0095] wherein, is the distance from each element on the transmit antenna array to the center of the array, is the relative permittivity of free space, is the wavelength at the design frequency, is the physical aperture of the transmit antenna, is the maximum propagation distance of the design Bessel beam.

[0096] For applications such as obstacle avoidance and mobile multi-target power supply, a three-dimensional spiral beam with a parameterized customized curved propagation trajectory can be used.

[0097] Embodiment Two

[0098] A mobile energy transmission device, which carries the aforementioned microwave wireless energy transmission system.

[0099] Embodiment Three

[0100] In this embodiment, the mobile energy transmission device adopts a modified vehicle form, as shown in Figure 6 The modified vehicle uses a 50kw brushless silent diesel generator. The lifting platform part contains a power window, a track and a lifting platform with a pair of doors. The power window slides along the track after being pushed, opens the pair of doors of the lifting platform, and the lifting platform with the microwave wireless energy transmission system is installed inside. The photoelectric turntable is placed outside the box.

[0101] The above-described embodiments are only descriptions of the preferred modes of the present application and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements to the technical solutions of the present application made by those skilled in the art shall fall within the protection scope determined by the claims of the present application.

Claims

1. A microwave wireless power transmission system, characterized in that, The system includes: a power supply module, a transmitting phased array module, an optoelectronic turntable module, a control module, a servo turntable module, and a positioning and orientation module; The power supply module is used to provide microwave energy; The transmitting phased array module is used to track the mobile power receiver in real time and transmit microwaves. The photoelectric turntable module is used to achieve the first alignment with the energy receiving end through directional backtracking technology; The control module is used to issue control commands to the photoelectric turntable module, obtain the measured azimuth and pitch angle of the photoelectric turntable module, and transmit them to the servo turntable module; The servo turntable module is used to receive the azimuth and pitch angle of the photoelectric turntable module and to track the receiving end using the optical flow method. The positioning and orientation module is used to perform real-time tracking of the power receiving end based on the results of the first alignment and the tracking results of the servo turntable module, and to perform a second alignment to realize microwave wireless power transmission.

2. The microwave wireless power transmission system according to claim 1, characterized in that, The photoelectric turntable module includes a signal preprocessing submodule, a signal conversion submodule, and an alignment submodule; The signal preprocessing submodule is used to filter and amplify the guiding signal at the receiving end to obtain a preprocessed signal; The signal conversion submodule is used to mix the preprocessed signal with the microwave signal transmitted by the transmitting phased array module, and obtain an intermediate frequency signal after mixing and filtering. The intermediate frequency signal is then sampled and converted into a digital signal. The alignment submodule is used to calculate the spatial coordinates of the energy receiving end and realize the first alignment between the photoelectric turntable module and the energy receiving end.

3. The microwave wireless power transmission system according to claim 2, characterized in that, The alignment submodule includes a static alignment unit and a dynamic alignment unit: The static alignment unit uses the location information of the vehicle-mounted GPS and the power receiver GPS for positioning, and realizes the first alignment of the static power receiver. The dynamic alignment unit uses directional backtracking technology to calculate the spatial coordinates of the energy receiving end, thereby achieving the first alignment of the dynamic alignment unit.

4. The microwave wireless power transmission system according to claim 3, characterized in that, The workflow of the dynamic alignment unit includes: The G-type guidance signal receiving antenna is deployed on the transmitting phased array module antenna, and the guidance signal transmitting antenna is mounted on the mobile receiving antenna. The spatial phase of the guidance signal transmitted by the receiving end lags as the propagation distance increases. The guidance signal transmitted from a fixed position propagates to the guidance signal receiving antennas located at different positions of the G-type antenna. Due to the different propagation distances, the phase of the guidance signal received by the transmitting antenna is also different. Guide signal S ym The phase difference is taken as the conjugate of the phase difference for feeding, and the signal radiated by the receiving antenna propagates to the position of the moving target. With the Г-type receiving center reference antenna S 00 The phase difference of the radiated signal transmission at the same spatial search point is: ； Calculate the guidance signal S ym The phase difference between the conjugate guide signal radiated from the location to the space search point relative to the reference antenna and radiated to the same space search point. Let be the distance from the m-th antenna in the y-direction to the y-axis; taking the average of the absolute values ​​of the phase differences, we have the following relationship: ； in, and These are located on the two arms of the guidance signal receiving antenna, respectively. x shaft and y The phase difference of each guiding signal receiving antenna on the axis, and the spatial coordinate identification function of the receiving end are defined as follows: ； The coordinates of the maximum value are the positions of the dynamic energy receiving end. .

5. The microwave wireless power transmission system according to claim 1, characterized in that, The control module includes a drive controller and an angle sensor; The drive controller is used to issue control commands to the motor and the photoelectric turntable module, so as to generate motor rotation, zoom focusing and field of view switching actions; The angle sensor is used to measure the azimuth and pitch angle of the photoelectric turntable in real time after the drive controller is activated.

6. The microwave wireless power transmission system according to claim 5, characterized in that, The servo turntable module includes a measurement and receiving submodule, an angle offset acquisition submodule, and an automatic tracking submodule; The measurement receiving submodule is used to receive the azimuth and pitch angles obtained by the angle sensor; The angle offset acquisition submodule is used to calculate the offset angle between the receiving end and the optical axis based on the azimuth and pitch angles. The automatic tracking submodule is used to track the receiving end using optical flow.

7. The microwave wireless power transmission system according to claim 6, characterized in that, The workflow of the automatic tracking submodule specifically includes: The dynamic motion of the energy receiving end is captured using the optical flow method. The optical flow equation is expressed as: ； in, and It is on the image x and y Gradient of direction; It is the rate of change of the image over time; It represents the pixel displacement of the moving target in the image to be solved; By applying the least squares method to the local region to minimize the solution error, the Lucas-Kanade equations are obtained, and the pixel displacement is solved: ； in, Represents the pixel coordinates within a local area. n This indicates the number of pixels within a local area.

8. The microwave wireless power transmission system according to claim 1, characterized in that, The transmit phased array module consists of 64 transmit and receive channels, covering a frequency band of 5.8 GHz.

9. A mobile energy transmission device, characterized in that, The device carries the microwave wireless power transmission system according to any one of claims 1-8.

Images