Multi-channel wireless energy transmission system and method based on stacked coupling mechanism

Abstract

The invention relates to the technical field of wireless power transmission, in particular to a multi-channel wireless energy transmission system and method based on a stacked coupling mechanism. The technical problems that an existing electric field type unmanned aerial vehicle wireless charging system is limited by the size of an unmanned aerial vehicle, so that polar plates are small in size and low in charging power are solved. Comprising a first coupling mechanism and a second coupling mechanism which are stacked; the first coupling mechanism is arranged between the bottom of the unmanned aerial vehicle and the bottom of the unmanned aerial vehicle nest, and the second coupling mechanism is arranged between the top of the unmanned aerial vehicle and the top of the unmanned aerial vehicle nest. According to the invention, the stacked first and second coupling mechanisms are arranged, so that the size of a single coupling mechanism and the cross coupling among the polar plates are reduced, and the overall charging power of the system is also improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless power transmission, and in particular to a multi-channel wireless power transmission system and method based on a stacked coupling mechanism. Background Art

[0002] Due to their unique perspective and flexible maneuverability, drones have shown significant application advantages in power inspection, logistics distribution, border patrol and other fields. However, their limited endurance and limited cruising range have become the main problems restricting the promotion of drones. The traditional way of charging or replacing batteries requires personnel to follow, which cannot meet the automation, autonomy and intelligence requirements of unmanned systems. Therefore, providing a safer, more efficient and intelligent energy supply method has become an urgent problem that drones need to solve.

[0003] Wireless power transmission technology (WPT) is an emerging flexible access and transmission method for electric energy. Its broad market prospects and scientific research value are increasingly attracting the attention of peers, and it has become a hot spot for research and development in the field of modern electrical engineering and automation. At present, the commonly used near-field coupling in wireless power transmission technology is mainly divided into magnetic field coupling wireless power transmission (IPT) and electric field coupling wireless power transmission (CPT). In addition, there are laser wireless power transmission (OPT) and microwave wireless power transmission (MPT).

[0004] Electric field coupled power transmission (CPT) Due to the advantages of simple structure, small size, light weight and low cost of the coupling plate, electric field coupled wireless charging technology shows broad application prospects in the field of drone charging, but the current research on the electric field coupling mechanism of drones is still relatively weak. Electric field coupled power transmission (CPT) uses electric fields to transfer energy instead of magnetic fields. Electric fields can pass through metal barriers without significant power loss. Another advantage of the CPT system is its low cost. In the CPT system, metal plates are used to form capacitors to transfer energy, while in the IPT system, the coils are made of expensive Litz wire, and aluminum plates are a cost-effective choice, which has good conductivity, low weight and low cost. Therefore, CPT technology is more suitable for application in the field of wireless charging of drones.

[0005] The receiving plates of existing electric field coupling UAV wireless charging systems are mostly installed on the landing gear at the bottom of the UAV. Due to the size of the UAV and the influence of its own aerodynamics, the size of the receiving plates is small, which further causes the charging efficiency of the UAV charging system to be low. Summary of the invention

[0006] In view of the above problems existing in the prior art, the present invention is proposed.

[0007] Therefore, the present invention provides a multi-channel wireless energy transmission system based on a stacked coupling mechanism, which is used to solve the technical problem that the existing electric field type UAV wireless charging system is limited by the size of the UAV, resulting in small plate size and low charging power.

[0008] In order to solve the above technical problems, the present invention provides the following technical solution: a multi-channel wireless energy transmission system based on a stacked coupling mechanism, comprising: a first coupling mechanism and a second coupling mechanism arranged in a stacked manner;

[0009] The first coupling mechanism is arranged between the bottom of the drone (1) and the bottom of the drone nest (2), and the second coupling mechanism is arranged between the top of the drone (1) and the top of the drone nest (2).

[0010] As a preferred solution of a multi-channel wireless energy transmission system based on a stacked coupling mechanism described in the present invention, the drone nest (2) comprises a mounting platform (201), a nest box (202) and a slide bar (203) arranged on the mounting platform (201), and a take-off and landing platform (204) slidably arranged on the slide bar (203);

[0011] The lifting and lowering platform (204) is driven by a driving assembly to slide along the sliding rod (203); one end of the machine nest box (202) is open; one end of the sliding rod (203) is located inside the machine nest box (202) and is mounted on a side wall of the machine nest box (202); and the other end of the sliding rod (203) extends out of the open end of the machine nest box (202).

[0012] As a preferred solution of a multi-channel wireless energy transmission system based on a stacked coupling mechanism described in the present invention, wherein: the slide bar (203) is also sleeved with a first slider (205), the first slider (205) is located between the side wall of the machine nest box (202) and the lifting and lowering platform (204), and a spring (206) is also sleeved on the first slider (205) and the first slider (205) on the side wall of the machine nest box (202);

[0013] A pole plate mounting plate (207) that can slide in a vertical direction is also arranged on the inner side wall at the top of the machine nest box (202); a plurality of sliding holes (208) are opened at the top of the machine nest box (202); a plurality of guide rods (209) are installed on the upper end surface of the pole plate mounting plate (207); the plurality of guide rods (209) slide along the plurality of sliding holes (208) respectively; and the pole plate mounting plate (207) and the first sliding block (205) are connected via a cable assembly.

[0014] As a preferred solution of a multi-channel wireless energy transmission system based on a stacked coupling mechanism described in the present invention, the cable assembly includes a plurality of guide wheels (210) and steel cables (211);

[0015] The plurality of guide wheels (210) are respectively mounted on the side wall and the bottom inner wall of the nest box (202); one end of the steel cable (211) is connected to the first slider (205); and the other end of the steel cable (211) passes around the plurality of guide wheels (210) and is connected to the upper end surface of the pole plate mounting plate (207).

[0016] As a preferred solution of a multi-channel wireless energy transmission system based on a stacked coupling mechanism described in the present invention, the first coupling mechanism comprises a first emitting plate (301) and a second emitting plate (302) installed on the take-off and landing platform (204), and a first receiving plate (401) and a second receiving plate (402) respectively arranged on the landing gears (101) on both sides of the bottom of the UAV (1);

[0017] The second coupling mechanism comprises a third emitting plate (303) and a fourth emitting plate (304) mounted on the plate mounting plate (207), and a third receiving plate (403) and a fourth receiving plate (404) arranged on the top shell of the drone (1).

[0018] As a preferred solution of a multi-channel wireless energy transmission system based on a stacked coupling mechanism described in the present invention, dielectric plates (305) are provided on the upper end surfaces of the first emitter plate (301) and the second emitter plate (302) and the lower end surfaces of the third emitter plate (303) and the fourth emitter plate (304).

[0019] As a preferred solution of the multi-channel wireless energy transmission method based on the stacked coupling mechanism described in the present invention, the first and second coupling mechanisms are both equivalent to six-capacitor cross models, and the six-capacitor cross models of the first and second coupling mechanisms are respectively equivalent to equivalent π models to obtain a system circuit, and C in the system circuit M is the coupling mutual capacitance of the first coupling mechanism, C in1 , C in2 is the coupling self-capacitance of the first coupling mechanism, C M * is the coupling mutual capacitance of the second coupling mechanism, C in1 * , C in2 * is a coupling self-capacitance of the second coupling mechanism;

[0020] The primary transmission circuit includes a DC power supply U in, a high-frequency inverter, a first primary compensation circuit and a second primary compensation circuit, the input end of the high-frequency inverter is connected to the DC power supply U in connect;

[0021] The input ends of the first primary compensation circuit and the second primary compensation circuit are both connected to the output end of the high-frequency inverter, the output end of the first primary compensation circuit is connected to the first receiving electrode plate (401) and the second receiving electrode plate (402), and the output end of the second primary compensation circuit is connected to the third receiving electrode plate (401) and the fourth receiving electrode plate (402);

[0022] The secondary side transmission circuit includes a first secondary side compensation circuit, a second secondary side compensation circuit, a first rectifier, a second rectifier and a filter capacitor C0;

[0023] The input end of the first secondary side compensation circuit is connected to the first emitter plate (301) and the second emitter plate (302) respectively, the input end of the second secondary side compensation circuit is connected to the third emitter plate (301) and the fourth emitter plate (302) respectively, the output end of the first secondary side compensation circuit is connected to the input end of the first rectifier, the output end of the second secondary side compensation circuit is connected to the input end of the second rectifier, one output end of the first rectifier and one output end of the second rectifier are both connected to one end of the filter capacitor C0, the other output end of the first rectifier and the other output end of the second rectifier are both connected to the other end of the filter capacitor C0, and the two ends of the filter capacitor C0 are also respectively connected to the two ends of the load R0.

[0024] As a preferred solution of the multi-channel wireless energy transmission method based on the stacked coupling mechanism described in the present invention, wherein: the first primary compensation circuit and the first secondary compensation circuit as well as the second primary compensation circuit and the second secondary compensation circuit are all symmetrically arranged LC network topology structures;

[0025] Define the first emitter plate or the third emitter plate as emitter plate P1, the second emitter plate or the fourth emitter plate as emitter plate P2, the first receiver plate or the third receiver plate as emitter plate P4, the second receiver plate or the fourth receiver plate as emitter plate P3, and derive the mathematical model and equivalent circuit of the quadruple plate coupling mechanism to obtain the coupled self-capacitance C1, C2 and coupled mutual capacitance C corresponding to the ICPT system. M , expressed as:

[0026]

[0027] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, the steps of any one of the methods described in a multi-channel wireless energy transmission method based on a stacked coupling mechanism are implemented.

[0028] A computer-readable storage medium having a computer program stored thereon, characterized in that when the computer program is executed by a processor, the steps of any one of the methods described in a multi-channel wireless energy transmission method based on a stacked coupling mechanism are implemented.

[0029] The beneficial effects of the present invention are as follows: by providing the stacked first and second coupling mechanisms, not only the volume of a single coupling mechanism and the cross-coupling between the pole plates are reduced, but also the overall charging power of the system is improved.

[0030] By providing a plate mounting plate that slides in the vertical direction, a first slider, a spring and a cable assembly, the plate mounting plate is driven to slide up and down while the take-off and landing platform slides in and out, so that when the UAV enters the machine nest for charging, the third emitter plate and the fourth emitter plate are respectively fitted with the third receiving plate and the fourth receiving plate for power transmission; when the UAV leaves the machine nest for takeoff, the third emitter plate and the fourth emitter plate are respectively separated from the third receiving plate and the fourth receiving plate, thereby realizing dual-channel power transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0032] Figure 1 It is a schematic diagram of the structure of the wireless energy transmission system of the present invention.

[0033] Figure 2 It is a schematic diagram of the internal structure of the machine nest box in the wireless energy transmission system of the present invention.

[0034] Figure 3 It is a schematic diagram of the structure of a UAV in the wireless energy transmission system of the present invention.

[0035] Figure 4 It is a structural schematic diagram of the take-off and landing platform of the present invention.

[0036] Figure 5 It is a structural schematic diagram of the pole plate mounting plate of the present invention.

[0037] Figure 6 It is a structural framework diagram of the wireless energy transmission system of the present invention.

[0038] Figure 7 Schematic diagram of the equivalent circuit of the wireless energy transmission system of the present invention.

[0039] Figure 8 It is a circuit diagram of an equivalent six-capacitor crossover model of the first and second coupling mechanisms of the present invention.

[0040] Fig. 9 This is a voltage waveform diagram between the plates in the system simulation of the present invention.

[0041] Fig.10 This is the distribution diagram of the electric field intensity between the plates in the system simulation of the present invention.

[0042] Fig.11 The diagram is a voltage and current diagram of the load output in the system simulation of the present invention.

[0043] Fig.12 It is a load output power curve diagram in the system simulation of the present invention.

[0044] In the figure: 1-UAV; 101-landing gear; 2-UAV nest; 201-mounting platform; 202-nest box; 203-slide bar; 204-take-off and landing platform; 205-slide bar; 206-spring; 207-plate mounting plate; 208-slide hole; 209-guide rod; 210-guide wheel; 211-steel cable; 301-first emitter plate; 302-second emitter plate; 303-third emitter plate; 304-fourth emitter plate; 305-dielectric plate; 401-first receiving plate; 402-second receiving plate; 403-third receiving plate; 404-fourth receiving plate.

[0045] Fig.13 This is a full capacitance model of the quadrupole plate coupling mechanism of the method of the present invention.

[0046] Fig.14 It is the equivalent current source model of the method of the present invention.

[0047] Fig.15 It is the equivalent π model of the method of the present invention. DETAILED DESCRIPTION

[0048] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0049] Example 1

[0050] Reference Figure 1-Figure 12, which is the first embodiment of the present invention, provides a multi-channel wireless energy transmission system based on a stacked coupling mechanism, comprising:

[0051] It includes a first coupling mechanism and a second coupling mechanism arranged in a stacked manner;

[0052] The first coupling mechanism is arranged between the bottom of the drone 1 and the bottom of the drone nest 2 , and the second coupling mechanism is arranged between the top of the drone 1 and the top of the drone nest 2 .

[0053] In this embodiment, by providing the stacked first and second coupling mechanisms, not only the volume of a single coupling mechanism and the cross-coupling between the plates are reduced, but also the overall charging power of the system is improved.

[0054] like Figure 1 , Figure 2 , Figure 3 Figure 4 and Figure 5 As shown, the drone nest 2 includes a mounting platform 201, a nest box 202 and a slide bar 203 arranged on the mounting platform 201, and a take-off and landing platform 204 slidably arranged on the slide bar 203;

[0055] The lifting and lowering platform 204 is driven by a driving assembly to slide along the slide rod 203. One end of the machine nest box 202 is set as an opening. One end of the slide rod 203 is located in the machine nest box 202 and installed on the side wall of the machine nest box 202. The other end of the slide rod 203 extends out of the open end of the machine nest box 202.

[0056] In this embodiment, the driving component can be a driving structure of a motor, a gear and a rack, the motor is installed at the bottom of the landing platform 204, the gear is installed on the motor output shaft, the rack is installed on the mounting platform 201, and the rack is parallel to the slide bar 203. When the drone lands, the driving component drives the landing platform 204 to move outside the nest box 202, the drone lands on the landing platform 204, the dielectric plate 305 on the first emitter plate 301 and the second emitter plate 302 of the first coupling are respectively aligned with the first receiving plate 301 and the second receiving plate 302, and the driving component drives the landing platform 204 to move into the nest box 202.

[0057] like Figure 1 , Figure 2 , Figure 3 Figure 4 and Figure 5As shown, the slide bar 203 is also sleeved with a first slider 205, the first slider 205 is located between the side wall of the nest box 202 and the lifting platform 204, and a spring 206 is also sleeved on the first slider 205 and the first slider 205 on the side wall of the nest box 202;

[0058] A pole plate mounting plate 207 that can slide in the vertical direction is also provided on the inner side wall at the top of the machine nest box 202. A plurality of sliding holes 208 are opened at the top of the machine nest box 202. A plurality of guide rods 209 are installed on the upper end surface of the pole plate mounting plate 207. The plurality of guide rods 209 slide along the plurality of sliding holes 208 respectively. The pole plate mounting plate 207 is connected to the first slider 205 via a cable assembly.

[0059] like Figure 1 , Figure 2 , Figure 3 Figure 4 and Figure 5 As shown, the cable assembly includes a plurality of guide wheels 210 and steel cables 211;

[0060] The guide wheels 210 are respectively installed on the side wall and the bottom inner wall of the nest box 202, one end of the steel cable 211 is connected to the first slider 205, and the other end of the steel cable 211 is connected to the upper end surface of the pole plate mounting plate 207 after passing through the guide wheels 210.

[0061] In this embodiment, when the spring 206 is in a free state, the plate mounting plate 207 is at the highest point. When the lifting and landing platform 204 moves from outside the machine nest box 202 to inside the machine nest box 202, one end of the lifting and landing platform 204 pushes the slider to slide toward the end close to the side wall of the machine nest box 202, the spring 206 is compressed, and the plate mounting plate 207 moves downward under the action of gravity. When the lifting and landing platform 204 moves to the innermost side, the dielectric plates 305 on the third emitter plate 303 and the fourth emitter plate 304 are respectively attached to the third emitter plate 403 and the fourth emitter plate 404. After charging is completed, the lifting and landing platform 204 moves outward, and under the action of the spring 206, the plate mounting plate 207 is reset to the highest point.

[0062] like Figure 1 , Figure 2 , Figure 3 Figure 4 and Figure 5 As shown, the first coupling mechanism includes a first emitter plate 301 and a second emitter plate 302 installed on the take-off and landing platform 204, and a first receiving plate 401 and a second receiving plate 402 respectively arranged on the landing gears 101 at both sides of the bottom of the UAV 1;

[0063] The second coupling mechanism includes a third emitter plate 303 and a fourth emitter plate 304 mounted on the plate mounting plate 207 , and a third receiver plate 403 and a fourth receiver plate 404 arranged on the top shell of the drone 1 .

[0064] like Figure 1 , Figure 2 , Figure 3 Figure 4 and Figure 5 As shown, the upper end surfaces of the first emitter plate 301 and the second emitter plate 302 and the lower end surfaces of the third emitter plate 303 and the fourth emitter plate 304 are all provided with dielectric plates 305 .

[0065] In this embodiment, during wireless charging, the first emitting plate 301 faces the first receiving plate 401, the second emitting plate 302 faces the second receiving plate 402, the third emitting plate 303 faces the third receiving plate 403, and the fourth emitting plate 304 faces the fourth receiving plate 404. The charging efficiency of the system is improved by transmitting power through two sets of coupling mechanisms.

[0066] In this embodiment, both the first and second coupling mechanisms can be equivalent to a six-capacitor crossover model. Further, the six-capacitor crossover models of the first and second coupling mechanisms are respectively equivalent to an equivalent π model to obtain the following: Figure 6 The system circuit diagram is shown. Figure 6 Where CM is the coupling mutual capacitance of the first coupling mechanism, Cin1 and Cin2 are the coupling self-capacitance of the first coupling mechanism, CM* is the coupling mutual capacitance of the second coupling mechanism, and Cin1* and Cin2* are the coupling self-capacitance of the second coupling mechanism.

[0067] like Figure 6 and Figure 7 As shown, it also includes a primary transmission circuit, the primary transmission circuit includes a DC power supply Uin, a high-frequency inverter, a first primary compensation circuit and a second primary compensation circuit, and the input end of the high-frequency inverter is connected to the DC power supply Uin;

[0068] The input ends of the first primary compensation circuit and the second primary compensation circuit are both connected to the output end of the high-frequency inverter, the output end of the first primary compensation circuit is connected to the first receiving electrode plate 401 and the second receiving electrode plate 402, and the output end of the second primary compensation circuit is connected to the third receiving electrode plate 401 and the fourth receiving electrode plate 402.

[0069] In this embodiment, the high-frequency inverter is composed of four switching tubes S1-S4, the first primary compensation circuit includes a primary compensation inductor LP1 and a primary compensation capacitor Cexe1, and the second primary compensation circuit includes a primary compensation inductor LP1* and a primary compensation capacitor Cexe1*.

[0070] As another embodiment of the present application, relays may be added to the input ends of the first primary compensation circuit and the second primary compensation circuit. Through the control of the relays, the transmitting end can also meet the charging requirements of the single coupling mechanism.

[0071] like Figure 6 and Figure 7 As shown, it also includes a secondary side transmission circuit, and the secondary side transmission circuit includes a first secondary side compensation circuit, a second secondary side compensation circuit, a first rectifier, a second rectifier and a filter capacitor C0;

[0072] The input end of the first secondary side compensation circuit is connected to the first emitter plate 301 and the second emitter plate 302 respectively, the input end of the second secondary side compensation circuit is connected to the third emitter plate 301 and the fourth emitter plate 302 respectively, the output end of the first secondary side compensation circuit is connected to the input end of the first rectifier, the output end of the second secondary side compensation circuit is connected to the input end of the second rectifier, one output end of the first rectifier and one output end of the second rectifier are both connected to one end of the filter capacitor C0, the other output end of the first rectifier and the other output end of the second rectifier are both connected to the other end of the filter capacitor C0, and the two ends of the filter capacitor C0 are also respectively connected to the two ends of the load R0.

[0073] In this embodiment, the first rectifier is composed of four diodes D1-D4. * -D4 * A total of four diodes are used. The first secondary compensation circuit includes a primary compensation inductor LS1 and a primary compensation capacitor C exe2 The second secondary compensation circuit includes a primary compensation inductor L S1 * And the primary compensation capacitor C exe2 * .

[0074] System Simulation:

[0075] S1: Construct simulation model: Construct the simulation model of the system based on the comsol simulation platform, using metal aluminum as the material of the emitter plate and the receiver plate, and glass as the dielectric plate. The first, second, third and fourth emitter plates are all made of rectangular metal aluminum plates of the same size, and the size of the rectangular metal aluminum plates is 140mm×300mm, and the thickness is 1mm. The first, second, third and fourth receiver plates are long sheet aluminum plates; the size of the first and second receiver plates is 10mm×250mm, and the thickness is 1mm; the size of the third and fourth receiver plates is 10mm×150mm, and the thickness is 1mm. The horizontal spacing between the first and second emitter plates and the horizontal spacing between the third and fourth emitter plates are both 20mm, the vertical spacing between the first and second emitter plates and the third and fourth emitter plates is 100mm, the horizontal spacing between the first and second receiver plates is 150mm, and the horizontal spacing between the third and fourth receiver plates is 80mm.

[0076] S2: Analysis of coupled self-capacitance and coupled mutual capacitance of simulation model: The first and second coupling mechanisms can be equivalent to the following: Figure 8 In the six-capacitor cross-coupling model shown in the figure, the first emitter plate or the third emitter plate is defined as the emitter plate P1, the second emitter plate or the fourth emitter plate is defined as the emitter plate P2, the first receiving plate or the third receiving plate is defined as the emitter plate P4, and the second receiving plate or the fourth receiving plate is defined as the emitter plate P3. The mathematical model and equivalent circuit of the four-plate coupling mechanism can be derived to obtain the coupled self-capacitor C1 ( Figure 7 Cin1 or Cin1*), C2( Figure 7 Cin2 or Cin2*) and coupled mutual capacitance C M ( Figure 7 Concepts and expressions such as CM or CM* in:

[0077]

[0078] Since the excitation voltages of the emitter plate and the receiving plate under static field simulation are fixed values, it is necessary to build a circuit model of the entire wireless charging system on the Matlab / Simulink simulation platform and perform simulation to obtain the voltage between the plates at a certain moment. In simulink, a circuit model with bilateral LC as the compensation resonant topology and a four-capacitor coupling mechanism equivalent model is built to obtain the voltage between the plates when the system transmission power is 216W while ignoring reactive components and the internal resistance of the coupling mechanism. Taking the maximum voltage between the emitter plate P1 and the receiving plate P3 as the reference, assuming that the potential on the terminal of the emitter plate P2 is 0V, the instantaneous values ​​of the voltages between the plates at this time are shown in Table 1, and the voltage waveforms between the plates are shown in Table 1. Fig. 9 shown.

[0079] Table 1 Instantaneous voltage value between each plate

[0080]

[0081] Apply excitation voltage to the plates to simulate the system operation. The electric field intensity distribution between the plates is as follows: Fig.10 As shown in the above figure, the coupling effect between the power transmitting and receiving plates is good, the electric field is mainly distributed in the space near the receiving plate, and the leakage electric field radiated to the external space is small and can be ignored, indicating that the structure has excellent power transmission efficiency.

[0082] According to the instantaneous values ​​of the voltage between the plates in Table 1, the terminal potentials of the eight plates are set and the parametric scanning study is performed, and the calculation results of the Maxwell capacitance matrix can be obtained as shown in Table 2.

[0083] Table 2 Cross-coupling capacitor simulation results

[0084]

[0085] S3: Parameter design, a bilateral LC resonant topology is adopted. According to the previous simulation results, the coupling capacitance related to the coupling mechanism is also determined, and the corresponding Cin1, Cin2, and CM values ​​can also be calculated. Therefore, the L1 and L2 values ​​of the common LC resonant network can be determined by tuning; the load-end filter capacitor is taken as μF level, and the system parameters are shown in Table 3.

[0086] Table 3 System parameters

[0087]

[0088] S3: Transmission performance analysis: The equivalent model of the coupling mechanism system mentioned in this patent is simulated by Simulink, and the voltage and current waveforms of the load output and the output power are obtained as follows: Fig.11 and Fig.12 As shown. Fig.11 and Fig.12 It can be seen that the system response time is fast and the system tracking error is small. The output tends to be flat and stabilized after a slight oscillation. During the simulation, a relay is set at the transmitting end of the second coupling mechanism, and the relay is turned on at 0.001s, so that the coupling mechanism in the lower part is connected in parallel to the circuit. According to the above figure, it can be seen that the system power increases significantly after connection, from 247W at the beginning to 853.6W at the end, and the system efficiency is 81%.

[0089] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0090] Example 2

[0091] like Figure 13-Figure 15 FIG. 1 is a first embodiment of the present invention, which provides a multi-channel wireless energy transmission method based on a stacked coupling mechanism, comprising:

[0092] like Fig.13 As shown, there is a coupling capacitor between each two level boards, and the equivalent input capacitance from the transmitting and receiving plates is defined as C in，pri and C in，sec Two independent voltage sources, V1 and V2, are applied to the stage board to derive the relationship between input and output. The voltage on each stage board is defined as V p1 、V p2 、V p3 and V p4 . Select board P2 as reference, so V p2 =0, V1 = V p1 , V2=V p3 -V p4 Therefore, Kirchhoff's current equation is expressed as

[0093]

[0094] The quadrupole coupling mechanism is modeled as a two-port network, with V1 and V2 as inputs and I1 and I2 as output variables. p1 , V2=V p3- V p4 , the three equations in (1) can be combined to obtain the coupled self-capacitance (C1, C2) and coupled mutual capacitance (C M ) expression:

[0095]

[0096] Therefore, V1 and V2 can be expressed as

[0097]

[0098] By moving I1 and I2 to the left, the relationship between current and voltage is

[0099]

[0100] According to formula (4), the equivalent current source model of the quadrupole coupling mechanism can be obtained as follows: Fig.14 shown.

[0101]

[0102] Formula (4) is further rewritten into formula (5), and then the equivalent model of the coupling capacitor is simplified to the π model, as follows: Fig.15 shown.

[0103] Since the coupling plate also participates in the LC resonance of the primary and secondary sides as a single capacitor, it is very important to calculate the equivalent input capacitance of the stage board. Therefore, the equivalent input capacitance is

[0104]

[0105] in

[0106] The compensation parameter design of the passive resonant element follows the following resonance conditions:

[0107]

[0108] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

Claims

1. A multi-channel wireless energy transmission system based on a stacked coupling mechanism, characterized in that: It includes a first coupling mechanism and a second coupling mechanism which are stacked; The first coupling mechanism is arranged between the bottom of the drone (1) and the bottom of the drone nest (2), and the second coupling mechanism is arranged between the top of the drone (1) and the top of the drone nest (2).

2. A multi-channel wireless energy transmission system based on a stacked coupling mechanism as claimed in claim 1, characterized in that: The drone nest (2) comprises a mounting platform (201), a nest box (202) and a slide bar (203) arranged on the mounting platform (201), and a take-off and landing platform (204) slidably arranged on the slide bar (203); The lifting and lowering platform (204) is driven by a driving assembly to slide along the sliding rod (203); one end of the machine nest box (202) is open; one end of the sliding rod (203) is located inside the machine nest box (202) and is mounted on a side wall of the machine nest box (202); and the other end of the sliding rod (203) extends out of the open end of the machine nest box (202).

3. A multi-channel wireless energy transmission system based on a stacked coupling mechanism as claimed in claim 2, characterized in that: The slide bar (203) is also sleeved with a first slider (205), the first slider (205) is located between the side wall of the machine nest box (202) and the lifting platform (204), and a spring (206) is sleeved between the first slider (205) and the first slider (205) on the side wall of the machine nest box (202); A pole plate mounting plate (207) that can slide in a vertical direction is also arranged on the inner side wall at the top of the machine nest box (202); a plurality of sliding holes (208) are opened at the top of the machine nest box (202); a plurality of guide rods (209) are installed on the upper end surface of the pole plate mounting plate (207); the plurality of guide rods (209) slide along the plurality of sliding holes (208) respectively; and the pole plate mounting plate (207) and the first sliding block (205) are connected via a cable assembly.

4. A multi-channel wireless energy transmission system based on a stacked coupling mechanism as claimed in claim 3, characterized in that: The cable assembly comprises a plurality of guide wheels (210) and steel cables (211); The plurality of guide wheels (210) are respectively mounted on the side wall and the bottom inner wall of the nest box (202); one end of the steel cable (211) is connected to the first slider (205); and the other end of the steel cable (211) passes around the plurality of guide wheels (210) and is connected to the upper end surface of the pole plate mounting plate (207).

5. A multi-channel wireless energy transmission system based on a stacked coupling mechanism as claimed in claim 4, characterized in that: The first coupling mechanism comprises a first emitting plate (301) and a second emitting plate (302) mounted on the take-off and landing platform (204), and a first receiving plate (401) and a second receiving plate (402) respectively arranged on landing gears (101) on both sides of the bottom of the drone (1); The second coupling mechanism comprises a third emitting plate (303) and a fourth emitting plate (304) mounted on the plate mounting plate (207), and a third receiving plate (403) and a fourth receiving plate (404) arranged on the top shell of the drone (1).

6. A multi-channel wireless energy transmission system based on a stacked coupling mechanism as claimed in claim 5, characterized in that: The upper end surfaces of the first emitter plate (301) and the second emitter plate (302) and the lower end surfaces of the third emitter plate (303) and the fourth emitter plate (304) are all provided with dielectric plates (305).

7. A method for a multi-channel wireless energy transmission system based on a stacked coupling mechanism according to any one of claims 1 to 6: the first and second coupling mechanisms are both equivalent to a six-capacitor crossover model, and the six-capacitor crossover models of the first and second coupling mechanisms are respectively equivalent to an equivalent π model to obtain a system circuit, wherein C M is the coupling mutual capacitance of the first coupling mechanism, C in1 , C in2 is the coupling self-capacitance of the first coupling mechanism, C M * is the coupling mutual capacitance of the second coupling mechanism, C in1 * , C in2 * is a coupling self-capacitance of the second coupling mechanism; The primary transmission circuit includes a DC power supply U in , a high-frequency inverter, a first primary compensation circuit and a second primary compensation circuit, the input end of the high-frequency inverter is connected to the DC power supply U in connect; The input ends of the first primary compensation circuit and the second primary compensation circuit are both connected to the output end of the high-frequency inverter, the output end of the first primary compensation circuit is connected to the first receiving electrode plate (401) and the second receiving electrode plate (402), and the output end of the second primary compensation circuit is connected to the third receiving electrode plate (401) and the fourth receiving electrode plate (402); The secondary side transmission circuit includes a first secondary side compensation circuit, a second secondary side compensation circuit, a first rectifier, a second rectifier and a filter capacitor C0; The input end of the first secondary side compensation circuit is connected to the first emitter plate (301) and the second emitter plate (302) respectively, the input end of the second secondary side compensation circuit is connected to the third emitter plate (301) and the fourth emitter plate (302) respectively, the output end of the first secondary side compensation circuit is connected to the input end of the first rectifier, the output end of the second secondary side compensation circuit is connected to the input end of the second rectifier, one output end of the first rectifier and one output end of the second rectifier are both connected to one end of the filter capacitor C0, the other output end of the first rectifier and the other output end of the second rectifier are both connected to the other end of the filter capacitor C0, and the two ends of the filter capacitor C0 are also respectively connected to the two ends of the load R0.

8. A multi-channel wireless energy transmission method based on a stacked coupling mechanism as claimed in claim 7, characterized in that: The first primary compensation circuit, the first secondary compensation circuit, the second primary compensation circuit and the second secondary compensation circuit are all symmetrically arranged LC network topology structures; Define the first emitter plate or the third emitter plate as emitter plate P1, the second emitter plate or the fourth emitter plate as emitter plate P2, the first receiver plate or the third receiver plate as emitter plate P4, the second receiver plate or the fourth receiver plate as emitter plate P3, and derive the mathematical model and equivalent circuit of the quadruple plate coupling mechanism to obtain the coupled self-capacitance C1, C2 and coupled mutual capacitance C corresponding to the ICPT system. M , expressed as:

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 7 to 8 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 7 to 8 are implemented.

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