Charging direction selection method for heterogeneous multi-energy sector type wireless charger

Abstract

The invention discloses a charging direction selection method for a heterogeneous multi-energy sector type wireless charger, and the method comprises the steps: obtaining all to-be-charged nodes and directional mobile chargers, obtaining the coverage range of each directional energy beam, and calculating an energy transfer coefficient; unselected nodes to be charged are selected in sequence, the energy transmission direction is adjusted, the energy transmission direction range of the nodes is obtained till all the nodes are within the effective range, the energy transmission direction range of each node is represented through a statistical chart, and a maximum simultaneous charging angle range set is determined; removing a non-optimal angle range to obtain an optimal simultaneous charging angle range set; and selecting a representative charging direction in the optimal angle range for optimization to obtain an optimal energy transmission direction set. By optimizing the charging direction selection method of the heterogeneous multi-energy sector type wireless charger, the effects of efficiently covering a plurality of nodes to be charged and maximizing the energy transmission efficiency are achieved.

Description

Technical Field

[0001] The present invention relates to the field of wireless communication technology, and in particular to a charging direction selection method for a heterogeneous multi-energy sector type wireless charger. Background Art

[0002] Wireless Sensor Networks (WSNs) are distributed networks that use wireless energy transmission technology. Depending on whether the transmission device is omnidirectional (transmitting energy evenly in all directions centered on the charger) or directional (concentrating wireless energy in a certain direction for transmission), MCs can be divided into omnidirectional MCs (OMCs) and directional MCs (DMCs). In order to maximize the charging utility of sensor networks and reduce energy loss, it is key to reasonably deploy sensor nodes and choose the appropriate directional energy transmission direction.

[0003] In WSNs, single beam and multi-beam are two different directional energy transmission technologies, which have different characteristics in terms of energy transmission, efficiency, coverage, etc. Single beam provides efficient transmission by concentrating energy in one direction, which is suitable for small-range precision transmission; while multi-beam transmits energy in multiple directions simultaneously, which is suitable for large-range coverage, but has lower efficiency. At present, there are few studies on the methods for selecting the best charging direction for providing energy in the multi-beam coverage area in wireless sensor networks, and the existing methods have not been able to fully identify all the maximum sets of nodes that can be charged simultaneously and the optimal charging direction of each charging set, resulting in the inability to fully utilize the available energy resources to support the sensor nodes in the network. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes a charging direction selection method for a heterogeneous multi-energy sector type wireless charger. By optimizing the charging direction selection method for a heterogeneous multi-energy sector type wireless charger, the effect of efficiently covering multiple nodes to be charged and maximizing energy transmission efficiency is achieved.

[0005] The specific plan is as follows:

[0006] A charging direction selection method for a heterogeneous multi-energy sector type wireless charger, comprising:

[0007] S1, acquiring all nodes to be charged and directional mobile chargers; the energy transmitting antenna of the directional mobile charger generates a specified number of directional energy beams, each directional energy beam covering a sector area;

[0008] S2, select an unselected node to be charged, adjust the energy transmission direction according to the location of the node and the fan-shaped area covered by the specified number of directional energy beams, ensure that the node is within the effective transmission range of the directional energy beam, and obtain the energy transmission direction range;

[0009] S3, repeating step S2 until the energy transmission direction range of each node to be charged is obtained within the effective transmission range of the directional energy beam;

[0010] S4, using a statistical chart to represent the energy transmission direction range corresponding to each node to be charged, and determining a maximum simultaneous charging angle range set for each node to be charged based on the statistical chart;

[0011] S5, removing non-optimal angle ranges from the maximum simultaneously chargeable angle range set of each node to be charged, to obtain an optimal simultaneously chargeable angle range set;

[0012] S6, selecting a representative charging direction in each angle range in the optimal simultaneously charging angle range set for optimization, to obtain an optimal energy transfer direction set.

[0013] Furthermore, in S2, the energy transmission direction range is The calculation formula is as follows:

[0014]

[0015] The calculation formula is as follows:

[0016]

[0017] in, Indicates the starting angle of the energy transmission direction range; is the end angle of the energy transmission direction range; θ represents the angle value; represents a set of sector indexes that can cover the nodes to be charged, j represents the sector index, S j represents the jth sector area; d represents the Euclidean distance between the current charging position of the directional mobile charger and the target node to be charged, D represents the radius of the beam sector, and u i Indicates the node to be charged.

[0018] Furthermore, the S4 specifically includes:

[0019] For each node to be charged, a tuple is constructed, and the tuple is used to store the information of the node to be charged and the energy transmission direction range; all tuples are sorted in ascending order according to the angle values ​​corresponding to the energy transmission direction range, and the energy transmission direction range corresponding to each sorted tuple is represented in the form of a statistical chart, and the maximum set of angle ranges that can be charged simultaneously for each node to be charged is determined based on the statistical chart.

[0020] Furthermore, in S5, removing the non-optimal angle range from the maximum simultaneously chargeable angle range set of each node to be charged to obtain the optimal simultaneously chargeable angle range set specifically includes:

[0021] S51, determining the maximum simultaneous charging angle range set of each node to be charged, if there is a node set n1 and another node set n2, Then enter S52;

[0022] S52, if there are two identical node sets n1=n2, if u i .c(θ Ant1 )≤u i .c(θ Ant2 ) for any u i ∈N(x,θ Ant1 ) holds, and there is at least one u i Make u i .c(θ Ant1 ) i .c(θ Ant2 ), then the angle range corresponding to n1 is a non-optimal angle range; if For any u i ∈N(x,θ Ant1 ),u i .c(θ Ant1 )≤u i .c(θ Ant2 ) are all true, then the angle range corresponding to n1 is a non-optimal angle range; where u i represents the node to be charged; N(x,θ Ant1 ) indicates that the charging direction is θ Ant1 The set of nodes to be charged covered by the charging beam of the directional mobile charger at position x; u i .c(θ Ant ) indicates that the charging direction is θ Ant The directional mobile charger at x to node u i The energy transfer coefficient of

[0023] S53, removing non-optimal angle ranges from the maximum simultaneously chargeable angle range set to obtain an optimal simultaneously chargeable angle range set. ​

[0024] Furthermore, the calculation formula of the energy transfer coefficient is as follows:

[0025]

[0026] Where d represents the Euclidean distance between the current charging position of the directional mobile charger and the target charging node; represents the vertex angle of the directional energy beam; θ represents the direction of the node to be charged; D represents the radius of the fan-shaped area covered by the directional energy beam; α, β and δ represent the energy transfer coefficient parameters.

[0027] Further, in S6, a representative charging direction is selected in each angle range in the optimal simultaneously charging angle range set for optimization, specifically including:

[0028] A representative charging direction is selected in each angle range in the optimal simultaneously chargeable angle range set, as follows:

[0029]

[0030] Where l1 represents the tuple corresponding to the starting angle of the energy transmission direction range, l2 represents the tuple corresponding to the ending angle of the energy transmission direction range; τ represents the size of the angle value; θ Rep Indicates the representative charging direction;

[0031] Change θ rep direction, so that the node to be charged moves toward the center of the coverage area of ​​the directional energy beam.

[0032] Furthermore, in S6, the optimal energy transfer direction set obtained is S DirRep (x): = {(θ Rep ,N(x,θ Rep )|θ Rep ∈s Rep (x)};

[0033] Where x is the charging position of the directional mobile charger; θ Rep The representative charging direction indicating the optimal charging angle range; s Rep (x) represents the representative charging direction set corresponding to the optimal angle range; N(x,θ Rep ) indicates that the charging direction is θ Rep The set of nodes covered by the charging beam of the directional mobile charger at position x.

[0034] The present invention adopts the above technical solution and has the following beneficial effects:

[0035] (1) The present invention systematically analyzes and optimizes the sector area covered by each charging beam and its energy transfer coefficient, determines all maximum simultaneously chargeable sets of a heterogeneous multi-energy sector-type directional wireless charger, and ensures the maximality and independence of these sets, including all nodes that can be charged in parallel without missing any, and there is no larger set that includes this set as its true subset; and by optimizing the energy transmission direction in each set, the overall energy transmission efficiency is further improved, thereby achieving efficient and comprehensive wireless charging coverage;

[0036] (2) The present invention uses statistical charts to analyze the maximum simultaneous charging angle range of each node to be charged, and selects the optimal angle range set to ensure that all nodes can be effectively covered without missing any node, thereby improving the reliability and performance of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a flow chart of a charging direction selection method of a heterogeneous multi-energy sector type wireless charger according to an embodiment of the present invention;

[0038] Figure 2 A schematic diagram of a node to be charged and different charging sector coverage areas according to an embodiment of the present invention;

[0039] FIG3( a ) is a schematic diagram of a starting range of an energy transmission direction according to an embodiment of the present invention;

[0040] FIG3( b ) is a schematic diagram of the energy transmission direction termination range of an embodiment of the present invention;

[0041] Figure 4 A schematic diagram of multiple charging ranges according to an embodiment of the present invention;

[0042] Figure 5 A schematic diagram of determining the maximum simultaneously chargeable collective angle range according to an embodiment of the present invention;

[0043] Figure 6 Schematic diagram of optimized charging direction according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The present invention is further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0045] like Figure 1 As shown, the present invention provides a charging direction selection method for a heterogeneous multi-energy sector type wireless charger, comprising:

[0046] S1, obtain all nodes to be charged and directional mobile chargers; the energy transmitting antenna of the directional mobile charger generates a specified number of directional energy beams, each directional energy beam covers a fan-shaped area; the energy transfer coefficient of the directional energy beam is calculated by the following formula:

[0047]

[0048] in, Indicates the starting angle of the energy transmission direction range; is the end angle of the energy transmission direction range; θ represents the angle value; d represents the Euclidean distance between the current charging position of the directional mobile charger and the target node to be charged; represents the vertex angle of the directional energy beam; θ represents the direction of the node to be charged; D represents the radius of the fan-shaped area covered by the directional energy beam; α, β and δ represent the energy transmission coefficient parameters.

[0049] In this embodiment, a set of nodes to be charged U:={u1,u2,…,u n}, where n represents the number of nodes to be charged, a wireless charging sensor network (WRSN) consisting of a base station (BS) and a directional mobile charger (DMC). The network contains a candidate charging location set X: = {x1, x2, …, x n}. It is assumed that DMC can only charge WRSN at these candidate locations.

[0050] The energy transmitting antenna of the directional mobile charger generates multiple directional energy beams, each covering a sector area. The center line is along different directions with the position of the DMC as the center. Since the direction can be more easily expressed as an angle relative to a reference direction, a fixed reference direction is assumed, represented as the vector e REF , and assumes that all directions are expressed relative to e by default REF The angle is counterclockwise, and the positive direction is counterclockwise. If the charging position x and a certain reference direction e are given REF , each node u to be charged i ∈U has a corresponding direction vector and angle value u i .θ, this angle value is called node u i The node direction of . Let θ Ant represents the charging direction of a DMC with multiple charging beams, also known as the antenna direction θ Ant .

[0051] like Figure 2As shown in Figure 1, the areas with three different colors and different radii are the coverage areas of the three charging beams. The set of fan-shaped areas covered by the charging beams is defined as S Pos :=[S1,S2,…,S K ], where K is the number of fan-shaped areas. Each beam S i ∈S Pos Represented as a six-tuple, ψ describes the direction of the beam centerline, expressed relative to θ Ant The centerline angle, is the vertex angle of the beam, D is the radius of the beam sector, and α, β, and δ are energy transfer coefficient parameters. In this embodiment, it is assumed that the charging beam coverage does not overlap. It is assumed that the fields of the tuple can be accessed through dot operations, for example, S1.ψ means obtaining the ψ value of S1.

[0052] Specifically, the energy transfer coefficient formula uses α, β, and δ as three parameters, which include the influence of the receiver's transmission loss and energy collection hardware related factors. i ∈S Pos The direction angle ψ relative to θ Ant , the actual direction of the beam can be expressed as (θ Ant +S i .ψ)mod 2Π. For convenience, S1.ψ is set to 0, that is, the antenna direction θ is selected Ant As the charging direction of the first beam. Assume that in S Pos The parameters of the beam are fixed, but θ Ant is freely adjustable in the range [0,2π]. A major task in selecting the charging direction is to Ant Select a suitable set to achieve more efficient charging scheduling. Let d(x,u i ) represents the position x and the node u i Let D be the Euclidean distance between max =max{S j .d|S j ∈S Pos For a given charging position x, let N(x,D max ):={u i |u i ∈U,d(x,u i )≤D max}. Let N(x,θ Ant ,D max ) indicates that the antenna direction of the DMC is θ when the charging position is x Ant The set of nodes covered by beam k is but The antenna direction is θ AntThe set of nodes covered by the charging beam of the DMC at position x, referred to as the antenna direction θ Ant The set of covered nodes. N(x,θ Ant ) are all nodes in the antenna direction θ Ant The nodes just on the beam boundary are also covered by the antenna direction. Since the charge beams do not overlap,

[0053] S2, selects an unselected node to be charged, adjusts the energy transmission direction according to the node's position and the fan-shaped area covered by a specified number of directional energy beams, ensures that the node is within the effective transmission range of the directional energy beam, and obtains the energy transmission direction range.

[0054] As shown in Figure 3(a), the energy transmission direction is When node u i Located in S j The left boundary of the energy transfer direction shown in Figure 3(b) is Node u i Located in S j The energy transfer direction range is The calculation formula is as follows:

[0055]

[0056] The calculation formula is as follows:

[0057]

[0058] in, represents a set of sector indexes that can cover the nodes to be charged; j represents the sector index, S j represents the jth sector area, d represents the Euclidean distance between the current charging position of the directional mobile charger and the target node to be charged, D represents the radius of the beam sector, and u i Indicates the node to be charged.

[0059] S3, repeat step S2 until the energy transmission direction range of each node to be charged is obtained within the effective transmission range of the directional energy beam. Figure 4 As shown, the energy transmission direction range of multiple nodes to be charged is shown. In order to distinguish the node u i Sector S j and The overlapping and non-overlapping angle ranges covered are represented on circles of different radii. Circles of different radii represent different nodes, and the color depth distinguishes the coverage angle range of different beams for each node.

[0060] S4, using a statistical chart to represent the energy transmission direction range corresponding to each node to be charged, and determining a maximum simultaneous charging angle range set for each node to be charged based on the statistical chart.

[0061] Specifically, the S4 specifically includes:

[0062] For each node to be charged, a tuple is constructed, and the tuple is used to store the information of the node to be charged and the energy transmission direction range; all tuples are sorted in ascending order according to the angle values ​​corresponding to the energy transmission direction range, and the energy transmission direction range corresponding to each sorted tuple is represented in the form of a statistical chart, and the maximum set of simultaneously chargeable angle ranges for each node to be charged is determined based on the statistical chart; the statistical chart is a bar chart.

[0063] Specifically, the maximum simultaneous charging direction (Local Maximum, LMax) is determined using statistical charts: for any two directions θ Ant1 and θ Ant2 , if for all k∈{1,2,…,K} there exists There exists at least one k that satisfies Then N(x,θ Ant1 ) is less than N(x,θ Ant2 ), called the antenna direction θ Ant1 Less than θ Ant2 If a direction θ Ant ∈[0,2π] is not less than any other direction, it is called the LMax direction, otherwise it is a non-LMax direction. Ant ) is called an LMax node set, otherwise it is a non-LMax node set. There may be multiple LMax directions corresponding to a single node set. In this case, any LMax direction can be used as a representation of the direction.

[0064] like Figure 5 As shown, the definition of a tuple is j = 1 indicates that the node to be charged is at the starting position of the charging beam coverage area, j = 2 indicates that the node to be charged is at the ending position of the charging beam coverage area, τ stores the angle value, ξ indicates that τ is the starting angle or ending angle of the node to be charged ui under the charging beam coverage area, ξ = 0 indicates that τ is the starting angle, ξ = 1 indicates that τ is the ending angle, and η stores the node, which is ui in this case. k is the corresponding charging beam index, c is the corresponding energy transfer coefficient, and the latter two parameters are used to refine the charging direction in the post-processing step. We assume that the tuple l can be accessed using dot operations, for example, l.τ represents the τ value of l. We collect and sort all tuples corresponding to the nodes in N(x, Dmax) in ascending order of τ values ​​into a list LAngRng = [l1, l2, ..., lh], where h ≤ k·|N(x, Dmax)|, and then we construct a set SLMaxRng(x) = {(li, li+1)|li.ξ = 0, li+1.ξ = 1, 1≤i≤h} to store the LMax angle range information. SLMaxRng(x) is a set of two-tuple elements, each element determines an angle range. Figure 5 The determination of five tuple items in SLMaxRng(x) is shown. Each orange background bar represents an item (l1, l2), and each row corresponds to a different node. The depth of color distinguishes different parts of the same node. In this figure, the six tuple items in SLMaxRng(x) are (l2, l3), (l4, l5), (l8, l9), (l10, l11), (l13, l14) and (l15, l16), which correspond to and These angle ranges correspond to 6 node point sets {u1, u2, u4}, {u1, u2, u3}, {u4}, {u3}, {u1, u3} and {u3, u4}, each of which can be covered by SPos at the same time.

[0065] S5, removing non-optimal angle ranges from the maximum simultaneously chargeable angle range set of each node to be charged, to obtain an optimal simultaneously chargeable angle range set.

[0066] Specifically, the S5 specifically includes:

[0067] S51, determining the maximum simultaneous charging angle range set of each node to be charged, if there is a node set n1 and another node set n2, Then enter S52;

[0068] S52, if there are two identical node sets n1=n2, if u i .c(θ Ant1 )≤u i.c(θ Ant2 ) for any u i ∈N(x,θ Ant1 ) holds, and there is at least one u i Make u i .c(θ Ant1 ) i .c(θ Ant2 ), then the angle range corresponding to n1 is a non-optimal angle range; if For any u i ∈N(x,θ Ant1 ),u i .c(θ Ant1 )≤u i .c(θ Ant2 ) are all true, then the angle range corresponding to n1 is a non-optimal angle range; where u i represents the node to be charged; N(x,θ Ant1 ) indicates that the charging direction is θ Ant1 The set of nodes to be charged covered by the charging beam of the directional mobile charger at position x; u i .c(θ Ant ) indicates that the charging direction is θ Ant The directional mobile charger at x to node u i The energy transfer coefficient of

[0069] S53, removing non-optimal angle ranges from the maximum simultaneously chargeable angle range set to obtain an optimal simultaneously chargeable angle range set.

[0070] Specifically, the optimal charging direction (Local Best) is defined as: if the performance of a direction is not worse than other directions, it is called the LBest direction, otherwise it is a non-LBest direction. For a charging position x, the antenna direction θ Ant , node u i , suppose u i .c(θ Ant ) represents the antenna direction θ Ant The DMC at x to node u i The energy transfer coefficient, the node direction angle is u i .θ. The definition of LMax direction only reflects the comparison of corresponding node sets, and the directions need to be further classified by additionally considering the comparison between energy transfer coefficients. For any two antenna directions θ ant1 ,θ Ant2 ∈[0,2π], if any of the following two conditions is met, it is considered that θ Ant1 The function ratio θ Ant2 Case 1: If N(x,θ Ant1 )=N(x,θ​Ant2 ), then u i .c(θ Ant1 )≤u i .c(θ Ant2 ) for any u i ∈N(x,θ Ant1 ) holds, and there is at least one u i Make u i .c(θ Ant1 ) i .c(θ Ant2 ). Case 2: If N(x,θ Ant1 )≠N(x,θ Ant2 ), then for any u i ∈N(x,θ Ant1 ),u i .c(θ Ant1 )≤u i .c(θ Ant2 ) are all true. If N(x,θ Ant1 )=N(x,θ Ant2 ) and u i .c(θ Ant1 )=u1.c(θ Ant2 ) for any u1∈N(x,θ Ant ) holds true, then we call θ Ant1 and θ Ant2 are functionally equivalent, and we will denote this case as θ Ant1 ≡θ Ant2 The optimal charging direction angle range set is obtained by removing the non-LBest angle range from the LMax angle range obtained in the previous step, and then constructing a set S LBestRng (x) to store the LBest angle range information, that is: S LBestRng (x) = {(l i ,l i+1 )}.

[0071] S6, selecting a representative charging direction in each angle range in the optimal simultaneously charging angle range set for optimization, to obtain an optimal energy transfer direction set.

[0072] Specifically, the selection formula of the representative charging direction is as follows:

[0073]

[0074] Where l1 represents the tuple corresponding to the starting angle of the energy transmission direction range, l2 represents the tuple corresponding to the ending angle of the energy transmission direction range; τ represents the size of the angle value; θ Rep Indicates the representative charging direction; when θ Rep ​>2π, θ Rep =θ Rep -2π.

[0075] The specific optimization method is: change θ Rep direction, so that the node to be charged moves to the center of the coverage area of ​​the directional energy beam. Figure 6 As shown, the figure shows the range of energy transmission direction The optimal angle range for simultaneous charging The charging direction is θ Rep .

[0076] Specifically, the optimal energy transfer direction set obtained is S DirRep (x): = {(θ Rep ,N(x,θ Rep )|θ Rep ∈s Rep (x)};

[0077] Where x is the charging position of the directional mobile charger; θ Rep The representative charging direction indicating the optimal charging angle range; s Rep (x) represents the representative charging direction set corresponding to the optimal angle range; N(x,θ Rep ) indicates that the charging direction is θ Rep The set of nodes covered by the charging beam of the directional mobile charger at position x.

[0078] Specifically, the representative charging direction obtained after optimization is used as the corresponding angle of the final antenna direction. For the charging position x and N(x,D max ) has obtained a set of antenna directions, each direction covers a set of LBest nodes. Ant (x) is S LBestRng The set of antenna directions corresponding to the angle range of the LBest node in (x). Ant and its corresponding N(x,θ Ant ), we create a tuple (θ Dir ,N Ant ), where θ Dir =θ Ant ,N Ant =N(x,θ Ant ), and collect all these tuples into S DirRep (x), the optimal energy transfer direction set is obtained, and the obtained S DirRep (x) is the optimal charging direction set. The charging device charges the directions in the optimal charging direction set in turn, which can achieve full coverage of all sensor nodes and high-efficiency energy transmission. Ant That is θRep .

[0079] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A charging direction selection method for a heterogeneous multi-energy sector type wireless charger, characterized in that: include: S1, obtain all nodes to be charged and directional mobile chargers; The energy transmitting antenna of the directional mobile charger generates a specified number of directional energy beams, each directional energy beam covers a sector-shaped area; S2, select an unselected node to be charged, adjust the energy transmission direction according to the location of the node and the fan-shaped area covered by the specified number of directional energy beams, ensure that the node is within the effective transmission range of the directional energy beam, and obtain the energy transmission direction range; S3, repeating step S2 until an energy transmission direction range of each node to be charged is obtained within the effective transmission range of the directional energy beam; S4, using a statistical chart to represent the energy transmission direction range corresponding to each node to be charged, and determining a maximum simultaneous charging angle range set for each node to be charged based on the statistical chart; S5, removing non-optimal angle ranges from the maximum simultaneously chargeable angle range set of each node to be charged, to obtain an optimal simultaneously chargeable angle range set; S6, selecting a representative charging direction in each angle range in the optimal simultaneously charging angle range set for optimization, to obtain an optimal energy transfer direction set.

2. The charging direction selection method of the heterogeneous multi-energy sector type wireless charger according to claim 1 is characterized in that: In S2, the energy transmission direction range is The calculation formula is as follows: The calculation formula is as follows: in, Indicates the starting angle of the energy transmission direction range; is the end angle of the energy transmission direction range; θ represents the angle value; represents a set of sector indexes that can cover the nodes to be charged, j represents the sector index, S j represents the jth sector area; d represents the Euclidean distance between the current charging position of the directional mobile charger and the target node to be charged, D represents the radius of the beam sector, and u i Indicates the node to be charged.

3. The charging direction selection method of the heterogeneous multi-energy sector type wireless charger according to claim 1 is characterized in that: The S4 specifically includes: For each node to be charged, a tuple is constructed, and the tuple is used to store the information of the node to be charged and the energy transmission direction range; all tuples are sorted in ascending order according to the angle values ​​corresponding to the energy transmission direction range, and the energy transmission direction range corresponding to each sorted tuple is represented in the form of a statistical chart, and the maximum set of angle ranges that can be charged simultaneously for each node to be charged is determined based on the statistical chart.

4. The charging direction selection method of the heterogeneous multi-energy sector type wireless charger according to claim 1, characterized in that: In S5, removing the non-optimal angle range from the maximum simultaneously chargeable angle range set of each node to be charged to obtain the optimal simultaneously chargeable angle range set specifically includes: S51, determining the maximum simultaneous charging angle range set of each node to be charged, if there is a node set n1 and another node set n2, Then enter S52; S52, if there are two identical node sets n1=n2, if u i .c(θ Ant1 )≤u i .c(θ Ant2 ) for any u i ∈N(x,θ Ant1 ) holds, and there is at least one u i Make u i .c(θ Ant1 ) i .c(θ Ant2 ), then the angle range corresponding to n1 is a non-optimal angle range; if For any u i ∈N(x,θ Ant1 ),u i .c(θ Ant1 )≤u i .c(θ Ant2 ) are all true, then the angle range corresponding to n1 is a non-optimal angle range; where u i represents the node to be charged; N(x,θ Ant1 ) indicates that the charging direction is θ Ant1 The set of nodes to be charged covered by the charging beam of the directional mobile charger at position x; u i .c(θ Ant ) indicates that the charging direction is θ Ant The directional mobile charger at x to node u i The energy transfer coefficient of​ S53, removing non-optimal angle ranges from the maximum simultaneously chargeable angle range set to obtain an optimal simultaneously chargeable angle range set.

5. The charging direction selection method of the heterogeneous multi-energy sector type wireless charger according to claim 4 is characterized in that: The calculation formula of the energy transfer coefficient is as follows: Where d represents the Euclidean distance between the current charging position of the directional mobile charger and the target charging node; represents the vertex angle of the directional energy beam; θ represents the direction of the node to be charged; D represents the radius of the fan-shaped area covered by the directional energy beam; α, β and δ represent the energy transfer coefficient parameters.

6. The charging direction selection method of the heterogeneous multi-energy sector type wireless charger according to claim 1, characterized in that: In S6, a representative charging direction is selected in each angle range in the optimal simultaneously charging angle range set for optimization, specifically including: A representative charging direction is selected in each angle range in the optimal simultaneously chargeable angle range set, as follows: Where l1 represents the tuple corresponding to the starting angle of the energy transmission direction range, l2 represents the tuple corresponding to the ending angle of the energy transmission direction range; τ represents the size of the angle value; θ Rep Indicates the representative charging direction; Change θ Rep direction, so that the node to be charged moves toward the center of the coverage area of ​​the directional energy beam.

7. The charging direction selection method of the heterogeneous multi-energy sector type wireless charger according to claim 1, characterized in that: In S6, the optimal energy transfer direction set is S DirRep (x): = {(θ Rep ,N(x,θ Rep )|θ Rep ∈s Rep (x)}; Where x is the charging position of the directional mobile charger; θ Rep The representative charging direction indicating the optimal charging angle range; s Rep (x) represents the representative charging direction set corresponding to the optimal angle range; N(x,θ Rep ) indicates that the charging direction is θ Rep The set of nodes covered by the charging beam of the directional mobile charger at position x.

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