Microwave energy distribution and transmission control system based on multi-node receiver

Abstract

This invention provides a microwave energy distribution and transmission control system based on multi-node reception, relating to the field of data processing technology. The system is used to: construct the running trajectory of each node in chronological order based on the real-time coordinates and velocity of each node; calculate the relative distance and direction of movement differences between adjacent nodes and extract spatial correlation factors; calculate the trajectory offset frequency of each node within a continuous time period; obtain a transmission integrity score and a node status score based on the historical energy reception records of each node; obtain the energy demand value of each node and assign priority labels to each node based on the energy demand value and the node status score; construct multiple beam transmitting units; establish a mapping relationship between nodes and beam transmitting units to obtain a beam allocation matrix; determine the transmission command; and drive the microwave transmitting device to perform energy transmission. This invention can control the energy distribution and transmission between multiple nodes.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a microwave energy distribution and transmission control system based on multi-node reception. Background Technology

[0002] Currently, microwave wireless power transmission technology has been widely applied in long-distance power supply scenarios, especially in areas lacking stable power grid connections, such as ocean-going vessels and island facilities. Space-based solar power stations collect solar energy through on-orbit solar panels, convert it into microwave energy, and then transmit it directionally from a microwave transmitting antenna to a ground receiving antenna, achieving wireless power supply across regions. This system, utilizing attitude control and tracking algorithms, can achieve beam-directed control of a single target, thereby completing energy transfer.

[0003] However, there may be limitations in scenarios where multiple targets receive energy simultaneously, especially when nodes are constantly changing or densely distributed. For example, in a group of fishing vessels operating at sea, if more than ten vessels are moving simultaneously in the area, due to the limited number of satellite beams and the lag in update rate, it may not be able to accurately track the position and demand changes of each receiving node, causing some vessels to lose energy reception for a short period of time, affecting the continuous power supply of communication, navigation and operating equipment. Summary of the Invention

[0004] The purpose of this invention is to provide a microwave energy distribution and transmission control system based on multi-node reception, which aims to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0006] A microwave energy distribution and transmission control system based on multi-node reception, the system comprising:

[0007] The trajectory module is used to construct the running trajectory of each node in chronological order based on the real-time coordinates and speed of each node, thereby obtaining a set of node time series trajectories.

[0008] The feature module is used to calculate the relative distance and movement direction difference between adjacent nodes based on the node time series trajectory set, and extract spatial correlation factors to obtain the node spatial relationship dataset;

[0009] The scoring module is used to calculate the trajectory offset frequency of each node in a continuous time period based on the node spatial relationship dataset, and obtain the trajectory stability score; based on the historical energy reception record of each node, the transmission integrity score is obtained; and the trajectory stability score and the transmission integrity score are fused to obtain the node status score.

[0010] The priority module is used to obtain the energy demand value of each node, and assign priority labels to each node based on the value and the node status score, thus obtaining a priority label set;

[0011] The scheduling module is used to construct multiple beam transmitting units based on the transmission parameters of the microwave transmitting device, and to establish a mapping relationship between nodes and beam transmitting units by combining a priority tag set, thereby obtaining a beam allocation matrix;

[0012] The command module is used to determine the transmission command based on the beam allocation matrix and drive the microwave transmitter to transmit energy.

[0013] Furthermore, the feature module includes:

[0014] The location extraction unit is used to extract the coordinates of adjacent nodes at the same time point based on the node time series trajectory set, so as to obtain the node synchronous coordinate set;

[0015] The distance calculation unit is used to calculate the relative distance between adjacent nodes based on the node synchronization coordinate set, and obtain the relative distance between nodes;

[0016] The direction extraction unit is used to extract the displacement vector of each node between adjacent time points based on the node time series trajectory set, so as to obtain the node direction vector set;

[0017] The difference calculation unit is used to calculate the directional angle between adjacent nodes based on the node direction vector set, and obtain the difference in movement direction.

[0018] Furthermore, the feature module also includes:

[0019] The distance factor unit is used to calculate the distance factor between nodes based on their relative distances, thus obtaining the distance factor matrix;

[0020] The direction factor unit is used to calculate the direction factor between nodes based on the difference in movement direction, and obtain the direction factor matrix.

[0021] The factor fusion unit is used to fuse the distance factor matrix and the orientation factor matrix to obtain the spatial correlation factor matrix;

[0022] The spatial association factor unit is used to determine the spatial association factor of each node pair based on the spatial association factor matrix, thereby obtaining the node spatial relationship dataset.

[0023] Furthermore, the factor fusion unit includes:

[0024] The spatial association factor calculation unit is used to calculate the degree of consistency between nodes in both spatial position and direction of movement based on distance factor and direction, thus obtaining a spatial-temporal consistency enhancement term; and to calculate the degree of difference between direction and distance when measuring spatial association, thus obtaining a spatial-temporal inconsistency suppression term.

[0025] Based on the spatial-temporal consistency enhancement term, the coupling strength between nodes is calculated when they are simultaneously consistent in spatial distance and direction of motion, thus obtaining the response driving term; based on the spatial-temporal inconsistency suppression term, the degree of consistency deviation between the direction factor and the distance factor is calculated, thus obtaining the structure suppression term.

[0026] By fusing the response-driven term and the structural inhibition term, the spatial correlation factor is obtained.

[0027] Furthermore, the scoring module includes:

[0028] The temporal trajectory extraction unit is used to extract the coordinates of each node at continuous time points based on the node spatial relationship dataset, and obtain the trajectory point set;

[0029] The direction change recognition unit is used to calculate the displacement direction difference between any two adjacent time points based on the trajectory point set, and obtain the trajectory direction change sequence;

[0030] The offset frequency calculation unit is used to calculate the trajectory offset frequency based on the count value of the abrupt change event in the trajectory direction change sequence and the corresponding time length.

[0031] The stability scoring unit is used to calculate the trajectory stability when each node is displaced based on the trajectory offset frequency, and obtain the trajectory stability score.

[0032] Furthermore, the scoring module also includes:

[0033] The receiving log unit is used to extract the receiving status sequence marked with timestamps based on the historical energy receiving records of each node, and obtain the receiving status time series.

[0034] The interruption event analysis unit is used to identify energy reception interruption segments based on the reception status time series, count the number of interruptions and the duration of each interruption segment, and obtain a set of reception continuity parameters.

[0035] The integrity scoring unit is used to calculate the reception integrity of each node when receiving energy based on the reception continuity parameter set, and obtain the transmission integrity score.

[0036] The status scoring unit is used to fuse the trajectory stability score and the transmission integrity score to obtain the node status score.

[0037] Furthermore, the status scoring unit includes:

[0038] The node status scoring calculation unit is used to calculate the trajectory stability of the node within the evaluation period based on the trajectory offset frequency, and obtain the trajectory stability enhancement term; and to calculate the reception integrity attenuation term based on the number of historical energy reception interruptions and the total duration of the interruptions.

[0039] The intensity of trajectory change and the degree of reception interruption per unit time under a unit number of reception interruptions are calculated to measure the degree of coupling between trajectory behavior and reception behavior, and the difference suppression term is obtained.

[0040] The trajectory stability enhancement term, reception integrity attenuation term, and difference suppression term are fused to obtain the node state score.

[0041] Furthermore, the priority module includes:

[0042] The energy demand unit is used to obtain the energy demand values ​​reported by each node and to obtain a set of energy demand values.

[0043] The status scoring unit is used to pair the energy demand value set with the corresponding node status score based on the node status score of each node, so as to obtain the node score demand pair set.

[0044] The priority value calculation unit is used to calculate the priority value of each node according to the node scoring requirements set, and obtain the priority value sequence.

[0045] The tag allocation unit is used to assign priority tags to each node according to the priority value sequence, thereby obtaining a priority tag set.

[0046] Furthermore, the scheduling module includes:

[0047] The parameter parsing unit is used to extract the maximum number of transmitted beams, the beam coverage angle range, and the direction adjustment range based on the transmission parameters of the microwave transmitting device, and obtain the transmission parameter set.

[0048] The beamforming unit is used to construct the structural configuration of multiple beam transmitting units based on the transmission parameter set, thereby obtaining a beam transmitting unit set.

[0049] The mapping relationship unit is used to establish the corresponding mapping relationship between nodes and beam transmitting units based on the priority label set, combined with the real-time coordinates of the nodes and the beam transmitting unit set, so as to obtain the node beam mapping set;

[0050] The beam assignment matrix generation unit is used to convert the mapping relationship into a matrix structure based on the node beam mapping set to obtain the beam assignment matrix.

[0051] Furthermore, the instruction module includes:

[0052] The instruction construction unit is used to extract the target node pointing relationship of each beam transmitting unit in different time periods based on the beam allocation matrix, and generate a structured instruction dataset.

[0053] The encoding generation unit is used to construct a sequence of transmission control commands that conforms to the microwave transmitting device based on the structured instruction dataset, thereby obtaining a transmission control command set;

[0054] The drive signal unit is used to generate corresponding drive control signals according to the transmit control command set, so as to obtain a drive control signal sequence;

[0055] The execution unit is used to transmit the drive control signal sequence to the microwave transmitter and drive it to perform beam switching and direction adjustment according to the instructions to realize energy transmission.

[0056] The above-described solution of the present invention has at least the following beneficial effects:

[0057] This invention constructs a time-series trajectory set of nodes, enabling continuous recording and prediction of the motion state of multiple target nodes. It does not rely on static position data at a single moment, but rather extracts the spatial position changes of each node at different time points based on historical continuous coordinate and velocity information, thereby realizing dynamic modeling of node trajectories. Traditional single-point positioning methods are often lagging, resulting in the inability to track energy transmission beams in a timely manner. However, this system can predict the node distribution at future moments in advance, making subsequent beam scheduling proactive and forward-looking, effectively reducing problems such as node disconnection, beam drift, or energy allocation errors.

[0058] This invention constructs a spatial relationship dataset by systematically analyzing the differences in relative distance and movement direction between nodes. It is not limited to the absolute position of nodes, but further extracts the spatial structural features between nodes, enabling the system to more comprehensively understand the geometric layout and mutual behavioral relationships of the node cluster. Analysis based solely on distance may lead to beam miscovery, while the introduction of directional differences can effectively avoid such problems. The node spatial relationship dataset provides a higher-dimensional and more expressive data foundation for subsequent scoring and scheduling.

[0059] This invention integrates node trajectory offset frequency with historical energy reception integrity data to generate node status scores. This enables the system to quantify the importance of nodes before beam allocation, changing the traditional method of allocating energy based on instantaneous demand or fixed rules. It avoids resource waste caused by drastic node fluctuations or unstable energy reception, and prioritizes nodes with trajectory stability and continuous reception capabilities, improving the energy efficiency ratio of the system output. The trajectory offset frequency, as a dynamic stability indicator, reflects the predictability of the node's future state, while the reception integrity record ensures that energy resources are tilted towards stable targets that have been successfully received in the past, achieving more intelligent and refined energy transmission control.

[0060] This invention generates a multi-dimensional priority label set by combining the energy demand currently reported by the nodes with the node status score, thereby realizing fine-grained classification and scheduling control among nodes. The system no longer treats all receiving nodes as equivalent targets, but instead assigns different labels to nodes with different stability and different urgency of needs through multi-source data analysis. In the case of limited beam resources or fluctuating energy supply, it can ensure that the most critical nodes receive priority support, maximize the task completion rate of the system output, and ensure that the command and communication of the entire operation cluster is not interrupted.

[0061] This invention generates structured transmission control commands through a beam allocation matrix, which are then converted into drive control signals to drive the microwave transmitter to complete energy transmission. This constructs an integrated closed-loop mechanism, effectively avoiding execution deviations caused by data conversion errors, control loss, or scheduling logic interruptions. The use of structured commands not only enhances the system's automation level but also provides high scalability and compatibility, ensuring that each scheduling strategy can be accurately and efficiently transmitted to the hardware layer, enabling the scheduling strategy to be converted at the microsecond level. Attached Figure Description

[0062] Figure 1 This is a flowchart of a microwave energy distribution and transmission control system based on multi-node reception provided in an embodiment of the present invention. Detailed Implementation

[0063] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0064] like Figure 1 As shown, embodiments of the present invention propose a microwave energy distribution and transmission control system based on multi-node reception, the system comprising:

[0065] The trajectory module is used to construct the running trajectory of each node in chronological order based on the real-time coordinates and speed of each node, thereby obtaining a set of node time series trajectories.

[0066] The feature module is used to calculate the relative distance and movement direction difference between adjacent nodes based on the node time series trajectory set, and extract spatial correlation factors to obtain the node spatial relationship dataset;

[0067] The scoring module is used to calculate the trajectory offset frequency of each node in a continuous time period based on the node spatial relationship dataset, and obtain the trajectory stability score; based on the historical energy reception record of each node, the transmission integrity score is obtained; and the trajectory stability score and the transmission integrity score are fused to obtain the node status score.

[0068] The priority module is used to obtain the energy demand value of each node, and assign priority labels to each node based on the value and the node status score, thus obtaining a priority label set;

[0069] The scheduling module is used to construct multiple beam transmitting units based on the transmission parameters of the microwave transmitting device, and to establish a mapping relationship between nodes and beam transmitting units by combining a priority tag set, thereby obtaining a beam allocation matrix;

[0070] The command module is used to determine the transmission command based on the beam allocation matrix and drive the microwave transmitter to transmit energy.

[0071] In this embodiment of the invention, the trajectory module is used to construct the running trajectory of each node in chronological order based on the real-time coordinates and velocity of each node, obtaining a node time-series trajectory set, realizing the historical record and future trend prediction of node spatial behavior, and providing accurate and continuous data support for subsequent behavior modeling and state assessment; the feature module is used to calculate the relative distance and movement direction difference between adjacent nodes based on the node time-series trajectory set, and extract spatial correlation factors to obtain a node spatial relationship dataset, while considering relative distance and movement direction to identify which nodes have similar movement trends and drastic behavioral differences, thereby reducing beam switching frequency and energy waste, and improving the concentration and stability of transmission; the scoring module is used to calculate the trajectory offset frequency of each node in a continuous time period based on the node spatial relationship dataset, obtaining a trajectory stability score; and obtain a transmission integrity score based on the historical energy reception records of each node, combining the trajectory stability score with the transmission integrity score. The integrity score fusion yields a node status score, enabling a quantitative evaluation of the stability and reception continuity of each node's behavior, avoiding blind reliance on instantaneous data in energy scheduling. The priority module acquires the energy demand value of each node and assigns priority tags to each node based on these demands and the node status score, resulting in a priority tag set. This allows for more focused and precise energy resource allocation, preventing energy waste on targets with poor status or low demand. The scheduling module constructs multiple beam transmission units based on the microwave transmitter's transmission parameters and, combined with the priority tag set, establishes a mapping relationship between nodes and beam transmission units, resulting in a beam allocation matrix. This mapping from priority tags to beam projection directions in physical space provides a clear execution target for the scheduling logic. The command module determines the transmission command based on the beam allocation matrix and drives the microwave transmitter to transmit energy, ensuring that every scheduling decision is executed by the system in a timely and accurate manner.

[0072] The trajectory module is used to construct the running trajectory of each node in chronological order based on the real-time coordinates and velocity of each node, resulting in a node time series trajectory set, specifically including:

[0073] First, the system sampling period needs to be set. For example, the system collects the coordinates and velocities of all target nodes every 1 or 5 seconds. The system then uses a microwave receiver to transmit the spatial coordinates of each target node in real time via its own positioning terminal, such as a GPS device. and the corresponding velocity vector ,in Indicates the node number. This indicates the current moment. After receiving the data, the system stores it in the time-series database, forming the basic state set of the node at continuous time points. To ensure trajectory continuity and accuracy, the system performs clock synchronization processing on the data, removes outliers such as discontinuous timestamps and excessive coordinate jumps, and smooths the position and velocity data using a Kalman filter algorithm to reduce the impact of environmental errors.

[0074] After data collection, the system sorts the coordinates and velocities of each node according to the time dimension, obtaining the node... At any moment The following is a sequence of trajectory points, each trajectory point being... And its corresponding speed The system stores the sequence of trajectory points in a structured manner, forming nodes. Time series trajectory For multiple nodes, the system processes them sequentially and combines the trajectory sets of all nodes into a total node time series trajectory set, denoted as . ,in This represents the total number of receiving nodes.

[0075] In a preferred embodiment of the present invention, the feature module includes:

[0076] The location extraction unit is used to extract the coordinates of adjacent nodes at the same time point based on the node time series trajectory set, so as to obtain the node synchronous coordinate set;

[0077] The distance calculation unit is used to calculate the relative distance between adjacent nodes based on the node synchronization coordinate set, and obtain the relative distance between nodes;

[0078] The direction extraction unit is used to extract the displacement vector of each node between adjacent time points based on the node time series trajectory set, so as to obtain the node direction vector set;

[0079] The difference calculation unit is used to calculate the directional angle between adjacent nodes based on the node direction vector set, and obtain the difference in movement direction.

[0080] In this embodiment of the invention, the location extraction unit is used to extract the coordinates of adjacent nodes at the same time point based on the node time series trajectory set, to obtain the node synchronization coordinate set, ensuring data synchronization at the time point and avoiding data misalignment problems caused by node sampling delay or inconsistent timestamps; the distance calculation unit is used to calculate the relative distance between adjacent nodes based on the node synchronization coordinate set, to obtain the node relative distance, accurately reflecting the density and spatial coverage characteristics between nodes, providing a quantitative basis for subsequent processing; the direction extraction unit is used to extract the displacement vector of each node between adjacent time points based on the node time series trajectory set, to obtain the node direction vector set, which not only reveals the spatial movement trend of nodes, but can also be used to analyze the cooperative behavior between nodes, providing support for trajectory stability judgment; the difference calculation unit is used to calculate the directional angle between adjacent nodes based on the node direction vector set, to obtain the movement direction difference, quantifying the consistency of node behavior, effectively improving the adaptability of beam allocation, and ensuring the directional accuracy and continuity of energy transmission.

[0081] The distance calculation unit is used to calculate the relative distance between adjacent nodes based on the node synchronization coordinate set, and to obtain the relative distance between nodes. Specifically, it includes:

[0082] The system first receives the node time series trajectory set generated by the trajectory module, and then determines the time step based on the set time step. The trajectories of all nodes are time-aligned, and those that occur at the same time are filtered out. The set of nodes below This forms a node synchronization coordinate set, which represents the spatial location information of all nodes at the same point in time. Each node... The position is determined by its coordinate vector This indicates that the distance calculation unit then calculates the distance between each pair of adjacent nodes. and The coordinate differences between them are calculated using the Euclidean distance formula: ,in Don't be a node and In the two-dimensional plane, the system repeats the above operation for all node pairs that meet the adjacency condition. The adjacency condition can be preset to a physical distance of less than a certain threshold. Alternatively, the system can automatically select several pairs of nodes with the smallest distance as adjacent nodes, and the calculation results are stored in matrix form, i.e., the node relative distance matrix. Each element Represents a node With nodes At any moment Spatial distance, the final system in continuous time Using the index, a sequence of relative distances between node pairs is formed at multiple time points.

[0083] The direction extraction unit is used to extract the displacement vector of each node between adjacent time points based on the node time series trajectory set, thereby obtaining the node direction vector set, specifically including:

[0084] The system receives the node time series trajectory set output by the trajectory module and sets the time window. The continuous coordinates of each node are traversed in chronological order. For any node... In time and The coordinates corresponding to the time are respectively and Based on the coordinate difference between the two moments, calculate the node. The displacement vector within this time interval is given by the following formula:

[0085] This vector represents the node at time intervals. The direction of movement and displacement length within the node are quantitative expressions of the current movement trend of the node. The system extracts the displacement vector of each node in all consecutive time periods in sequence to form a node direction vector set, and finally obtains the node direction vector set.

[0086] In a preferred embodiment of the present invention, the feature module further includes:

[0087] The distance factor unit is used to calculate the distance factor between nodes based on their relative distances, thus obtaining the distance factor matrix;

[0088] The direction factor unit is used to calculate the direction factor between nodes based on the difference in movement direction, and obtain the direction factor matrix.

[0089] The factor fusion unit is used to fuse the distance factor matrix and the orientation factor matrix to obtain the spatial correlation factor matrix;

[0090] The spatial association factor unit is used to determine the spatial association factor of each node pair based on the spatial association factor matrix, thereby obtaining the node spatial relationship dataset.

[0091] In this embodiment of the invention, the distance factor unit is used to calculate the distance factor between nodes based on their relative distance, obtaining a distance factor matrix that reflects the proximity of nodes in two-dimensional space, providing a basis for subsequent priority scheduling; the direction factor unit is used to calculate the direction factor between nodes based on the difference in movement direction, obtaining a direction factor matrix that reflects the similarity of the movement trends of nodes within the same time period, identifying potential coordination or conflict relationships between nodes from a dynamic behavior perspective, and improving the semantic level of spatial modeling; the factor fusion unit is used to fuse the distance factor matrix and the direction factor matrix to obtain a spatial correlation factor matrix, effectively solving the judgment bias problem caused by a single feature index and reflecting the consistency of spatial behavior between nodes; the spatial correlation factor unit is used to determine the spatial correlation factor of each node pair based on the spatial correlation factor matrix, obtaining a node spatial relationship dataset, which serves as the weight basis for the scheduling system and provides a basis for subsequent system operations.

[0092] The distance factor unit is used to calculate the distance factor between nodes based on their relative distances, resulting in a distance factor matrix. Specifically, it includes:

[0093] The system first obtains the spatial coordinates of each node at the current moment from the trajectory module and pairs all nodes together. For any pair of nodes, the system extracts the coordinates of their synchronization time point. Then, it calculates the spatial distance between the pair of nodes using the Euclidean distance formula. The result is the actual spatial distance between the node pairs. To eliminate the influence of differences in node distribution density in different scenarios on the distance values, the system then normalizes all calculated values. The normalization method is to map all distance values ​​to the interval between 0 and 1. A linear normalization algorithm can be used to extract the minimum and maximum distance values ​​of all node pairs in the current node set. The normalized values ​​are the distance factors between node pairs, representing the relative proximity of two nodes within a unit range. The system organizes the distance factors between all node pairs in matrix form to form a distance factor matrix.

[0094] The direction factor unit is used to calculate the direction factor between nodes based on the difference in movement direction, resulting in a direction factor matrix, which specifically includes:

[0095] The system first extracts the displacement vector of each node between two consecutive time points from the time series trajectory set. For any node, the system records its coordinate values ​​at adjacent time points and calculates its displacement vector. Similarly, the displacement vector of the other node is calculated. Then, the system quantifies the difference in motion direction between each pair of nodes and calculates the direction angle using the cosine formula. If a node remains stationary (magnitude is zero) for a certain period, the system marks its included angle as the maximum value (180°) to represent complete inconsistency. The system then converts the included angle into a directional difference value and normalizes it to obtain the direction factor. The normalization method can be one of the following transformations: This formula ensures that when the directions of two nodes are completely consistent (the angle between them is 0), the direction factor is 1; when the directions are completely opposite (the angle between them is π), the direction factor is 0, reflecting their degree of consistency. Finally, the system organizes the direction factors between all node pairs into a direction factor matrix.

[0096] In a preferred embodiment of the present invention, the factor fusion unit includes:

[0097] The spatial association factor calculation unit is used to calculate the degree of consistency between nodes in both spatial position and direction of movement based on distance factor and direction, thus obtaining a spatial-temporal consistency enhancement term; and to calculate the degree of difference between direction and distance when measuring spatial association, thus obtaining a spatial-temporal inconsistency suppression term.

[0098] Based on the spatial-temporal consistency enhancement term, the coupling strength between nodes is calculated when they are simultaneously consistent in spatial distance and direction of motion, thus obtaining the response driving term; based on the spatial-temporal inconsistency suppression term, the degree of consistency deviation between the direction factor and the distance factor is calculated, thus obtaining the structure suppression term.

[0099] By fusing the response-driven term and the structural inhibition term, the spatial correlation factor is obtained.

[0100] In this embodiment of the invention, the spatial association factor calculation unit is used to calculate the degree of consistency between nodes in both spatial position and direction of motion based on distance factor and direction, to obtain a spatial-temporal consistency enhancement term, identify nodes moving together, and reflect their high degree of synergy; calculate the degree of difference between direction and distance in measuring spatial association, to obtain a spatial-temporal inconsistency suppression term, effectively reducing the system's weight on interfering nodes and avoiding misjudgment of association due to sudden changes in node behavior; calculate the coupling strength between nodes when they are simultaneously consistent in spatial distance and direction of motion based on the spatial-temporal consistency enhancement term, to obtain a response driving term; calculate the degree of consistency deviation between direction factor and distance factor based on the spatial-temporal inconsistency suppression term, to obtain a structure suppression term; and fuse the response driving term and the structure suppression term to obtain the spatial association factor. By introducing a response and suppression mechanism, the positive consistency and negative disturbances are mutually canceled out, improving the stability and discriminative power of the final association factor.

[0101] The formula for calculating the spatial correlation factor is as follows:

[0102] ,

[0103] in, For nodes and nodes Spatial correlation factors between them and For the node index, For nodes and nodes Spatial-temporal consistency enhancement terms between them , for nodes and nodes The spatial-temporal inconsistency suppression term between them , For distance factor, As a direction factor, For nodes and nodes The relative distance between them and They are nodes and nodes The displacement vector, and They are nodes and nodes The magnitude of the displacement vector, is a coefficient.

[0104] in, For the enhancing term coefficient, used In this context, the Sigmoid activation function is constructed to compress and map the consistency enhancement term. Its function is to use a nonlinear function to... The range is controlled to approximately 0-1 to ensure that the spatial correlation factor exhibits continuous differentiability and smoothness in most cases. The value ranges from 5 to 15, with an initial value of 10 as a standardization factor, which only serves to regulate the rate. The larger the value, the steeper the activation of the Sigmoid function, and the more sensitive the model is to differences within a small range; When the value is small, the function tends to be flat, making it more suitable for handling scenarios with large fluctuations.

[0105] This is the suppression coefficient, used for In this context, the suppressive force acting on the inconsistency suppression term, multiplied by the consistency enhancement term, represents the final sensitivity of the system to inconsistencies. The value ranges from 1 to 3, with an initial value of 2. Controlling the power form of the suppression term, The larger the size, the stronger the system's suppression of inconsistencies, that is, when Slight fluctuations It will decrease significantly; conversely, The smaller the value, the greater the system tolerance for fluctuations.

[0106] The normalization coefficient is used for In the middle, they are used in the consistency enhancement term and the inconsistency suppression term, respectively, to suppress spatial distance. The problem of inconsistent dimensions with the direction factor. The value range is 0.1-1, the initial value is 0.5, and its unit is... (i.e., the reciprocal unit of distance). The larger the value, the faster the influence of the distance factor in the formula is suppressed; The smaller the value, the stronger the coupling weight of distant nodes.

[0107] In a preferred embodiment of the present invention, the scoring module includes:

[0108] The temporal trajectory extraction unit is used to extract the coordinates of each node at continuous time points based on the node spatial relationship dataset, and obtain the trajectory point set;

[0109] The direction change recognition unit is used to calculate the displacement direction difference between any two adjacent time points based on the trajectory point set, and obtain the trajectory direction change sequence;

[0110] The offset frequency calculation unit is used to calculate the trajectory offset frequency based on the count value of the abrupt change event in the trajectory direction change sequence and the corresponding time length.

[0111] The stability scoring unit is used to calculate the trajectory stability when each node is displaced based on the trajectory offset frequency, and obtain the trajectory stability score.

[0112] In this embodiment of the invention, the temporal trajectory extraction unit is used to extract the coordinates of each node at continuous time points based on the node spatial relationship dataset, thereby obtaining a trajectory point set, characterizing the spatial continuity of the node's motion path, and providing raw data support for judging its behavioral stability; the direction change recognition unit is used to calculate the displacement direction difference between any two adjacent time points based on the trajectory point set, thereby obtaining a trajectory direction change sequence, effectively characterizing the direction fluctuation characteristics in the node path, and providing a refined indicator for subsequent offset frequency analysis; the offset frequency calculation unit is used to calculate the trajectory offset frequency based on the count value of the direction change event in the trajectory direction change sequence and the corresponding time length, which is a dynamic indicator that intuitively reflects the degree of fluctuation in node behavior; the stability scoring unit is used to calculate the trajectory stability when each node is displaced based on the trajectory offset frequency, thereby obtaining a trajectory stability score, abstracting the complex trajectory behavior into a single comparable value, which is a quantitative basis for subsequent resource scheduling and beam matching.

[0113] The offset frequency calculation unit is used to calculate the trajectory offset frequency based on the count value and corresponding time length of the abrupt direction events in the trajectory direction change sequence. Specifically, it includes:

[0114] First, the trajectory direction change sequence output by the direction change recognition unit is received. This sequence is a set of displacement direction change angles formed by the node between adjacent time points. Each direction angle value represents the degree of offset of the node's motion trajectory between two consecutive time points. This angle value is usually expressed in radians or degrees, and its range is 0-π.

[0115] After acquiring the complete trajectory direction change sequence, the system sets an angle threshold to determine abrupt events. This threshold defines the boundary between "trajectory direction abrupt changes" and "trajectory direction fine-tuning." The value of the angle threshold is determined based on the actual application scenario. In typical ship or UAV swarm power supply scenarios, the angle threshold can be set to 30° or 45°. In actual implementation, the system iterates through each angle in the trajectory direction change sequence. If the angle exceeds the angle threshold, it is determined as a direction abrupt event and added to the abrupt event count. .

[0116] To ensure the objectivity and standardization of frequency calculations, the system will use the mutation event count values. Normalized to a specific time interval for expression, let the total evaluation duration of this time interval be . Therefore, the trajectory offset frequency can be calculated using the following formula: = ,in, This represents the frequency of directional changes at a node per unit time. This represents the cumulative number of directional mutation events. This is used to assess the duration of the cycle. The higher the frequency value, the stronger the fluctuation of the node trajectory and the more unstable the direction of movement; conversely, it indicates that the trajectory is relatively stable and the node behavior tends to be predictable.

[0117] In a preferred embodiment of the present invention, the scoring module further includes:

[0118] The receiving log unit is used to extract the receiving status sequence marked with timestamps based on the historical energy receiving records of each node, and obtain the receiving status time series.

[0119] The interruption event analysis unit is used to identify energy reception interruption segments based on the reception status time series, count the number of interruptions and the duration of each interruption segment, and obtain a set of reception continuity parameters.

[0120] The integrity scoring unit is used to calculate the reception integrity of each node when receiving energy based on the reception continuity parameter set, and obtain the transmission integrity score.

[0121] The status scoring unit is used to fuse the trajectory stability score and the transmission integrity score to obtain the node status score.

[0122] In this embodiment of the invention, the receiving log unit is used to extract the receiving state sequence marked with timestamps based on the historical energy receiving records of each node, thereby obtaining a receiving state time series. This structured discrete records into a time series, achieving standardized processing of the unified data format for the node's energy receiving process, facilitating subsequent identification and analysis of receiving interruption segments. The interruption event analysis unit is used to identify energy receiving interruption segments based on the receiving state time series, count the number of interruptions and the duration of each interruption, obtain a receiving continuity parameter set, accurately capture discontinuous phenomena occurring during energy receiving, and quantify them in data form, providing behavioral basis for subsequent scoring. The integrity scoring unit is used to calculate the receiving integrity of each node when receiving energy based on the receiving continuity parameter set, obtain a transmission integrity score, quantify interruption events and their durations, and transform abstract receiving instability into a transmission integrity score. The status scoring unit is used to fuse the trajectory stability score and the transmission integrity score to obtain a node status score, preventing the system from misallocating resources to nodes with stable trajectories but poor reception, or vice versa, achieving a more balanced and accurate energy allocation.

[0123] The receiving log unit is used to extract the timestamp-marked receiving status sequence based on the historical energy receiving records of each node, thereby obtaining the receiving status time series, specifically including:

[0124] Historical energy reception records are typically stored as a timestamp-driven dataset. The data format includes the reception status (e.g., "reception successful" or "reception failed") and the corresponding time information. To ensure data integrity, nodes automatically upload their current reception status once every predetermined time period (e.g., every 5 seconds). The system records this as a status flag, which is usually represented in binary: if energy reception is successful at a certain time, the corresponding flag is "1"; if energy reception fails or communication is interrupted, the corresponding flag is "0".

[0125] First, the system calls the log synchronization interface to retrieve historical reception records within a preset time period from each receiving node. Then, it normalizes the timestamps of each record using a timeline, arranging them in ascending order to form a continuous time series, and assigns a unique time stamp to each point in time. Next, the system extracts the reception status at each point in time and organizes it into a status sequence in chronological order, forming a reception status time series.

[0126] To improve timing consistency, the system also introduces a missing completion mechanism during the construction of the receiving status time series. When a node fails to report a status record within a specific time period, the system can use interpolation or null value filling to mark that time period as "reception failure," that is, fill it with status "0," thereby avoiding analysis bias caused by data discontinuity.

[0127] In a preferred embodiment of the present invention, the status scoring unit includes:

[0128] The node status scoring calculation unit is used to calculate the trajectory stability of the node within the evaluation period based on the trajectory offset frequency, and obtain the trajectory stability enhancement term; and to calculate the reception integrity attenuation term based on the number of historical energy reception interruptions and the total duration of the interruptions.

[0129] The intensity of trajectory change and the degree of reception interruption per unit time under a unit number of reception interruptions are calculated to measure the degree of coupling between trajectory behavior and reception behavior, and the difference suppression term is obtained.

[0130] The trajectory stability enhancement term, reception integrity attenuation term, and difference suppression term are fused to obtain the node state score.

[0131] In this embodiment of the invention, the node status scoring calculation unit is used to calculate the trajectory stability of a node within the evaluation period based on the trajectory offset frequency, thereby obtaining a trajectory stability enhancement term. This can identify nodes whose trajectories remain stable during continuous movement. By quantifying their offset frequency to reflect the consistency of the trajectory, it helps to prioritize nodes with continuously stable trajectories to continuously receive energy, avoiding resource waste caused by frequent beam switching. Based on the number of historical energy reception interruptions and the total duration of the interruptions, a reception integrity attenuation term is calculated. The frequency and duration of the interruptions are analyzed to effectively avoid re-allocating resources to nodes that cannot receive stably. The intensity of trajectory changes per unit number of reception interruptions and the degree of reception interruption per unit time are calculated to measure the coupling degree between trajectory behavior and reception behavior, resulting in a difference suppression term, which effectively determines whether a node has system coordination. The trajectory stability enhancement term, reception integrity attenuation term, and difference suppression term are fused to obtain a node status score, which accurately reflects the service adaptability and stability of each node, ensuring that the system can perform beam scheduling based on the refined score results.

[0132] The formula for calculating the node status score is as follows:

[0133] ,

[0134] in, For nodes Node status score, For the index of the node, For nodes The trajectory offset frequency, = , For nodes The count of directional abrupt events. To identify nodes The duration of the assessment period for whether a directional abrupt event has occurred. For nodes The number of times historical energy was interrupted. For nodes The total duration of the interruption in the reception of historical energy. is a coefficient.

[0135] in, This is the trajectory frequency suppression coefficient, in units of The main impact is on the first item. This term is used to express the degree of suppression of the overall node score by the trajectory offset frequency. Since the trajectory frequency is usually a non-negative number, if the node trajectory changes frequently, it is desirable for the node score to drop rapidly, so as to avoid making unstable nodes high-priority targets. The value should be set to a positive value. If it is too small, it will be insensitive to the offset frequency and will not reflect the stability priority strategy. If it is too large, it may over-suppress and cause extreme score reduction even if the offset is slight. Therefore, its optimal value can be determined by simulation verification. Generally, a balance can be achieved between 2 and 5.

[0136] The receive interrupt coupling coefficient, in units of , is an exponentially decaying term The coefficient in the formula reflects the synergistic decay effect of the number of interruptions and the duration of interruptions on the score. This indicates that if a node experiences a large number of high-frequency interruptions, its score will decrease exponentially. This controls the sensitivity to the severity of interruptions. A general recommendation is a setting between 0.001 and 1; a higher value indicates greater sensitivity to interruptions, suitable for scenarios with high task continuity requirements, such as maritime communications or remote sensing platforms. If the setting is too small, the impact of reception interruption will not be obvious in the score, which is not conducive to reflecting the weight of this factor.

[0137] This is the coupling differential suppression strength coefficient, which appears in the third term's differential suppression expression. This measure aims to measure the consistency deviation between trajectory behavior and reception behavior. The higher the value, the stronger the score's suppression of deviation (such as frequent but minor interruptions in the trajectory, or vice versa), which can effectively prevent nodes with "disconnect between motion behavior and reception ability" from entering the priority queue. The value ranges from 0.1 to 1, and 0.5 is usually used to achieve a good balance effect, which is suitable for most systems with moderate dynamism.

[0138] The power exponent for difference suppression controls the nonlinear enhancement of the deviation in the difference suppression term, and is given in the formula as follows: This is used to amplify or compress the effect of deviation. Setting it to 1 indicates a linear response; otherwise... A value greater than 1 indicates that the system reduces scores faster at nodes with significant coupling deviations. This parameter does not affect the direction, only the steepness of the suppression curve. Recommended values ​​are integers or decimals between 1 and 3, suitable for adjusting parameters during system operation to adapt to actual data distribution. For conservative scoring, where score reduction only occurs in extreme deviations, a value of [value missing] can be used. Set it to 1; if you need to enhance the sensitivity of the screening, you can take 1. It is 2 or higher.

[0139] In a preferred embodiment of the present invention, the priority module includes:

[0140] The energy demand unit is used to obtain the energy demand values ​​reported by each node and to obtain a set of energy demand values.

[0141] The status scoring unit is used to pair the energy demand value set with the corresponding node status score based on the node status score of each node, so as to obtain the node score demand pair set.

[0142] The priority value calculation unit is used to calculate the priority value of each node according to the node scoring requirements set, and obtain the priority value sequence.

[0143] The tag allocation unit is used to assign priority tags to each node according to the priority value sequence, thereby obtaining a priority tag set.

[0144] In this embodiment of the invention, the energy demand unit is used to acquire the energy demand values ​​reported by each node, obtain an energy demand value set, effectively capture the real-time energy demand status of each node, and lay a solid foundation for the next step of scoring and matching; the status scoring unit is used to pair the energy demand value set with the corresponding node status score based on the node status score of each node, obtain a node score demand pair set, make up for the misjudgment problem that may be caused by energy demand value as a single indicator, and provide a solid foundation for subsequent priority division; the priority value calculation unit is used to calculate the priority value of each node based on the node score demand pair set, obtain a priority value sequence, and all nodes are converted into comparable priority values, which have the mathematical basis for sorting and quantification; the tag allocation unit is used to assign priority tags to each node based on the priority value sequence, obtain a priority tag set, and can quickly filter the nodes that must be guaranteed and the nodes that can delay power supply.

[0145] The priority value calculation unit is used to calculate the priority value of each node based on the node scoring requirements set, resulting in a priority value sequence, specifically including:

[0146] First, the priority value calculation unit iterates through each set of data in the node scoring requirement set, where each set of data includes the node's energy requirement value and status score value; the system pre-sets weighting factors. This is used to represent the proportion of energy demand and state score in priority calculation, where It is a real number between 0 and 1; subsequently, for any node, its priority value... Calculate using the following formula: in, This represents the energy requirement of the node. This is the status score for that node. The weighting factor mentioned above is used. The calculation process is completed by a combination of multiplication and addition, and the priority value calculation task of multiple nodes can be completed in parallel in a CPU or GPU environment, improving the running efficiency. After the priority value of all nodes is calculated, the system records them according to the node identifier to form a priority value sequence, which is an ordered set containing the corresponding priority values ​​of all nodes. Each element includes a node number and the calculated priority value pair.

[0147] When the system operates in an environment with relatively abundant resources and large fluctuations in node behavior, in order to improve resource utilization efficiency and power supply reliability, the power consumption should be appropriately reduced. This reduces sensitivity to energy demand values, thereby ensuring that priority values ​​focus more on energy delivery to stable nodes, for example... A value of 0.4 means that even if the energy demand of a node increases in the short term, the system will not rashly allocate high-priority resources to it if its trajectory is unstable or its receiving capability is poor, thus avoiding resource waste and beam drift risks. Conversely, in emergency missions, high-reliability assurance, or critical equipment power supply scenarios, such as maritime command vessels, ground communication base stations, or aerospace relay nodes, the urgency of energy demand is significantly higher than the trajectory stability index. In such cases, the value should be increased. This value allows priority calculation to respond more quickly to the current demand situation, for example... A value of 0.7 ensures that the system prioritizes power supply to nodes with high load and high demand, preventing critical nodes from failing due to power outages.

[0148] The label allocation unit is used to assign priority labels to each node according to the priority value sequence, thereby obtaining a priority label set, specifically including:

[0149] First, all nodes in the sequence are sorted in descending order according to their priority values, placing nodes with higher priority values ​​at the beginning. This sorting process uses quicksort, mergesort, or index-based linear sorting algorithms to ensure high efficiency even with a large number of nodes. After sorting, the system groups the nodes according to preset hierarchical rules. These hierarchical rules can be set based on resource availability or target task level. For example, if the system divides all nodes into high-priority, medium-priority, and low-priority levels, the first 30% of nodes in the priority value sequence can be labeled as high-priority, the middle 40% as medium-priority, and the last 30% as low-priority. In practice, the number of labels and the division ratio can be flexibly adjusted according to the actual application, and the system supports dynamic parameter adjustment to adapt to task changes. Finally, the system binds the number of each node to its corresponding priority label to form a label mapping table, outputting a priority label set.

[0150] In a preferred embodiment of the present invention, the scheduling module includes:

[0151] The parameter parsing unit is used to extract the maximum number of transmitted beams, the beam coverage angle range, and the direction adjustment range based on the transmission parameters of the microwave transmitting device, and obtain the transmission parameter set.

[0152] The beamforming unit is used to construct the structural configuration of multiple beam transmitting units based on the transmission parameter set, thereby obtaining a beam transmitting unit set.

[0153] The mapping relationship unit is used to establish the corresponding mapping relationship between nodes and beam transmitting units based on the priority label set, combined with the real-time coordinates of the nodes and the beam transmitting unit set, so as to obtain the node beam mapping set;

[0154] The beam assignment matrix generation unit is used to convert the mapping relationship into a matrix structure based on the node beam mapping set to obtain the beam assignment matrix.

[0155] In this embodiment of the invention, the parameter parsing unit is used to extract the maximum number of transmitted beams, the beam coverage angle range, and the direction adjustment range based on the transmission parameters of the microwave transmitting device, thereby obtaining a transmission parameter set. This set is then rationally allocated according to the currently available hardware capabilities, avoiding overload scheduling or blind expansion. The beam unit construction unit is used to construct the structural configuration of multiple beam transmitting units based on the transmission parameter set, obtaining a beam transmitting unit set. This discretizes hardware capabilities into schedulable logical resources, making the system more flexible in resource orchestration. The mapping relationship unit is used to establish a corresponding mapping relationship between nodes and beam transmitting units based on the priority label set, combined with the real-time coordinates of the nodes and the beam transmitting unit set, obtaining a node beam mapping set. This ensures that the system prioritizes serving important nodes under the premise of limited beam resources, effectively avoiding problems such as beam overlap, node conflicts, and scheduling disorder. The allocation matrix generation unit is used to convert the mapping relationship into a matrix structure based on the node beam mapping set, obtaining a beam allocation matrix. This simplifies the complexity of subsequent control command generation and provides a basic framework for introducing algorithm optimization into the system.

[0156] The beamforming unit is used to construct the structural configuration of multiple beam transmitting units based on the transmission parameter set, thereby obtaining a beam transmitting unit set, specifically including:

[0157] The process involves obtaining the maximum number of transmit beams, the maximum coverage angle of a single beam, the adjustable directional range, and the inter-beam interference tolerance value from the transmit parameter set. Based on the maximum number of transmit beams, the upper limit of the number of beam transmit units to be constructed is determined. Within the spatial direction range, the adjustable angle interval is divided into multiple beam center directions according to an equal-spacing or dynamic optimal coverage strategy, and a corresponding beam transmit unit structure is constructed for each center direction. When constructing each beam transmit unit, parameters such as its spatial coverage center pointing angle, coverage sector angle range, maximum number of target nodes that can be accommodated, beam adjustment time response parameters, and beam number are recorded. In addition, to improve flexibility, a beam scheduling strategy identifier can be introduced for rotation control in subsequent scheduling cycles. Finally, all the beam unit structures constructed above are stored as a beam transmit unit set.

[0158] The mapping relationship unit is used to establish a corresponding mapping relationship between nodes and beam transmitting units based on the priority label set, combined with the real-time coordinates of the nodes and the beam transmitting unit set, to obtain the node beam mapping set, specifically including:

[0159] The system acquires the real-time coordinates and corresponding priority tags of all nodes awaiting power supply at the current moment; it iterates through each beam unit in the beam transmitting unit set, performing spatial coverage judgment for each node, i.e., calculating the angle between the node coordinates and the beam center direction, and determining whether the angle falls within the coverage angle range of the beam; if the node is within the effective coverage range of the beam, it further determines whether the number of target nodes currently carried by the beam is less than its maximum capacity; under the premise of satisfying the above two conditions, the node is included in the candidate coverage list of the current beam unit; if a node can be covered by multiple beams, idle beams are matched first based on the weight of the priority tag; if multiple idle beams exist, the beam unit with the smallest angle between the pointing direction and the line connecting the node is matched first; after matching, the node number covered by each beam unit is recorded, and the beam number matched by each node is recorded, forming a bidirectional mapping relationship; finally, the matching information between all beam units and nodes is integrated to generate a node beam mapping set.

[0160] The beam assignment matrix generation unit is used to convert the mapping relationship into a matrix structure based on the node beam mapping set to obtain the beam assignment matrix, specifically including:

[0161] An M×N two-dimensional matrix structure is initialized, where M is the number of beam transmitting units and N is the number of receiving nodes to be scheduled. All elements in the initial matrix are set to 0. Each mapping relationship in the node beam mapping set is traversed. If there is a pointing relationship between beam m and node n, the value in the i-th row and j-th column of the matrix is ​​set to 1. To improve scheduling diversity, a time-slicing mechanism can be superimposed on the basic matrix, that is, a third dimension is introduced into the matrix to represent the scheduling cycle number, forming a three-dimensional dynamic beam allocation tensor to support scheduling switching and time reuse. In addition, if some nodes have multiple beam candidate mappings, different weights can be assigned to the value 1 according to the priority value to realize a weighted scheduling priority order. The final output beam allocation matrix is ​​as follows.

[0162] In a preferred embodiment of the present invention, the instruction module includes:

[0163] The instruction construction unit is used to extract the target node pointing relationship of each beam transmitting unit in different time periods based on the beam allocation matrix, and generate a structured instruction dataset.

[0164] The encoding generation unit is used to construct a sequence of transmission control commands that conforms to the microwave transmitting device based on the structured instruction dataset, thereby obtaining a transmission control command set;

[0165] The drive signal unit is used to generate corresponding drive control signals according to the transmit control command set, so as to obtain a drive control signal sequence;

[0166] The execution unit is used to transmit the drive control signal sequence to the microwave transmitter and drive it to perform beam switching and direction adjustment according to the instructions to realize energy transmission.

[0167] In this embodiment of the invention, the instruction construction unit is used to extract the target node pointing relationship of each beam transmitting unit in different time periods according to the beam allocation matrix, and generate a structured instruction dataset. This effectively transforms the highly abstract beam allocation matrix in the scheduling module into a target instruction sequence with practical control significance, laying the foundation for the subsequent generation of efficient and deployable control signals. The encoding generation unit is used to construct a transmission control instruction sequence that conforms to the microwave transmitting device according to the structured instruction dataset, obtaining a transmission control instruction set. This unifies the instruction format and encoding mechanism, ensuring that upper-level instructions can be directly recognized and parsed by hardware devices, avoiding execution failures due to format incompatibility. The drive signal unit is used to generate corresponding drive control signals according to the transmission control instruction set, obtaining a drive control signal sequence. This realizes the electrical signal mapping between the instruction logic layer and the hardware control layer, enabling higher-level control instructions to drive specific hardware units in the form of standard electrical signals. The execution unit is used to transmit the drive control signal sequence to the microwave transmitting device and drive it to perform beam switching and direction adjustment according to the instructions, realizing energy transmission. This ensures that the instruction scheduling results can be accurately, in real time, and without deviation converted into physical actions, realizing continuous beam tracking and switching control in dynamic scenarios.

[0168] The instruction construction unit is used to extract the target node pointing relationship of each beam transmitting unit in different time periods based on the beam allocation matrix, and generate a structured instruction dataset, specifically including:

[0169] First, the beam assignment matrix is ​​received. This matrix is ​​a two-dimensional structure, with the first dimension representing the beam transmitting unit number and the second dimension representing the target receiving node number. The value of each cell in the matrix indicates whether the beam should point at that node within a specific time period or the energy allocation weight of the beam to that node. The time periods in the beam assignment matrix can be divided using a cycle period, frame number, or system scheduling time axis to achieve time slice management for beam control. The beam assignment matrix is ​​then parsed, treating each row as a dynamic scheduling trajectory of a beam transmitting unit. Each row is traversed to obtain the target node number that the beam should correspond to in each time slice, forming a time-segment-pointing mapping sequence between the beam and the node.

[0170] During the analysis process, the mapping relationship between beams and nodes is packaged into structured instruction items according to the time sequence. Each structured instruction item includes at least the following fields: beam number, target node number, start timestamp, duration, pointing mode (such as continuous lock, switching interval, etc.), and optional energy weight parameters. When a beam needs to switch between multiple nodes within multiple time periods, the system automatically generates multiple instruction items for continuous organization and timestamps them according to the minimum time unit of dynamic beam switching to ensure control accuracy. When a beam alternates pointing between multiple nodes, a transition buffer time field is automatically added according to the scheduling strategy to ensure that the beam's physical direction adjustment has transition redundancy, avoids angle jumps, and guarantees the smoothness of beam switching.

[0171] After completing the mapping and parsing of all beam transmitting units and the construction of instruction items, all structured instruction items are combined into a structured instruction dataset in the form of linked lists or tables. This dataset is arranged in ascending order of timestamps to facilitate time-driven processing in subsequent modules.

[0172] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A microwave energy distribution and transmission control system based on multi-node reception, characterized in that, The system includes: The trajectory module is used to construct the running trajectory of each node in chronological order based on the real-time coordinates and speed of each node, thereby obtaining a set of node time series trajectories. The feature module is used to calculate the relative distance and movement direction difference between adjacent nodes based on the node time series trajectory set, and extract spatial correlation factors to obtain the node spatial relationship dataset; The scoring module is used to calculate the trajectory offset frequency of each node in a continuous time period based on the node spatial relationship dataset, and obtain the trajectory stability score; based on the historical energy reception record of each node, the transmission integrity score is obtained; and the trajectory stability score and the transmission integrity score are fused to obtain the node status score. The priority module is used to obtain the energy demand value of each node, and assign priority labels to each node based on the value and the node status score, thus obtaining a priority label set; The scheduling module is used to construct multiple beam transmitting units based on the transmission parameters of the microwave transmitting device, and to establish a mapping relationship between nodes and beam transmitting units by combining a priority tag set, thereby obtaining a beam allocation matrix; The command module is used to determine the transmission command based on the beam allocation matrix and drive the microwave transmitter to transmit energy. The feature module includes: The location extraction unit is used to extract the coordinates of adjacent nodes at the same time point based on the node time series trajectory set, so as to obtain the node synchronous coordinate set; The distance calculation unit is used to calculate the relative distance between adjacent nodes based on the node synchronization coordinate set, and obtain the relative distance between nodes; The direction extraction unit is used to extract the displacement vector of each node between adjacent time points based on the node time series trajectory set, so as to obtain the node direction vector set; The difference calculation unit is used to calculate the directional angle between adjacent nodes based on the node direction vector set, and obtain the difference in movement direction. The feature module further includes: The distance factor unit is used to calculate the distance factor between nodes based on their relative distances, thus obtaining the distance factor matrix; The direction factor unit is used to calculate the direction factor between nodes based on the difference in movement direction, and obtain the direction factor matrix. The factor fusion unit is used to fuse the distance factor matrix and the orientation factor matrix to obtain the spatial correlation factor matrix; The spatial association factor unit is used to determine the spatial association factor of each node pair based on the spatial association factor matrix, thereby obtaining the node spatial relationship dataset.

2. The microwave energy distribution and transmission control system based on multi-node reception according to claim 1, characterized in that, The factor fusion unit includes: The spatial association factor calculation unit is used to calculate the degree of consistency between nodes in both spatial position and direction of movement based on distance factor and direction, thus obtaining a spatial-temporal consistency enhancement term; and to calculate the degree of difference between direction and distance when measuring spatial association, thus obtaining a spatial-temporal inconsistency suppression term. Based on the spatial-temporal consistency enhancement term, the coupling strength between nodes is calculated when they are simultaneously consistent in spatial distance and direction of motion, thus obtaining the response driving term; based on the spatial-temporal inconsistency suppression term, the degree of consistency deviation between the direction factor and the distance factor is calculated, thus obtaining the structure suppression term. By fusing the response-driven term and the structural inhibition term, the spatial correlation factor is obtained.

3. The microwave energy distribution and transmission control system based on multi-node reception according to claim 2, characterized in that, The scoring module includes: The temporal trajectory extraction unit is used to extract the coordinates of each node at continuous time points based on the node spatial relationship dataset, and obtain the trajectory point set; The direction change recognition unit is used to calculate the displacement direction difference between any two adjacent time points based on the trajectory point set, and obtain the trajectory direction change sequence; The offset frequency calculation unit is used to calculate the trajectory offset frequency based on the count value of the abrupt change event in the trajectory direction change sequence and the corresponding time length. The stability scoring unit is used to calculate the trajectory stability when each node is displaced based on the trajectory offset frequency, and obtain the trajectory stability score.

4. The microwave energy distribution and transmission control system based on multi-node reception according to claim 3, characterized in that, The scoring module also includes: The receiving log unit is used to extract the receiving status sequence marked with timestamps based on the historical energy receiving records of each node, and obtain the receiving status time series. The interruption event analysis unit is used to identify energy reception interruption segments based on the reception status time series, count the number of interruptions and the duration of each interruption segment, and obtain a set of reception continuity parameters. The integrity scoring unit is used to calculate the reception integrity of each node when receiving energy based on the reception continuity parameter set, and obtain the transmission integrity score. The status scoring unit is used to fuse the trajectory stability score and the transmission integrity score to obtain the node status score.

5. The microwave energy distribution and transmission control system based on multi-node reception according to claim 4, characterized in that, The status scoring unit includes: The node status scoring calculation unit is used to calculate the trajectory stability of the node within the evaluation period based on the trajectory offset frequency, and obtain the trajectory stability enhancement term; and to calculate the reception integrity attenuation term based on the number of historical energy reception interruptions and the total duration of the interruptions. The intensity of trajectory change and the degree of reception interruption per unit time under a unit number of reception interruptions are calculated to measure the degree of coupling between trajectory behavior and reception behavior, and the difference suppression term is obtained. The trajectory stability enhancement term, reception integrity attenuation term, and difference suppression term are fused to obtain the node state score.

6. The microwave energy distribution and transmission control system based on multi-node reception according to claim 5, characterized in that, The priority module includes: The energy demand unit is used to obtain the energy demand values ​​reported by each node and to obtain a set of energy demand values. The status scoring unit is used to pair the energy demand value set with the corresponding node status score based on the node status score of each node, so as to obtain the node score demand pair set. The priority value calculation unit is used to calculate the priority value of each node according to the node scoring requirements set, and obtain the priority value sequence. The tag allocation unit is used to assign priority tags to each node according to the priority value sequence, thereby obtaining a priority tag set.

7. The microwave energy distribution and transmission control system based on multi-node reception according to claim 6, characterized in that, The scheduling module includes: The parameter parsing unit is used to extract the maximum number of transmitted beams, the beam coverage angle range, and the direction adjustment range based on the transmission parameters of the microwave transmitting device, and obtain the transmission parameter set. The beamforming unit is used to construct the structural configuration of multiple beam transmitting units based on the transmission parameter set, thereby obtaining a beam transmitting unit set. The mapping relationship unit is used to establish the corresponding mapping relationship between nodes and beam transmitting units based on the priority label set, combined with the real-time coordinates of the nodes and the beam transmitting unit set, so as to obtain the node beam mapping set; The beam assignment matrix generation unit is used to convert the mapping relationship into a matrix structure based on the node beam mapping set to obtain the beam assignment matrix.

8. The microwave energy distribution and transmission control system based on multi-node reception according to claim 7, characterized in that, The instruction module includes: The instruction construction unit is used to extract the target node pointing relationship of each beam transmitting unit in different time periods based on the beam allocation matrix, and generate a structured instruction dataset. The encoding generation unit is used to construct a sequence of transmission control commands that conforms to the microwave transmitting device based on the structured instruction dataset, thereby obtaining a transmission control command set; The drive signal unit is used to generate corresponding drive control signals according to the transmit control command set, so as to obtain a drive control signal sequence; The execution unit is used to transmit the drive control signal sequence to the microwave transmitter and drive it to perform beam switching and direction adjustment according to the instructions to realize energy transmission.

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