A stacked multi-receiver self-tuning wireless charging system and control method

Abstract

This invention provides a stacked multi-receiver self-tuning wireless charging system and control method, relating to the field of wireless power transmission technology. This invention supports the vertical stacking of multiple intelligent transceiver modules, allowing each module to function as both a receiver charging its own battery and a relay transmitter powering an upstream device. The transmitter module employs ZCS self-excited drive technology, automatically capturing the zero-crossing point of the resonant current to achieve zero-current soft-switching operation, improving transmission efficiency and system stability. The intelligent transceiver module switches between self-charging and relay transmission modes by detecting battery status and the load above, without manual intervention. The transmitter module features adaptive voltage regulation based on the number of stacks, estimating the number of stacks by detecting input impedance and dynamically adjusting the input voltage, effectively compensating for stage-by-stage losses during relay transmission.

Description

Technical Field

[0001] This invention relates to the field of wireless power transmission technology, specifically to a stacked multi-receiver self-tuning wireless charging system and control method. Background Technology

[0002] With the development of drone technology, its application in fields such as inspection, logistics, and surveying is becoming increasingly widespread. However, battery life has always been a major bottleneck limiting the application of drones. Traditional wireless charging systems typically use a "one-to-one" charging mode. When multiple drones need to be charged, multiple charging stations or queuing are often required, which is inefficient and takes up space.

[0003] While existing multi-load wireless charging technologies can achieve one-to-many charging, they typically face challenges such as limited transmission distance, significant mutual interference between receivers, and difficulties in system impedance matching. Particularly for scenarios requiring stacked parking and charging in vertical space, achieving efficient energy relay transmission and ensuring frequency stability and constant power at each layer of receivers are pressing technical challenges that need to be addressed. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to propose a stacked multi-receiver self-tuning wireless charging system to enable stacked wireless charging and energy relay for multiple drones in vertical space, thereby solving the problems of frequency drift and energy loss in multi-level transmission.

[0005] The present invention provides a stacked multi-receiver self-tuning wireless charging system for charging at least one drone waiting in line at a charging station, comprising a transmitter module A disposed at a charging base station and at least one intelligent transceiver module B located above the transmitter module A in the drone. The input port A1 of the transmitter module A is connected to the output port P1 of the DC power supply module P, which provides DC power to the transmitter module A. The output port A2 of the transmitter module A radiates magnetic field energy to the wireless input port B1 of the intelligent transceiver module B, and the wireless output port B2 of the intelligent transceiver module B is used to wirelessly transmit electrical energy to the drone above the intelligent transceiver module B. The transmitting module A includes a full-bridge inverter module X, a ZCS self-excited drive module Y, and a series resonant compensation circuit module Z. The full-bridge inverter module X is used to invert the DC power supplied by the DC power supply module P into AC power; the ZCS self-excited drive module Y is used to detect the initial induced current of the series resonant compensation circuit module Z in real time and control the switching transistors in the full-bridge inverter module X to turn on or off; the series resonant compensation circuit module Z is used to receive the AC power from the full-bridge inverter module X, feed back the initial induced current to the ZCS self-excited drive module Y, and radiate magnetic field energy. The intelligent transceiver module B includes a receiving resonant module O, a relay transmitting module R, a load management module N, and an intelligent control module M; The receiving resonant module O receives magnetic field energy and outputs electrical energy to the relay transmitting module R and the load management module N; the load management module N receives electrical energy to charge the UAV's battery in the load management module N; when the UAV's battery is fully charged, the intelligent control module M controls the relay transmitting module R to radiate magnetic field energy.

[0006] Optionally, the input port A1 is connected to the power input port X1 of the full-bridge inverter module X, the AC output port X3 of the full-bridge inverter module X is connected to the AC input port Z1 of the series resonant compensation circuit module Z, the drive signal input port X2 of the full-bridge inverter module X is connected to the drive signal output port Y2 of the ZCS self-excited drive module Y, the series resonant compensation circuit module Z radiates magnetic field energy to the wireless input port B1 of the intelligent transceiver module B through the resonant output port Z2, and the current feedback port Z3 of the series resonant compensation circuit module Z is connected to the feedback sampling port Y1 of the ZCS self-excited drive module Y.

[0007] Optionally, the full-bridge inverter module X includes four MOSFETs: MOSFET Q1, MOSFET Q2, MOSFET Q3, and MOSFET Q4. The first terminal of the power input port X1 is connected to the drain of MOSFET Q1, the source of MOSFET Q1 is connected to the drain of MOSFET Q3, the source of MOSFET Q3 is connected to the source of MOSFET Q4 and the second terminal of the power input port X1, the drain of MOSFET Q1 is connected to the drain of MOSFET Q2, the source of MOSFET Q2 is connected to the drain of MOSFET Q4, the gates of MOSFET Q1, MOSFET Q2, MOSFET Q3, and MOSFET Q4 are all connected to the drive signal input port X2, the midpoint of the connection line between the source of MOSFET Q1 and the drain of MOSFET Q3 is connected to the AC output port X3, and the midpoint of the connection line between the source of MOSFET Q2 and the drain of MOSFET Q4 is connected to the AC output port X3. The series resonant compensation circuit module Z includes a primary resonant capacitor Cp and a first transmitting coil L1. The first end of the AC input port Z1 is connected to the first end of the primary resonant capacitor Cp, the second end of the primary resonant capacitor Cp is connected to the first end of the first transmitting coil L1, and the second end of the first transmitting coil L1 is connected to the second end of the AC input port Z1. The first transmitting coil L1 radiates magnetic field energy to the wireless input port B1 of the intelligent transceiver module B.

[0008] Optionally, the receiving resonant module O receives magnetic field energy through the energy input port O1, the energy output port O2 of the receiving resonant module O is connected to the relay input port R1 of the relay transmitting module R, the resonant charging port O3 of the receiving resonant module O is connected to the load charging input port N1 of the load management module N, the load charging output port N2 of the load management module N is connected to the relay charging port R3, and the relay output port R2 is connected to the wireless output port B2 of the intelligent transceiver module B.

[0009] Optionally, the receiving resonant module O includes a first receiving coil L2 and a secondary first resonant capacitor C1. The first end of the first receiving coil L2 is connected to the first end of the secondary first resonant capacitor C1, and the second end of the secondary first resonant capacitor C1 is connected to the energy output port O2. The first receiving coil L2 receives magnetic field energy. The relay transmitter module R includes a relay K, a second transmitting coil L3, and a secondary resonant capacitor C2. The relay input port R1 is connected to the moving contact of the relay K and the first end of the secondary resonant capacitor C2. The second end of the secondary resonant capacitor C2 is connected to the first end of the second transmitting coil L3. The second end of the second transmitting coil L3 is connected to the moving contact of the relay K and the relay charging port R3. The second transmitting coil L3 radiates magnetic field energy to the wireless input port of the next intelligent transceiver module. The load management module N includes the drone's battery, bypass switch S, and charging converter. The load charging input port N1 is connected to the first terminal of the bypass switch S, and the load charging output port N2 is connected to the second terminal of the bypass switch S. The first terminal of the bypass switch S is also connected to the first terminal of the charging converter and the first terminal of the drone's battery, and the second terminal of the bypass switch S is also connected to the second terminal of the charging converter and the second terminal of the drone's battery. The intelligent control module M is used to collect the battery voltage of the drone and control the closing and opening of the relay K and the bypass switch S.

[0010] A stacked multi-receiver self-tuning wireless charging control method, implemented based on the aforementioned stacked multi-receiver self-tuning wireless charging system, includes: When the DC power supply module P is powered on, the DC voltage is... The ZCS self-excited drive module Y detects the initial induced current of the series resonant compensation circuit module Z in real time. i p ( t ); ZCS self-excited drive module Y according to i p ( t Controls the switching transistors in the full-bridge inverter module X to turn on or off; The wireless input port B1 of the intelligent transceiver module B senses a high-frequency voltage, and the intelligent control module M in the intelligent transceiver module B reads the drone's battery voltage in real time. V bat ; Intelligent control module M according to V bat Controls the closing and opening of relay K and bypass switch S.

[0011] Optionally, the ZCS self-excited drive module Y is based on i p ( t Controlling the on / off state of the switching transistors in the full-bridge inverter module X includes: When detected i p ( t When the voltage changes from negative to positive, MOSFETs Q1 and Q4 in the full-bridge inverter module X are turned on, while MOSFETs Q2 and Q3 are turned off, thus driving the output voltage of the full-bridge inverter module X to be... When detected i p ( t When the voltage changes from positive to negative, MOSFETs Q1 and Q4 in the full-bridge inverter module X are turned off, while MOSFETs Q2 and Q3 are turned on, driving the output voltage of the full-bridge inverter module X to be... .

[0012] Optionally, the intelligent control module M is based on Controlling the closing and opening of relay K and bypass switch S includes: judge Is it less than the preset full charge voltage of the drone's battery? If so, the intelligent control module M controls the relay K to close and the bypass switch S to open, until... Greater than or equal to If not, the intelligent control module M detects the voltage across the second transmitting coil L3. and current Calculate the total equivalent apparent impedance magnitude of the second transmitting coil L3. Specifically, this is achieved through the following formula: ; The inherent impedance magnitude of the intelligent transceiver module B is set to [value] when there is no drone above it. ,calculate and absolute value of the difference ,judge Is it greater than the preset threshold? If not, it indicates that there is no drone above the intelligent transceiver module B, and the relay K remains closed while the bypass switch S is open; If so, it indicates that there is a drone above the intelligent transceiver module B. The intelligent control module M controls the relay K to open and the bypass switch S to close, so as to wirelessly transmit electrical energy to the drone above the intelligent transceiver module B.

[0013] Optionally, when the number of drones is N, the DC voltage is calculated using the following formula: ; in, Let N be the DC voltage when the number of drones is N. The reference voltage for charging a single drone; The effective value of the target constant current charging current; The parasitic internal resistances of the first transmitting coil L1 and the first receiving coil L2 when charging a single drone; When charging a single drone, the transmission efficiency between the transmitting module A and the smart transceiver module B, or between the smart transceiver modules B in the drone and the smart transceiver modules B in the drone. This is the magnetic coupling nonlinearity correction factor.

[0014] The beneficial effects of adopting the above technical solution are as follows: 1. Stacked relay capability: This system supports the vertical stacking of multiple intelligent transceiver modules. Through circuit reconfiguration technology, each intelligent transceiver module can act as a receiver to charge its own battery, or as a relay transmitter to power the upstream device.

[0015] 2. Frequency Adaptive: The transmitting module adopts ZCS self-excited drive technology, which can automatically capture the zero-crossing point of the resonant current, so that the system frequency is automatically locked to the inherent resonant frequency, realizing zero-current soft-switching operation, improving transmission efficiency and system stability.

[0016] 3. Intelligent mode switching: The intelligent transceiver module automatically switches between "self-charging mode" and "relay transmission mode" by detecting its own battery status and the load above, without manual intervention.

[0017] 4. Dynamic voltage compensation: The transmitting module has an adaptive voltage adjustment function based on the number of stacks. By detecting the input impedance, the number of stacks is estimated and the input voltage is dynamically adjusted to effectively compensate for the step-by-step loss in the relay transmission process. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a stacked multi-receiver self-tuning wireless charging system according to an embodiment of the present invention; Figure 2This is a physical image of the system experimental prototype in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the transmitting module in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the intelligent transceiver module in an embodiment of the present invention; Figure 5 This is a flowchart illustrating a stacked multi-receiver self-tuning wireless charging control method according to an embodiment of the present invention. Figure 6 This is a diagram of the ZCS self-excited following and locking control logic in an embodiment of the present invention. Detailed Implementation

[0019] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0020] To address the problems existing in the prior art, this invention provides a stacked multi-receiver self-tuning wireless charging system and control method, which realizes stacked wireless charging and energy relay of multiple drones in vertical space, and solves the problems of frequency drift and energy loss in multi-level transmission.

[0021] Among them, a stacked multi-receiver self-tuning wireless charging system of the present invention is used to charge at least one drone waiting in line at a charging station, combined with Figure 1 It includes a transmitter module A located at the charging base station and at least one intelligent transceiver module B located in the drone above A; In practical application scenarios, such as Figure 2 The diagram of the experimental prototype system shows that A can be embedded in the ground or platform of the drone landing pad. After the first drone lands, the drones it carries receive energy from A; when the second drone needs to charge, it can land directly on top of the first drone, using the first drone's B as a relay station to obtain energy, and so on, to achieve multi-drone stacked charging.

[0022] A's input port A1 is connected to the output port P1 of DC power supply module P, which is used to provide DC power to A; A's output port A2 radiates magnetic field energy to B's wireless input port B1, and B's wireless output port B2 is used to wirelessly transmit electrical energy to the drone above B. Among them, B serves as an energy relay and consumption end, with a wireless input port B1 (secondary coil) and a wireless output port B2 (next system primary coil). Port B1 is installed on the bottom of the drone to sense and receive magnetic field energy from below, and port B2 is installed on the top of the drone to radiate magnetic field energy to the next layer of stacked modules.

[0023] The system utilizes the principle of magnetic field coupling resonance and, through precise parameter design, ensures that the operating frequency of the transmitting module meets the following requirements: ; Where L1 is the inductance of the first transmitting coil, This is the primary-side resonant capacitor. Through internal circuit reconstruction, B always maintains resonance with the primary side, ensuring high efficiency in the multi-stage energy transfer process.

[0024] Combination Figure 3 The A includes a full-bridge inverter module X, a ZCS self-excited drive module Y, and a series resonant compensation circuit module Z; X is used to invert the DC power supplied by P into AC power; Y is used to detect the initial induced current of Z in real time and control the switching transistor in X to turn on or off. This module is the core of frequency adaptation. It monitors the phase of the resonant current in real time to ensure that the switching transistor operates at the current zero-crossing point, thereby achieving soft switching and reducing switching losses. Z is used to receive the AC power from X, feed back the initial induced current to Y, and radiate magnetic field energy.

[0025] A1 is connected to the power input port X1 of X, the AC output port X3 of X is connected to the AC input port Z1 of Z, the drive signal input port X2 of X is connected to the drive output port Y2 of Y, Z radiates magnetic field energy to the wireless input port B1 of the intelligent transceiver module B through the resonant output port Z2, and the current feedback port Z3 of Z is connected to the feedback sampling port Y1 of Y. X contains four MOSFETs: Q1, Q2, Q3, and Q4. The first terminal of X1 is connected to the drain of Q1, the source of Q1 is connected to the drain of Q3, the source of Q3 is connected to the source of Q4 and the second terminal of X1, the drain of Q1 is connected to the drain of Q2, the source of Q2 is connected to the drain of Q4, and the gates of Q1, Q2, Q3, and Q4 are all connected to X2. The midpoint of the line connecting the source of Q1 and the drain of Q3 is connected to X3, and the midpoint of the line connecting the source of Q2 and the drain of Q4 is connected to X3. Z includes a primary resonant capacitor Cp and a first transmitting coil L1. The first end of Z1 is connected to the first end of Cp, the second end of Cp is connected to the first end of L1, and the second end of L1 is connected to the second end of Z1. The first transmitting coil L1 radiates magnetic field energy to the wireless input port B1 of the intelligent transceiver module B. The coil inductance is compensated by a series capacitor, so that the circuit exhibits pure resistivity.

[0026] Combination Figure 4 The B includes a receiving resonant module O, a relay transmitting module R, a load management module N, and an intelligent control module M; O is used to receive magnetic field energy and output electrical energy to R and N; N receives electrical energy to charge the battery of the drone in N; when the drone's battery is fully charged, M (MCU) controls R to radiate magnetic field energy.

[0027] The receiving resonant module O receives magnetic field energy through the energy input port O1. The energy output port O2 of the receiving resonant module O is connected to the relay input port R1 of the relay transmitting module R. The resonant charging port O3 of the receiving resonant module O is connected to the load charging input port N1 of the load management module N. The load charging output port N2 of the load management module N is connected to the relay charging port R3. The relay output port R2 is connected to the wireless output port B2 of B. O includes a first receiving coil L2 and a second-side first resonant capacitor C1. The first end of L2 is connected to the first end of C1, and the second end of C1 is connected to O2. L2 receives magnetic field energy. This module is responsible for picking up energy from the alternating magnetic field and establishing secondary resonance.

[0028] R includes a relay K, a second transmitting coil L3, and a secondary resonant capacitor C2. R1 is connected to the moving contact of K and the first end of C2, respectively. The second end of C2 is connected to the first end of L3, and the second end of L3 is connected to the moving contact of K and R3, respectively. The second transmitting coil L3 radiates magnetic field energy to the wireless input port of the next intelligent transceiver module. This module is connected to the circuit when relay is needed and acts as a transmitter.

[0029] N includes the drone's battery, bypass switch S, and charging converter. N1 is connected to the first terminal of S, and N2 is connected to the second terminal of S. The first terminal of S is also connected to the first terminal of the charging converter and the first terminal of the drone's battery. The second terminal of S is also connected to the second terminal of the charging converter and the second terminal of the drone's battery. This module is responsible for managing the charging and discharging of the drone's battery and controlling whether the drone's battery is connected to the main circuit through the bypass switch S.

[0030] M is used to collect battery voltage and control the closing and opening of K and S; MCU is the brain of the secondary module, which determines whether to perform "self-charging" or "relay transmission".

[0031] This invention also provides a stacked multi-receiver self-tuning wireless charging control method, implemented based on a stacked multi-receiver self-tuning wireless charging system, combined with... Figure 5 ,include: First, perform system initialization, setting the initial startup frequency of transmitter module A to an arbitrary value. The standard transmission loss factor for a single layer is set as follows: Set the drone's battery full charge voltage to .

[0032] Step 1: Power on DC power supply module P, DC voltage is The ZCS self-excited drive module Y detects the initial induced current of the series resonant compensation circuit module Z in real time. ; At this time, the transmitting module starts oscillating at a fixed frequency, and P is powered on while Y outputs a fixed frequency. The driving signal triggers the X action, establishing an initial induced current in Z.

[0033] Step 2: Y according to Controls the switching transistors in the full-bridge inverter module X to turn on or off; Combination Figure 6 When detected When the voltage changes from negative to positive, MOSFETs Q1 and Q4 in the full-bridge inverter module X are turned on, while MOSFETs Q2 and Q3 are turned off, thus driving the output voltage of X to be... When detected When the voltage changes from positive to negative, MOSFETs Q1 and Q4 in the full-bridge inverter module X are turned off, while MOSFETs Q2 and Q3 are turned on to drive the output voltage of X. ; This invention can also be understood as defining a switching function. Its value is determined by the current. The sign determines: X output voltage The control principle is as follows: , This indicates the output voltage of module X. The ZCS self-excited drive module Y detects and captures the primary-side resonant current in real time through port Y1. The zero-crossing signal; when detected When the voltage changes from negative to positive and crosses zero, the output voltage of the drive inverter flips to... The control module X switches Q1 and Q4 on, and Q2 and Q3 off; when it detects... When the inverter output voltage flips from positive to negative and crosses zero, it becomes... The control module X shuts off Q1 and Q4, while turning on Q2 and Q3. This logic forces the voltage phase to strictly lag behind or synchronize with the current phase, causing the system frequency to automatically drift and quickly lock to its inherent resonant frequency. This enables zero-current switching (ZCS) soft-switching operation.

[0034] Step 3: The high-frequency voltage is sensed at the line input port B1 of B, and the intelligent control module M in B reads the drone's battery voltage in real time. ; Step 4: M according to Controls the closing and opening of relay K and bypass switch S; judge Is it less than the preset full charge voltage of the drone's battery? If so, then M controls relay K to close and bypass switch S to open. This is the "self-charging requirement," and self-charging is executed. Specifically, the MCU closes relay K and opens bypass switch S; at this time, L3 is short-circuited, and energy resonates only in the L2-C1 circuit. This energy is converted to DC by the charging converter and injected into the drone's battery, and the self-charging circuit is activated. After relay K closes, the second resonant capacitor C2 and the upper transmitting coil L3 are short-circuited. The circuit topology is reconstructed so that the lower receiving coil L2 and the first resonant capacitor C1 resonate in series, and all energy is injected into the load battery for charging until… Greater than or equal to .

[0035] If not, it is determined to be a "potential relay requirement," and M detects the voltage across the second transmitting coil L3. and current Calculate the total equivalent apparent impedance magnitude of L3. Specifically, this is achieved through the following formula: ; The inherent impedance magnitude is set to [value] when there are no drones above B. ,calculate and absolute value of the difference ,judge Is it greater than the preset threshold? If not, it indicates that there is no drone above B (i.e., this machine is the top layer), keep K closed and S open to prevent radiation to the empty, and the step ends.

[0036] If so, it indicates the presence of a drone above B, and M controls K to open and S to close; the circuit is reconfigured as follows: In series resonance, energy passes through the intermediate capacitor and radiates upwards through a magnetic field generated at port B2 (L3).

[0037] After relay K is disconnected, C2 and the upper transmitting coil L3 are connected to the main circuit; simultaneously, because S is closed, the load battery is short-circuited and bypassed, eliminating its voltage divider effect; the circuit topology is reconstructed as follows: In the series resonant channel, energy is received via L2 below, passes through C1 and C2, and excites L3 above to generate an induced magnetic field, wirelessly transmitting electrical energy to the drone above B; the next drone repeats the above steps.

[0038] Transmitter module A also includes an adaptive voltage regulation step based on the number of stacks: the base station estimates the number of drones currently stacked by detecting changes in the input impedance of the transmitter module. To compensate for relay losses during the stacked transmission process and maintain a constant received power for the top-level UAV, the DC voltage is calculated using the following formula when the number of UAVs is N: ; in, Let N be the DC voltage when the number of drones is N. The reference voltage for charging a single drone; The effective value of the target constant current charging current; Parasitic internal resistances corresponding to L1 and L2 when charging a single drone; When charging a single drone, the transmission efficiency between A and B, or between B in drones; This is the magnetic coupling nonlinearity correction factor. This formula ensures that the magnetic coupling nonlinearity increases with the number of stacked layers. With the addition of [unclear], the transmitting module provides nonlinear voltage compensation to offset the transmission loss accumulated at each stage, solving the problem of insufficient receiving power at the top layer of traditional stacked systems.

[0039] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A stacked multi-receiver self-tuning wireless charging system for charging at least one drone waiting in line at a charging station, characterized in that, It includes a transmitter module A located at the charging base station and at least one intelligent transceiver module B located in the drone above the transmitter module A; The input port A1 of the transmitting module A is connected to the output port P1 of the DC power supply module P, which provides DC power to the transmitting module A. The output port A2 of the transmitting module A radiates magnetic field energy to the wireless input port B1 of the intelligent transceiver module B, and the wireless output port B2 of the intelligent transceiver module B is used to wirelessly transmit electrical energy to the drone above the intelligent transceiver module B. The transmitting module A includes a full-bridge inverter module X, a ZCS self-excited drive module Y, and a series resonant compensation circuit module Z. The full-bridge inverter module X is used to invert the DC power supplied by the DC power supply module P into AC power; the ZCS self-excited drive module Y is used to detect the initial induced current of the series resonant compensation circuit module Z in real time and control the switching transistors in the full-bridge inverter module X to turn on or off; the series resonant compensation circuit module Z is used to receive the AC power from the full-bridge inverter module X, feed back the initial induced current to the ZCS self-excited drive module Y, and radiate magnetic field energy. The intelligent transceiver module B includes a receiving resonant module O, a relay transmitting module R, a load management module N, and an intelligent control module M; The receiving resonant module O is used to receive magnetic field energy and output electrical energy to the relay transmitting module R and the load management module N; The load management module N receives electrical energy to charge the drone's battery; when the drone's battery is fully charged, the intelligent control module M controls the relay transmission module R to radiate magnetic field energy.

2. The stacked multi-receiver self-tuning wireless charging system according to claim 1, characterized in that, The input port A1 is connected to the power input port X1 of the full-bridge inverter module X. The AC output port X3 of the full-bridge inverter module X is connected to the AC input port Z1 of the series resonant compensation circuit module Z. The drive signal input port X2 of the full-bridge inverter module X is connected to the drive signal output port Y2 of the ZCS self-excited drive module Y. The series resonant compensation circuit module Z radiates magnetic field energy to the wireless input port B1 of the intelligent transceiver module B through the resonant output port Z2. The current feedback port Z3 of the series resonant compensation circuit module Z is connected to the feedback sampling port Y1 of the ZCS self-excited drive module Y.

3. The stacked multi-receiver self-tuning wireless charging system according to claim 2, characterized in that, The full-bridge inverter module X contains four MOSFETs: MOSFET Q1, MOSFET Q2, MOSFET Q3, and MOSFET Q4. The first terminal of the power input port X1 is connected to the drain of MOSFET Q1. The source of MOSFET Q1 is connected to the drain of MOSFET Q3. The source of MOSFET Q3 is connected to the source of MOSFET Q4 and the second terminal of the power input port X1. The drain of MOSFET Q1 is connected to the drain of MOSFET Q2. The source of MOSFET Q2 is connected to the drain of MOSFET Q4. The gates of MOSFET Q1, MOSFET Q2, MOSFET Q3, and MOSFET Q4 are all connected to the drive signal input port X2. The midpoint of the connection line between the source of MOSFET Q1 and the drain of MOSFET Q3 is connected to the AC output port X3. The midpoint of the connection line between the source of MOSFET Q2 and the drain of MOSFET Q4 is connected to the AC output port X3. The series resonant compensation circuit module Z includes a primary resonant capacitor Cp and a first transmitting coil L1. The first end of the AC input port Z1 is connected to the first end of the primary resonant capacitor Cp, the second end of the primary resonant capacitor Cp is connected to the first end of the first transmitting coil L1, and the second end of the first transmitting coil L1 is connected to the second end of the AC input port Z1. The first transmitting coil L1 radiates magnetic field energy to the wireless input port B1 of the intelligent transceiver module B.

4. The stacked multi-receiver self-tuning wireless charging system according to claim 1, characterized in that, The receiving resonant module O receives magnetic field energy through the energy input port O1. The energy output port O2 of the receiving resonant module O is connected to the relay input port R1 of the relay transmitting module R. The resonant charging port O3 of the receiving resonant module O is connected to the load charging input port N1 of the load management module N. The load charging output port N2 of the load management module N is connected to the relay charging port R3. The relay output port R2 is connected to the wireless output port B2 of the intelligent transceiver module B.

5. A stacked multi-receiver self-tuning wireless charging system according to claim 4, characterized in that, The receiving resonant module O includes a first receiving coil L2 and a secondary first resonant capacitor C1. The first end of the first receiving coil L2 is connected to the first end of the secondary first resonant capacitor C1, and the second end of the secondary first resonant capacitor C1 is connected to the energy output port O2. The first receiving coil L2 receives magnetic field energy. The relay transmitter module R includes a relay K, a second transmitting coil L3, and a secondary resonant capacitor C2. The relay input port R1 is connected to one end of the relay K and the first end of the secondary resonant capacitor C2. The second end of the secondary resonant capacitor C2 is connected to the first end of the second transmitting coil L3. The second end of the second transmitting coil L3 is connected to the other end of the relay K and the relay charging port R3. The second transmitting coil L3 radiates magnetic field energy to the wireless input port of the next intelligent transceiver module. The load management module N includes the drone's battery, bypass switch S, and charging converter. The load charging input port N1 is connected to the first terminal of the bypass switch S, and the load charging output port N2 is connected to the second terminal of the bypass switch S. The first terminal of the bypass switch S is also connected to the first terminal of the charging converter and the first terminal of the drone's battery, and the second terminal of the bypass switch S is also connected to the second terminal of the charging converter and the second terminal of the drone's battery. The intelligent control module M is used to collect the battery voltage of the drone and control the closing and opening of the relay K and the bypass switch S.

6. A method for controlling a stacked multi-receiver self-tuning wireless charging system, implemented based on the stacked multi-receiver self-tuning wireless charging system described in claim 5, characterized in that... include: When the DC power supply module P is powered on, the DC voltage is... The ZCS self-excited drive module Y detects the initial induced current i of the series resonant compensation circuit module Z in real time. p (t); The ZCS self-excitation driving module Y according to i p (t) controlling the turn-on or turn-off of the switching tube in the full-bridge inverter module X; The wireless input port B1 of the intelligent transceiver module B senses a high-frequency voltage, and the intelligent control module M in the intelligent transceiver module B reads the drone's battery voltage V in real time. bat ; Intelligent control module M according to V bat Controls the closing and opening of relay K and bypass switch S.

7. The method for controlling stacked multi-receiver self-tuning wireless charging according to claim 6, characterized in that, The ZCS self-excited drive module Y according to i p (t) Controlling the on / off state of the switching transistors in the full-bridge inverter module X, including: When i is detected p If (t) changes from negative to positive, then MOSFETs Q1 and Q4 of the full-bridge inverter module X are turned on, and MOSFETs Q2 and Q3 are turned off, so as to drive the output voltage of the full-bridge inverter module X to be... When i is detected p If (t) changes from positive to negative, then MOSFETs Q1 and Q4 of the full-bridge inverter module X are turned off, and MOSFETs Q2 and Q3 are turned on, thereby driving the output voltage of the full-bridge inverter module X to be... .

8. The method for controlling stacked multi-receiver self-tuning wireless charging according to claim 6, characterized in that, The intelligent control module M is based on Controlling the closing and opening of relay K and bypass switch S includes: judge Is it less than the preset full charge voltage of the drone's battery? If so, the intelligent control module M controls the relay K to close and the bypass switch S to open, until... Greater than or equal to If not, the intelligent control module M detects the voltage across the second transmitting coil L3. and current Calculate the total equivalent apparent impedance magnitude of the second transmitting coil L3. Specifically, this is achieved through the following formula: ； The inherent impedance magnitude of the intelligent transceiver module B is set to [value] when there is no drone above it. ,calculate and absolute value of the difference ,judge Is it greater than the preset threshold? If not, it indicates that there is no drone above the intelligent transceiver module B, and the relay K remains closed while the bypass switch S is open; If so, it indicates that there is a drone above the intelligent transceiver module B. The intelligent control module M controls the relay K to open and the bypass switch S to close, so as to wirelessly transmit electrical energy to the drone above the intelligent transceiver module B.

9. A stacked multi-receiver self-tuning wireless charging control method according to claim 6, characterized in that, When the number of drones is N, the DC voltage is calculated using the following formula: ； in, The DC voltage is when the number of drones is N. The reference voltage for charging a single drone; The effective value of the target constant current charging current; The parasitic internal resistances of the first transmitting coil L1 and the first receiving coil L2 when charging a single drone; When charging a single drone, the transmission efficiency between the transmitting module A and the smart transceiver module B, or between the smart transceiver modules B in the drone and the smart transceiver modules B in the drone. This is the magnetic coupling nonlinearity correction factor.

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