CN103219805A - Electromagnetic rail type movable robot - Google Patents

Abstract

The invention discloses an electromagnetic rail type movable robot which comprises a movable robot body, a steering component, a walking driving component, an energy launching system, an energy receiving system and a vehicle-mounted controller. The steering component and the walking driving component are installed on the movable robot body. The energy launching system and the energy receiving system form a power supply system of the movable robot. The energy launching system comprises a launching circuit, a launching controlling system and more than one launching coils which are sequentially paved along a movable track of the robot. The energy receiving system comprises a receiving coil installed on the movable robot body. The launching circuit and the launching coils invert a direct current signal into a high-frequency alternating current signal and launch the high-frequency alternating current signal out through electromagnetic wave energy, and the receiving coil is used for receiving the electromagnetic wave energy and then supplies power for the steering component and the walking component after the energy is processed by a power source management module in the vehicle-mounted controller. The electromagnetic rail type movable robot has the advantages of being simple and compact in structure, long in service life, stable in locating, and the like.

Description

A kind of electromagnetic path formula mobile robot

Technical field

The present invention is mainly concerned with the mobile robot field, refers in particular to a kind of employing electromagnetic path formula mobile robot.

Background technology

At present, in numerous applications of mobile robot, it is to replace the human work of finishing in the fixed area that repeats by robot that a class is arranged, as shop equipment patrol and examine, public place security monitoring etc.This robotlike generally moves along projected path, and its energy mainly relies on the battery that robot carries or the internal combustion engine of installation to provide.The mode of employing battery-powered is simple, convenient, but battery itself can increase mobile robot's volume and weight, and flying power is limited, needs periodic charge, is unfavorable for that robot carries out on a large scale, the operation of all the period of time.Though adopt the mode flying power of internal combustion engine energy supply to be improved, generally need artificial interpolation fuel, and have unfavorable factors such as fuel cost, toxic emission, noise, its application is very limited.And then, there is the practitioner to mention a kind of mobile robot's slip method of supplying power to, its way of realization is to be provided with the slip that connects external power supply on the orbit of robot, and lower surface is connected with current-collector on mobile robot's chassis, slides the power supply for robot by current-collector on slip.This slip method of supplying power to is based upon on the basis of ground rail, also needs to lay in addition the slip that is equivalent to track length, and engineering cost is higher, and at the outdoor environment of complexity, its Supply Security also has problems.

Summary of the invention

The technical problem to be solved in the present invention just is: at the technical problem that prior art exists, the invention provides a kind of simple and compact for structure, cruising time long, the reliable electromagnetic path formula mobile robot in location.

For solving the problems of the technologies described above, the present invention by the following technical solutions:

A kind of electromagnetic path formula mobile robot, comprise the mobile apparatus human body, steering assembly, the walking driven unit, the energy emission system, energy receiving system and Vehicle Controller, described steering assembly and walking driven unit are installed on the mobile apparatus human body, described energy emission system and energy receiving system have been formed mobile robot's electric power system, described energy emission system comprises radiating circuit, launch control system and the more than one transmitting coil of laying successively along the robot motion track, described energy receiving system comprises the receiving coil that is installed on the mobile apparatus human body, described radiating circuit and transmitting coil be high frequency ac signal with the direct current signal inversion and launch with electromagnetic wave energy, described receiving coil be used for receiving electromagnetic wave energy and handle by the power management module in the Vehicle Controller after give steering assembly, the power supply of walking driven unit.

As a further improvement on the present invention:

The energy exchange pattern of described transmitting coil and receiving coil is a magnet coupled resonant type.

Described transmitting coil and receiving coil add the capacitance compensation structure respectively, both are set have identical natural frequency.

On the described mobile apparatus human body automated navigation system is installed, on the described mobile apparatus human body automated navigation system is installed, described automated navigation system comprises the one group of above coil groups and controller that tracks that is made of track induction coil and benchmark induction coil, will produce the different induced voltage of two-way at the induction coil that tracks described in mobile apparatus human body's the moving process with the benchmark induction coil, described induced voltage can reflect mobile apparatus human body's offset direction and offset distance; Described two-way induced voltage is input in the controller that tracks, exports a turn signal to steering assembly after handling by the controller that tracks.

Described coil groups is two groups, is installed in before mobile apparatus human body's the car respectively and the tailstock, and described benchmark induction coil is parallel to the plane of transmitting coil to be placed, and the described induction coil that tracks is placed perpendicular to transmitting coil plane and the border that is parallel to transmitting coil.

Described launch control system comprises mission controller, power-sensing circuit and switch switching circuit, described power-sensing circuit is used for monitoring in real time the power output of radiating circuit, described mission controller switches according to the real-time power output control switch commutation circuit of radiating circuit, switches to corresponding transmitting coil in real time and powers.

Described steering assembly is a steer motor, and described walking driven unit is the walking motor.

Compared with prior art, the invention has the advantages that:

1, continued power.The present invention can realize mobile robot's continued power, has solved conventional mobile robot and need carry battery or internal combustion engine, can not continue the difficult problem of energy supply.

2, simple in structure, weight reduction.Mobile robot proposed by the invention only need carry a receiving coil and a rectifying and voltage-stabilizing module can realize power supply, and not only simple in structure, cost is low, and has alleviated mobile apparatus human body's weight, has further reduced the robot power consumption.

3, trackless tracks.Mobile robot proposed by the invention can self adaptation track, and has saved quantities and cost of investment that track is laid on ground.

4, be easy to the location.Because coil is the wheel current charge, has only a coil that electricity is arranged, and therefore can determine the accurate position that robot moves at an easy rate, need not the positioner of GPS or other modes at every turn.

Description of drawings

Fig. 1 is a mobile robot's of the present invention side-looking structural representation.

Fig. 2 is a mobile robot's of the present invention plan structure schematic diagram.

Fig. 3 is a kind of laying schematic diagram of the present invention's transmitting coil in concrete application example.

Fig. 4 is the frame structure schematic diagram of the present invention's energy emission system in concrete application example.

Fig. 5 is the frame structure schematic diagram of the present invention's energy receiving system in concrete application example.

Fig. 6 is the principle analysis schematic diagram of Automatic Track Finding principle of the present invention; Wherein Fig. 6 (a) is the forward sight analysis schematic diagram of angle parameter; Fig. 6 (b) overlooks the analysis schematic diagram for angle parameter; Fig. 6 (c) is that the forward sight of distance parameter is analyzed schematic diagram.

Marginal data:

1, mobile apparatus human body; 2, receiving coil; 3, the induction coil that tracks; 4, benchmark induction coil; 5, transmitting coil; 6, steer motor; 7, Vehicle Controller; 71, power management module; 72, the controller that tracks; 73, main controller; 8, walking motor; 9, launch control system; 91, mission controller; 92, power-sensing circuit; 93, switch switching circuit; 10, radiating circuit; 11, capacitance compensation structure.

Embodiment

Below with reference to Figure of description and specific embodiment the present invention is described in further details.

As depicted in figs. 1 and 2, electromagnetic path formula mobile robot of the present invention, comprise mobile apparatus human body 1, steering assembly, walking driven unit, energy emission system, energy receiving system and Vehicle Controller 7, steering assembly and walking driven unit are installed on the driving that turns to and walk that is used for finishing mobile apparatus human body 1 on the mobile apparatus human body 1, it can adopt according to actual needs, and propons turns to, the rear bridge driven mode, perhaps other modes; Drive energy and adopt electric energy, steering assembly adopts steer motor 6, and the walking driven unit adopts walking motor 8.The energy emission system has been formed mobile robot's electric power system with the energy receiving system, this energy emission system comprises radiating circuit 10, launch control system 9 and the more than one transmitting coil of laying successively along the robot motion track 5, this energy receiving system comprises the receiving coil 2 that is installed on the mobile apparatus human body 1, radiating circuit 10 and transmitting coil 5 be the direct current signal inversion high frequency ac signal and launch with electromagnetic wave energy, and receiving coil 2 is powered to the mobile robot after being used for receiving electromagnetic wave energy and finishing the rectifying and wave-filtering voltage stabilizing by the power management module in the Vehicle Controller 7 71.

In specific embodiment, be illustrated in figure 3 as a kind of laying method of transmitting coil 5, the arrangement mode that it is joined successively by a plurality of transmitting coils 5, this arrangement mode are to lay by the default track route of robot, and are laid on subsurface, promptly form the driving path.Wherein, the energy exchange pattern of transmitting coil 5 and receiving coil 2 is a magnet coupled resonant type, carries out wireless power.Transmitting coil 5 is set to the narrow long type structure, and each transmitting coil 5 separate connection is carried out the energy emission to radiating circuit 10.Receiving coil 2 is fixed in mobile apparatus human body 1, is set to and transmitting coil 5 equal width, and length dimension is less than transmitting coil 5, and receiving coil 2 is connected to Vehicle Controller 7, and the main controller 73 that carries out in energy reception and the input Vehicle Controller 7 is handled; And transmitting coil 5 and receiving coil 2 are single-turn circular coil, have all added capacitance compensation structure 11, by formula

Configuration makes it have identical natural frequency, and after radiating circuit 10 energized, transmitting coil 5 and receiving coil 2 carry out wireless energy transfer by magnetic coupling resonance.

Magnet coupled resonant type is based on coupled mode theory, and is as described below:

Be respectively ω for two natural frequencys ₁And ω ₂, amplitude is respectively a ₁And a ₂Lossless resonator, the fundamental equation of coupled mode is as follows: $\frac{{\mathrm{<figure-callout\; id="1"\; label="da"\; filenames="HDA00002952604500021.png"\; state="\{\{state\}\}">da</figure-callout>}}_1}{\mathrm{dt}}=j{\mathrm{\&omega;}}_1{a}_1+{\mathrm{\&kappa;}}_{12}{a}_2$ (1)

$\frac{{\mathrm{da}}_2}{\mathrm{dt}}=j{\mathrm{\&omega;}}_2{\mathrm{<figure-callout\; id="2"\; label="a"\; filenames="HDA00002952604500021.png"\; state="\{\{state\}\}">a</figure-callout>}}_2+{\mathrm{\&kappa;}}_{21}{\mathrm{<figure-callout\; id="1"\; label="a"\; filenames="HDA00002952604500021.png"\; state="\{\{state\}\}">a</figure-callout>}}_1$

κ wherein ₁₂And κ ₂₁Be two coupling coefficients between the resonator, when | κ ₁₂The ω of |＜＜ ₁, | κ ₂₁The ω of |＜＜ ₂The time, system is weak coupling.According to the conservation of energy, the gross energy of system is constant, promptly

Can derive thus

Its by

Be κ ₂₁Complex conjugate, the natural frequency of supposing coupled system is ω, solution formula (1) can get:

$\mathrm{\&omega;}=\frac{{\mathrm{\&omega;}}_1+{\mathrm{\&omega;}}_2}{2}\&PlusMinus;\sqrt{{\left(\frac{{\mathrm{\&omega;}}_1-{\mathrm{\&omega;}}_2}{2}\right)}^2+{\left|{\mathrm{\&kappa;}}_{12}\right|}^2}=\frac{{\mathrm{\&omega;}}_1+{\mathrm{\&omega;}}_2}{2}\&PlusMinus;{\mathrm{\&Omega;}}_0---\left(2\right)$

Wherein

As seen, because the relation of coupling is separated the natural frequency of system, promptly there are two natural frequencys in system, works as ω ₁=ω ₂The time, the difference between two natural frequencys is 2 Ω ₀, a when specifying t=0 ₁(0) and a ₂(0) value, known a ₂And ω (0)=0, ₁=ω ₂=ω ₀, can get:

$a_1\left(t\right)=a_1\left(0\right)\cos \left({\mathrm{\&Omega;}}_{0}t\right)e^{j{\mathrm{\&omega;}}_{0}t}$

$a_2\left(t\right)=\frac{{\mathrm{\&kappa;}}_{21}}{{\mathrm{\&Omega;}}_0}{a}_1\left(0\right)\sin \left({\mathrm{\&Omega;}}_{0}t\right)e^{j{\mathrm{\&omega;}}_{0}t}---\left(3\right)$

Analyze following formula, first resonator is excited fully during t=0, and

Shi Jifa is entirely at second resonator.

Shi Jifa gets back to first resonator again, so constantly repeats, and excites with frequency 2 Ω ₀=2| κ ₁₂| conversion back and forth between two resonators.Work as ω ₁≠ ω ₂The time, conversion is not exclusively.As coupling coefficient κ ₁₂During＞＞Γ, the switching rate of system is much larger than loss speed, close coupling between this moment two resonant bodies, energy efficient transmission.Wherein Γ represents the loss factor of system, comprises internal resistance loss and radiation loss.

Transmitting coil 5 among the present invention is set to identical natural frequency with receiving coil 2, coupled mode theory according to above analysis, will there be two natural frequency points in system, and when the operating frequency of system during near these two natural frequency points, there is efficiency of transmission efficiently in system.

In the present embodiment, on the mobile apparatus human body 1 automated navigation system is installed, realizes the automatic walking of mobile apparatus human body 1 in default track.As shown in Figure 5, automated navigation system comprises the one group of above coil groups and controller 72 that tracks that is made of track induction coil 3 and benchmark induction coil 4, in mobile apparatus human body 1 moving process, the induction coil 3 that tracks will produce the different induced voltage of two-way with benchmark induction coil 4, and this induced voltage can reflect mobile apparatus human body 1 offset direction and offset distance; Then the two-way induced voltage is input in the controller 72 that tracks, is undertaken exporting a turn signal to steer motor 6 after the processing such as phase bit comparison and amplitude detection, thereby control mobile apparatus human body 1 carries out orientation adjustment by the controller 72 that tracks.

In the present embodiment, comprising coil groups is two groups, and every group of induction coil is made up of a benchmark induction coil 4 and the induction coil 3 that tracks, and is installed in mobile apparatus human body 1 the preceding and tailstock of car respectively.The mobile robot advance or when retreating by before the car or wherein one group of induction coil of the tailstock carry out work.Wherein place on benchmark induction coil 4 plane that is parallel to transmitting coil 5, and the induction coil 3 that tracks is placed perpendicular to transmitting coil 5 planes and the border that is parallel to transmitting coil 5.

Wherein, the induced voltage phase place that produces with benchmark induction coil 4 is as reference phase, induced voltage phase place and reference phase that the induction coil 3 that tracks produces compare, and when mobile apparatus human body 1 skew was left taken place or is offset to the right, the comparative result of phase place was zero or 180 degree phase differences; Simultaneously, carry out amplitude by the induced voltage that the induction coil 3 that tracks is produced and detect the distance that to judge mobile apparatus human body 1 offset launch coil 5 central shafts.

The processing method of the above-mentioned two-way induced voltage that produces for induction coil is based on following theory:

In conjunction with Fig. 6 this is analyzed, two parallel long straight conductor L1 and L2 represent two borders of transmitting coil, and distance is d between L1 and the L2, the alternating current identical by size, that direction is opposite

Point P represent the to track center position of induction coil 3, the height on range transmission coil 5 planes is R.

By carrying flow direct conducting wire in the space any magnetic field calculation formula:

μ wherein ₀Be permeability of vacuum, I is the electric current that passes through in the carrying flow direct conducting wire, and r by Shi Kede, puts the magnetic flux density of P for the vertical range of the institute's spatial point of asking and carrying flow direct conducting wire

For $\stackrel{\&RightArrow;}{B}={\stackrel{\&RightArrow;}{B}}_1+{\stackrel{\&RightArrow;}{B}}_2,$ Wherein ${\mathrm{<figure-callout\; id="1"\; label="B"\; filenames="HDA00002952604500021.png"\; state="\{\{state\}\}">B</figure-callout>}}_1=\frac{{\mathrm{\&mu;}}_0{\mathrm{<figure-callout\; id="1"\; label="I"\; filenames="HDA00002952604500021.png"\; state="\{\{state\}\}">I</figure-callout>}}_1\sin {\mathrm{\&theta;}}_1}{2\mathrm{\&pi;R}},$ ${\mathrm{<figure-callout\; id="2"\; label="B"\; filenames="HDA00002952604500021.png"\; state="\{\{state\}\}">B</figure-callout>}}_2=\frac{{\mathrm{\&mu;}}_0{\mathrm{<figure-callout\; id="2"\; label="I"\; filenames="HDA00002952604500021.png"\; state="\{\{state\}\}">I</figure-callout>}}_2\sin {\mathrm{\&theta;}}_2}{2\mathrm{\&pi;R}}.$ θ wherein ₁, θ ₂As shown in Fig. 6 (a).

In the present embodiment, the induction coil 3 that tracks is vertically placed, and therefore only considers the horizontal component of magnetic flux density vector, then puts the induction level B of P _PFor:

Use the computing formula of magnetic flux and induced electromotive force:

Wherein Φ is a magnetic flux,

Be magnetic flux density, Be area, ε is an induced electromotive force.The area of induction coil 3 of supposing to track is 1, with the angle of transmitting coil 5 central shafts be α, shown in Fig. 6 (b), the induced voltage effective value V of the induction coil 3 that can track _PFor:

$V_P=\frac{{\mathrm{\&mu;}}_0{\mathrm{\&omega;}}_{0}I\cos \mathrm{\&alpha;}}{2\sqrt{2}\mathrm{\&pi;R}}({\sin }^2{\mathrm{\&theta;}}_1-{\mathrm{<figure-callout\; id="2"\; label="sin"\; filenames="HDA00002952604500021.png"\; state="\{\{state\}\}">sin</figure-callout>}}^2{\mathrm{\&theta;}}_2),$ Wherein ${\mathrm{\&theta;}}_2=\mathrm{<figure-callout\; id="2"\; label="arcsin\; R\; R"\; filenames="HDA00002952604500021.png"\; state="\{\{state\}\}">arcsin</figure-callout>}\frac{R}{\sqrt{R^{}}}\frac{\sqrt{{}^2+{(d-R\cot {\mathrm{\&theta;}}_1)}^2}}{},$ Substitution can get

$V_P=\frac{{\mathrm{\&mu;}}_0{\mathrm{\&omega;}}_{0}I\cos \mathrm{\&alpha;}}{2\sqrt{2}\mathrm{\&pi;R}}({\sin }^2{\mathrm{\&theta;}}_1-\frac{R^2}{{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="HDA00002952604500021.png"\; state="\{\{state\}\}">R</figure-callout>}}^2+{(d-R\cot {\mathrm{\&theta;}}_1)}^2})---\left(5\right)$

ω wherein ₀Be the power frequency in the straight lead, d is the distance between two straight lead L1 and the L2.Central shaft with transmitting coil 5 is coordinate zero point, and central shaft is to the right the reference axis positive direction, shown in Fig. 6 (c), uses apart from x to replace angle θ ₁, will

Substitution formula (5):

$V_P=\frac{{\mathrm{\&mu;}}_0{\mathrm{\&omega;}}_{0}I\cos \mathrm{\&alpha;}}{2\sqrt{2}\mathrm{\&pi;R}}(\frac{R^2}{{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="HDA00002952604500021.png"\; state="\{\{state\}\}">R</figure-callout>}}^2+{(x+\frac{1}{2}d)}^2}-\frac{R^2}{{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="HDA00002952604500021.png"\; state="\{\{state\}\}">R</figure-callout>}}^2+{(\frac{1}{2}d-x)}^2})---\left(6\right)$

Analyze as can be known by formula (6), when x=0, V _P=0, when x when positive direction increases, V _POppositely increase, otherwise, when x when opposite direction increases, V _PForward increases.Because V _PBe the effective value of induced voltage, actual induced voltage is

So when x is plus or minus, induced voltage phase place phase difference of pi.

Use above theoretical foundation, phase place through the benchmark induced voltage and the induced voltage that tracks can know that mobile apparatus human body 1 is left avertence or right avertence, can judge that according to the amplitude of the induced voltage that tracks mobile apparatus human body 1 departs from the distance of transmitting coil 5 central shafts simultaneously.

Because transmitting coil 5 is made up of a plurality of coils and have only 5 power supplies of a transmitting coil at synchronization, therefore when the mobile robot was mobile between adjacent transmission coil 5, the power supply that need carry out transmitting coil 5 was switched.In the present embodiment, as shown in Figure 4, launch control system 9 comprises mission controller 91, power-sensing circuit 92 and switch switching circuit 93, power-sensing circuit 92 is used for monitoring in real time the power output of radiating circuit 10, mission controller 91 switches according to the real-time power output control switch commutation circuit 93 of radiating circuit 10, switches to corresponding transmitting coil 5 in real time and powers.During concrete the application, along with moving of mobile apparatus human body 1, the power output of radiating circuit 10 will have respective change: mobile apparatus human body 1 is when the edge of the transmitting coil of living in 5 of this moment begins to shift out, and power output begins to reduce; When shifting out above half body, be the half of the relative area of receiving coil 2 and transmitting coil 5 less than receiving coil 2 areas, transmitting coil 5 and receiving coil 2 couplings weaken, the energy shortage that receives is to drive the mobile robot, and this moment, the power output of radiating circuit 10 was close to no-load power.When power-sensing circuit 92 detects power output near no-load power, transmit to mission controller 91, switch by mission controller 91 control switch commutation circuits 93, switch to adjacent next transmitting coil 5 and power.

Below only be preferred implementation of the present invention, protection scope of the present invention also not only is confined to the foregoing description, and all technical schemes that belongs under the thinking of the present invention all belong to protection scope of the present invention.Should be pointed out that for those skilled in the art the some improvements and modifications not breaking away under the principle of the invention prerequisite should be considered as protection scope of the present invention.

Claims (7)

1. electromagnetic path formula mobile robot, it is characterized in that: comprise mobile apparatus human body (1), steering assembly, the walking driven unit, the energy emission system, energy receiving system and Vehicle Controller (7), described steering assembly and walking driven unit are installed on the mobile apparatus human body (1), described energy emission system and energy receiving system have been formed mobile robot's electric power system, described energy emission system comprises radiating circuit (10), launch control system (9) and the more than one transmitting coil of laying successively along the robot motion track (5), described energy receiving system comprises the receiving coil (2) that is installed on the mobile apparatus human body (1), described radiating circuit (10) and transmitting coil (5) be high frequency ac signal with the direct current signal inversion and launch with electromagnetic wave energy, described receiving coil (2) be used for receiving electromagnetic wave energy and handle by the power management module (71) in the Vehicle Controller (7) after give steering assembly, the power supply of walking driven unit.

2. electromagnetic path formula mobile robot according to claim 1 is characterized in that: the energy exchange pattern of described transmitting coil (5) and receiving coil (2) is a magnet coupled resonant type.

3. electromagnetic path formula mobile robot according to claim 2 is characterized in that: described transmitting coil (5) and receiving coil (2) add capacitance compensation structure (11) respectively, both are set have identical natural frequency.

4. according to claim 1 or 2 or 3 described electromagnetic path formula mobile robots, it is characterized in that: on the described mobile apparatus human body (1) automated navigation system is installed, described automated navigation system comprises one group of above coil groups and controller that tracks (72) that is made of induction coil that tracks (3) and benchmark induction coil (4), will produce the different induced voltage of two-way at the induction coil (3) that tracks described in the moving process of mobile apparatus human body (1) with benchmark induction coil (4), described induced voltage can reflect mobile apparatus human body's (1) offset direction and offset distance; Described two-way induced voltage is input in the controller that tracks (72), exports a turn signal to steering assembly after handling by the controller that tracks (72).

5. electromagnetic path formula mobile robot according to claim 4, it is characterized in that: described coil groups is two groups, be installed in mobile apparatus human body's (1) the preceding and tailstock of car respectively, described benchmark induction coil (4) is parallel to the plane of transmitting coil (5) to be placed, and the described induction coil that tracks (3) is placed perpendicular to transmitting coil (5) plane and the border that is parallel to transmitting coil (5).

6. according to claim 1 or 2 or 3 described electromagnetic path formula mobile robots, it is characterized in that: described launch control system (9) comprises mission controller (91), power-sensing circuit (92) and switch switching circuit (93), described power-sensing circuit (92) is used for monitoring in real time the power output of radiating circuit (10), described mission controller (91) switches according to the real-time power output control switch commutation circuit (93) of radiating circuit (10), switches to corresponding transmitting coil (5) in real time and powers.

7. according to claim 1 or 2 or 3 described electromagnetic path formula mobile robots, it is characterized in that: described steering assembly is steer motor (6), and described walking driven unit is walking motor (8).

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