CN103219805A - Electromagnetic rail type movable robot - Google Patents

Abstract

The invention discloses an electromagnetic rail-type mobile robot, which comprises a mobile robot body, a steering assembly, a walking drive assembly, an energy emission system, an energy receiving system, and a vehicle-mounted controller. The steering assembly and the walking drive assembly are installed on the mobile robot body, and the energy The power supply system of the mobile robot is composed of the transmitting system and the energy receiving system. The energy transmitting system includes a transmitting circuit, a transmitting control system and more than one transmitting coil laid sequentially along the moving track of the robot. The energy receiving system includes The receiving coil, the transmitting circuit and the transmitting coil invert the DC signal into a high-frequency AC signal and emit it as electromagnetic wave energy. The receiving coil is used to receive the electromagnetic wave energy and it is processed by the power management module in the on-board controller to drive the steering components and walking. Components are powered. The invention has the advantages of simple and compact structure, long battery life, reliable positioning and the like.

Description

An electromagnetic orbital mobile robot

technical field

The invention mainly relates to the field of mobile robots, in particular to a mobile robot using electromagnetic rails.

Background technique

At present, among the many application fields of mobile robots, there is a category where robots replace humans to complete repetitive tasks in fixed areas, such as factory equipment inspections, public place safety monitoring, etc. This type of robot generally moves along a predetermined trajectory, and its energy is mainly provided by batteries carried by the robot or installed internal combustion engines. The way of using battery power supply is simple and convenient, but the battery itself will increase the volume and weight of the mobile robot, and the battery life is limited, and it needs to be charged regularly, which is not conducive to the robot's large-scale and full-time operations. Although the battery life can be improved by using the internal combustion engine to supply energy, it generally needs to add fuel manually, and there are disadvantages such as fuel cost, exhaust emissions, noise, etc., and its application is greatly restricted. Furthermore, some practitioners mentioned a sliding wire power supply method for a mobile robot, which is implemented by installing a sliding wire connected to an external power supply on the running track of the robot, and connecting a current collector to the lower surface of the chassis of the mobile robot. The sliding of electrical appliances on the sliding wire provides power for the robot. This sliding wire power supply method is based on the ground track, and additional sliding wires equivalent to the length of the track need to be laid. The project cost is relatively high, and there are also problems with the power supply security in complex outdoor environments.

Contents of the invention

The technical problem to be solved by the present invention is that, aiming at the technical problems existing in the prior art, the present invention provides an electromagnetic orbital mobile robot with simple and compact structure, long battery life and reliable positioning.

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

An electromagnetic rail-type mobile robot includes a mobile robot body, a steering assembly, a walking drive assembly, an energy emission system, an energy receiving system, and a vehicle-mounted controller. The steering assembly and the walking drive assembly are installed on the mobile robot body, and the energy The transmitting system and the energy receiving system constitute the power supply system of the mobile robot. The energy transmitting system includes a transmitting circuit, a transmitting control system and more than one transmitting coils laid in sequence along the moving track of the robot. The energy receiving system includes The receiving coil on the robot body, the transmitting circuit and the transmitting coil invert the DC signal into a high-frequency AC signal and emit it with electromagnetic wave energy. The receiving coil is used to receive electromagnetic wave energy and is controlled by the power management module in the vehicle controller. After processing, power is supplied to steering components and travel drive components.

As a further improvement of the present invention:

The energy exchange mode of the transmitting coil and the receiving coil is a magnetic coupling resonance type.

The transmitting coil and the receiving coil are respectively added with a capacitance compensation structure, and the two are set to have the same natural frequency.

An automatic navigation system is installed on the mobile robot body, and an automatic navigation system is installed on the mobile robot body. The automatic navigation system includes more than one group of coil groups composed of a tracking induction coil and a reference induction coil and a tracking control system. During the movement of the mobile robot body, the tracking induction coil and the reference induction coil will generate two different induced voltages, which can reflect the offset direction and offset distance of the mobile robot body; The two induced voltages are input into the tracking controller, and after being processed by the tracking controller, a steering signal is output to the steering assembly.

The coil groups are two groups, which are respectively installed on the front and rear of the mobile robot body. The reference induction coil is placed parallel to the plane of the transmitting coil, and the tracking induction coil is perpendicular to the plane of the transmitting coil and parallel to the transmitting coil. border placement.

The launch control system includes a launch controller, a power detection circuit, and a switch switching circuit. The power detection circuit is used to monitor the output power of the launch circuit in real time, and the launch controller controls the switch switch circuit according to the real-time output power of the launch circuit. Switch, switch in real time to supply power to the corresponding transmitting coil.

The steering assembly is a steering motor, and the traveling drive assembly is a traveling motor.

Compared with the prior art, the present invention has the advantages of:

1. Continuous power supply. The invention can realize the continuous power supply of the mobile robot, and solves the problem that the conventional mobile robot needs to carry a battery or an internal combustion engine and cannot continuously supply energy.

2. The structure is simple and the weight is reduced. The mobile robot proposed by the present invention only needs to carry a receiving coil and a rectification and voltage stabilization module to realize power supply. It not only has a simple structure and low cost, but also reduces the weight of the mobile robot body and further reduces the power consumption of the robot.

3. Trackless tracking. The mobile robot proposed by the invention can self-adaptively track, which saves the engineering quantity and investment cost of laying the track on the ground.

4. Easy to locate. Since the coils are charged in turn and only one coil is powered at a time, the exact location of the robot's movement can be easily determined without the need for GPS or other means of positioning.

Description of drawings

Fig. 1 is a side view structural schematic diagram of the mobile robot of the present invention.

Fig. 2 is a top view structural schematic diagram of the mobile robot of the present invention.

Fig. 3 is a laying schematic diagram of a transmitting coil in a specific application example of the present invention.

Fig. 4 is a schematic diagram of the frame structure of the energy emission system in a specific application example of the present invention.

Fig. 5 is a schematic diagram of the frame structure of the energy receiving system in a specific application example of the present invention.

Fig. 6 is the principle analysis schematic diagram of the automatic tracking principle adopted in the present invention; Wherein Fig. 6 (a) is the forward view analysis schematic diagram of angle parameter; Fig. 6 (b) is the top view analysis schematic diagram of angle parameter; Fig. 6 (c) Schematic diagram of the look-ahead analysis for the distance parameter.

illustration:

1. Mobile robot body; 2. Receiving coil; 3. Tracing induction coil; 4. Reference induction coil; 5. Transmitting coil; 6. Steering motor; 7. On-board controller; 71. Power management module; 72. Tracing Controller; 73. Main controller; 8. Travel motor; 9. Emission control system; 91. Emission controller; 92. Power detection circuit; 93. Switch switching circuit; 10. Emission circuit; 11. Capacitance compensation structure.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Fig. 1 and Fig. 2, the electromagnetic rail type mobile robot of the present invention includes mobile robot body 1, steering assembly, walking drive assembly, energy emission system, energy receiving system and vehicle-mounted controller 7, steering assembly and walking drive assembly Installed on the mobile robot body 1 to complete the steering and walking drive of the mobile robot body 1, it can adopt front axle steering, rear axle driving, or other methods according to actual needs; the driving energy adopts electric energy, and the steering component adopts steering motor 6 , The walking drive assembly adopts the walking motor 8. The energy transmitting system and the energy receiving system together form the power supply system of the mobile robot. The energy transmitting system includes a transmitting circuit 10, a transmitting control system 9 and more than one transmitting coil 5 sequentially laid along the moving track of the robot. The energy receiving system includes The receiving coil 2 installed on the mobile robot body 1, the transmitting circuit 10 and the transmitting coil 5 convert the DC signal into a high-frequency AC signal and emit it with electromagnetic wave energy. The receiving coil 2 is used to receive the electromagnetic wave energy and is controlled by the on-board controller 7 The power management module 71 in the system supplies power to the mobile robot after rectification, filtering and voltage stabilization.

配置使其具有相同的固有频率，发射电路10接通电源之后，发射线圈5和接收线圈2通过磁耦合谐振进行无线能量传输。In a specific embodiment, as shown in Figure 3, it is a laying method of the transmitting coil 5, which is arranged in an arrangement in which a plurality of transmitting coils 5 are connected successively. The arrangement is laid according to the preset walking route of the robot, and the Under the ground, a driving path is formed. Wherein, the energy exchange mode of the transmitting coil 5 and the receiving coil 2 is a magnetic coupling resonance type, and wireless power supply is performed. The transmitting coils 5 are arranged in a narrow and long structure, and each transmitting coil 5 is independently connected to the transmitting circuit 10 for energy transmission. The receiving coil 2 is fixed on the mobile robot body 1, and is set to have the same width as the transmitting coil 5, and the length dimension is smaller than the transmitting coil 5. The receiving coil 2 is connected to the vehicle-mounted controller 7 to receive energy and input it to the main controller in the vehicle-mounted controller 7 73 for processing; and the transmitting coil 5 and the receiving coil 2 are single-turn coils, and a capacitance compensation structure 11 has been added, according to the formula

It is configured to have the same natural frequency, and after the transmitting circuit 10 is powered on, the transmitting coil 5 and the receiving coil 2 perform wireless energy transmission through magnetic coupling resonance.

The magnetically coupled resonant formula is based on coupled mode theory as follows:

For two lossless resonators with natural frequencies ω ₁ and ω ₂ and amplitudes a ₁ and a ₂ respectively, the basic equations for the coupled modes are as follows: $\frac{{\mathrm{da}}_1}{\mathrm{dt}}=j{\mathrm{\ω}}_1{a}_1+{\mathrm{\κ}}_{12}{a}_2$ (1)

$\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; j</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&kappa;</span>}}_{\mathrm{<span\; class="notranslate">\; twenty\; one</span>}}{\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}$

由此可以导出

其由

为κ₂₁的复共轭，假设耦合系统的固有频率为ω，求解公式(1)，可得：Among them, κ ₁₂ and κ ₂₁ are the coupling coefficients between the two resonators. When |κ ₁₂ |<<ω ₁ , |κ ₂₁ |<<ω ₂ , the system is weakly coupled. According to energy conservation, the total energy of the system remains unchanged, that is,

From this you can derive

by

is the complex conjugate of κ ₂₁ , assuming that the natural frequency of the coupled system is ω, solving formula (1), we can get:

$\mathrm{<span\; class="notranslate">\; \&omega;</span>}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&PlusMinus;</span>\sqrt{{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; \&kappa;</span>}}_{\mathrm{<span\; class="notranslate">\; 12</span>}}<span\; class="notranslate">\; |</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&PlusMinus;</span>{\mathrm{<span\; class="notranslate">\; \&Omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

可见，由于耦合的关系使系统的固有频率分开，即系统存在两个固有频率，当ω₁＝ω₂时，两个固有频率之间的差别为2Ω₀，指定t＝0时a₁(0)和a₂(0)的值，已知a₂(0)＝0，且ω₁＝ω₂＝ω₀，可得：in

It can be seen that the natural frequency of the system is separated due to the coupling relationship, that is, there are two natural frequencies in the system. When ω ₁ =ω ₂ , the difference between the two natural frequencies is 2Ω ₀ . When t=0, a ₁ (0 ) and a ₂ (0), given that a ₂ (0)=0, and ω ₁ ＝ω ₂ ＝ω ₀ , we can get:

${\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&Omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; e</span>}}^{\mathrm{<span\; class="notranslate">\; j</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\mathrm{<span\; class="notranslate">\; t</span>}}$

${\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; \&kappa;</span>}}_{\mathrm{<span\; class="notranslate">\; twenty\; one</span>}}}{{\mathrm{<span\; class="notranslate">\; \&Omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}}{\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&Omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; e</span>}}^{\mathrm{<span\; class="notranslate">\; j</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

时激发全在第二谐振器。

时激发又回到第一谐振器，如此不断重复，激发以频率2Ω₀＝2|κ₁₂|在两个谐振器之间来回转换。当ω₁≠ω₂时，转换不完全。当耦合系数κ₁₂＞＞Γ时，系统的转换速率远大于损耗速率，此时两个谐振体之间强耦合，能量高效传输。其中Γ表示系统的损耗系数，包括内阻损耗和辐射损耗。Analyzing the above formula, the first resonator is fully excited when t=0, and

When excited all in the second resonator.

When the excitation returns to the first resonator, and so on, the excitation switches back and forth between the two resonators at a frequency of 2Ω ₀ =2|κ ₁₂ |. When ω ₁ ≠ ω ₂ , the conversion is incomplete. When the coupling coefficient κ ₁₂ >>Γ, the slew rate of the system is much greater than the loss rate. At this time, the coupling between the two resonators is strong and the energy is efficiently transmitted. Where Γ represents the loss coefficient of the system, including internal resistance loss and radiation loss.

The transmitting coil 5 and the receiving coil 2 in the present invention are set to the same natural frequency, according to the coupled mode theory of the above analysis, the system will have two natural frequency points, when the operating frequency of the system is close to these two natural frequency points, the system It has high transmission efficiency.

In this embodiment, an automatic navigation system is installed on the mobile robot body 1 to realize automatic walking of the mobile robot body 1 within a preset track. As shown in Figure 5, the automatic navigation system includes more than one group of coil groups and a tracking controller 72 composed of the tracking induction coil 3 and the reference induction coil 4. During the movement of the mobile robot body 1, the tracking induction coil 3 and the reference induction coil 4 will produce two different induced voltages, which can reflect the offset direction and the offset distance of the mobile robot body 1; then the two induced voltages are input into the tracking controller 72, by The tracking controller 72 outputs a steering signal to the steering motor 6 after processing such as phase comparison and amplitude detection, so as to control the mobile robot body 1 to adjust its orientation.

In this embodiment, the coil groups are divided into two groups, and each group of induction coils is composed of a reference induction coil 4 and a tracking induction coil 3, which are respectively installed at the front and rear of the mobile robot body 1. When the mobile robot is moving forward or backward, one of the induction coils at the front or rear of the vehicle works. The reference induction coil 4 is placed parallel to the plane of the transmitting coil 5 , and the tracking induction coil 3 is placed perpendicular to the plane of the transmitting coil 5 and parallel to the boundary of the transmitting coil 5 .

Wherein, the induced voltage phase generated by the reference induction coil 4 is used as the reference phase, and the induced voltage phase generated by the tracking induction coil 3 is compared with the reference phase. When the mobile robot body 1 deviates to the left or to the right, the phase The comparison result is zero or 180 degree phase difference; meanwhile, by detecting the amplitude of the induced voltage generated by the tracking induction coil 3, the distance from the central axis of the mobile robot body 1 offset from the transmitting coil 5 can be judged.

The above-mentioned processing method for the two induced voltages generated by the induction coil is based on the following theory:

点P表示寻迹感应线圈3的中心点位置，距离发射线圈5平面的高度为R。Combined with Figure 6 to analyze this, two parallel long straight wires L1 and L2 represent the two boundaries of the transmitting coil, the distance between L1 and L2 is d, and the alternating current with the same magnitude and opposite direction passes through

Point P represents the center point position of the tracking induction coil 3 , and the height from the plane of the transmitting coil 5 is R.

其中μ₀为真空磁导率，I为载流直导线中通过的电流，r为所求空间点和载流直导线的垂直距离，由式可得，点P的磁感应强度

为 $\stackrel{\&RightArrow;}{B}={\stackrel{\&RightArrow;}{B}}_1+{\stackrel{\&RightArrow;}{B}}_2,$ 其中 $B_1=\frac{{\mathrm{\&mu;}}_0{I}_1\sin {\mathrm{\&theta;}}_1}{2\mathrm{\&pi;R}},$ $B_2=\frac{{\mathrm{\&mu;}}_0{I}_2\sin {\mathrm{\&theta;}}_2}{2\mathrm{\&pi;R}}.$ 其中θ₁，θ₂如图6(a)中所示。The formula for calculating the magnetic field at a point in space from a straight current-carrying wire:

Among them, μ ₀ is the vacuum magnetic permeability, I is the current passing through the current-carrying straight wire, r is the vertical distance between the space point and the current-carrying straight wire, and the magnetic induction intensity of point P can be obtained by the formula

for $\stackrel{\&Right\; Arrow;}{B}={\stackrel{\&Right\; Arrow;}{B}}_1+{\stackrel{\&Right\; Arrow;}{B}}_2,$ in ${\mathrm{<figure-callout\; id="1"\; label="B"\; filenames="HDA00002952604500021.png"\; state="\{\{state\}\}">B</figure-callout>}}_1=\frac{{\mathrm{\&mu;}}_0{I}_1\sin {\mathrm{\&theta;}}_1}{2\mathrm{\&pi;R}},$ ${\mathrm{<figure-callout\; id="2"\; label="B"\; filenames="HDA00002952604500021.png"\; state="\{\{state\}\}">B</figure-callout>}}_2=\frac{{\mathrm{\&mu;}}_0{I}_2\sin {\mathrm{\&theta;}}_2}{2\mathrm{\&pi;R}}.$ Among them, θ ₁ and θ ₂ are shown in Fig. 6(a).

In the present embodiment, the tracing induction coil 3 is placed vertically, so only consider the horizontal component of the magnetic induction intensity vector, then the magnetic induction intensity size _BP of point P is:

其中Φ为磁通量，

为磁感应强度，为面积，ε为感应电动势。假设寻迹感应线圈3的面积为1，与发射线圈5中心轴的夹角为α，如图6(b)所示，可得寻迹感应线圈3的感应电压有效值V_P为：Apply the calculation formulas of magnetic flux and induced electromotive force:

where Φ is the magnetic flux,

is the magnetic induction intensity, is the area, ε is the induced electromotive force. Assuming that the area of the tracking induction coil 3 is 1, and the included angle with the central axis of the transmitting coil 5 is α, as shown in Figure 6(b), the effective value _V of the induced voltage of the tracking induction coil 3 can be obtained as:

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

${\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; P</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; \&mu;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\mathrm{<span\; class="notranslate">\; I</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}\sqrt{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; \&pi;R</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="sin"\; filenames="HDA00002952604500021.png"\; state="\{\{state\}\}">sin</figure-callout></span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>\frac{{\mathrm{<span\; class="notranslate">\; R</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="R"\; filenames="HDA00002952604500021.png"\; state="\{\{state\}\}">R</figure-callout></span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; d</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; R</span>}\mathrm{<span\; class="notranslate">\; cot</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; )</span>$

代入式(5)得：Where _ω0 is the current frequency in the straight wire, d is the distance between the two straight wires L1 and L2. Take the central axis of the transmitting coil 5 as the coordinate zero point, and the right of the central axis as the positive direction of the coordinate axis, as shown in Figure 6(c), replace the angle θ ₁ with the distance x, and put

Substitute into formula (5) to get:

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

所以当x为正或负时，感应电压相位相差π。From the analysis of formula (6), it can be seen that when x=0, V _P =0, when x increases in the positive direction, V _P increases in the opposite direction, on the contrary, when x increases in the opposite direction, V _P increases in the positive direction big. Because V _P is the effective value of the induced voltage, the actual induced voltage is

So when x is positive or negative, the phase difference of the induced voltage is π.

Applying the above theoretical basis, by comparing the phases of the reference induced voltage and the tracking induced voltage, it can be known that the mobile robot body 1 is left-biased or right-biased, and at the same time, it can be judged that the mobile robot body 1 deviates from the center of the transmitting coil 5 according to the amplitude of the tracking induced voltage axis distance.

Since the transmitting coil 5 is composed of multiple coils and only one transmitting coil 5 is powered at the same time, when the mobile robot moves between adjacent transmitting coils 5 , it is necessary to switch the power supply of the transmitting coil 5 . In this embodiment, as shown in FIG. 4 , the transmission control system 9 includes a transmission controller 91, a power detection circuit 92 and a switch switching circuit 93, the power detection circuit 92 is used to monitor the output power of the transmission circuit 10 in real time, and the transmission controller 91 controls the switching circuit 93 to switch according to the real-time output power of the transmitting circuit 10, and switches to supply power to the corresponding transmitting coil 5 in real time. During specific applications, along with the movement of the mobile robot body 1, the output power of the transmitting circuit 10 will have a corresponding change: when the mobile robot body 1 begins to move out from the edge of the transmitting coil 5 where it is now, the output power begins to decrease; When more than half of the body is removed, that is, when the relative area of the receiving coil 2 and the transmitting coil 5 is less than half of the area of the receiving coil 2, the coupling between the transmitting coil 5 and the receiving coil 2 is weakened, and the received energy is not enough to drive the mobile robot. At this time, the transmitting circuit The output power of 10 is close to the no-load power. When the power detection circuit 92 detects that the output power is close to the no-load power, the transmission signal is sent to the transmission controller 91, and the transmission controller 91 controls the switch switching circuit 93 to switch to supply power to the next adjacent transmission coil 5 .

The above are only preferred implementations of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions under the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principle of the present invention should be regarded as the 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).

Images