CN109672236A - A kind of wireless charging system of high-precision indoor positioning robot - Google Patents
A kind of wireless charging system of high-precision indoor positioning robot Download PDFInfo
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- CN109672236A CN109672236A CN201811441153.4A CN201811441153A CN109672236A CN 109672236 A CN109672236 A CN 109672236A CN 201811441153 A CN201811441153 A CN 201811441153A CN 109672236 A CN109672236 A CN 109672236A
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Classifications
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- H02J7/025—
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
- H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
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Abstract
The wireless charging system of a kind of high-precision indoor positioning robot, comprising: transmitting unit, receiving unit and optic communication Position Fixing Navigation System；The positioning of Indoor Robot track and the alignment of charge power coil are carried out, it can be achieved that accurately positioning using visible light communication structure, and can be in steady operation under complex environment；New structure of connecting innovation based on existing design algorithm greatly reduces the existing various drawbacks of conventional wireless charging.
Description
Technical field
The present invention relates to wireless charging system technical fields, the especially a kind of wireless charging of high-precision indoor positioning robot
Electric system.
Background technique
Robot is the intelligence for integrating the multidisciplinary advanced technology such as machinery, electronics, control, sensing, artificial intelligence
Equipment, robot have been widely used in the every field such as industrial manufacture, warehouse logistics, biological medicine, service for life；
However the powering mode of robot is never broken through, and it is excessively cumbersome by the way of manual intervention charging, it hinders
The intelligence of robot；Existing frequently-used automatic charging mode is contact charging, and there are various safety problems: such as contact
It is prone to wear, leads to poor contact, charging success rate reduces；Contact is easy to charge during long-term charging operations causes
Power supply line or contact damage, may cause electric leakage and generate spark, there are significant security risks；And retain power cord jack or
Contact can destroy the integrality of robot product industrial design, and cannot accomplish good damp proof waterproof, be not suitable for supermarket,
It is used under the environment such as family；
The charging of wireless charging technical substitution conventional contact has been trend of the times, and existing robot wireless charging mode is deposited
In many deficiencies, such as: structure is complicated, and design is cumbersome, and intelligence degree is lower, is not suitable for accurate positioning and complex condition
Steady operation；
Summary of the invention
Aiming at the problems existing in the prior art, the purpose of the present invention is to provide a kind of high-precision indoor positioning robots
Wireless charging system, which combines with advanced optic communication location and navigation technology, compares traditional wire contact
Charging, have many advantages, such as it is convenient, intelligent, safe, can suitable for a variety of applications such as robot, AGV and unmanned plane wireless charging,
And there is commercialization popularization and application foreground well.
The wireless charging system of a kind of high-precision indoor positioning robot, comprising: transmitting unit, receiving unit and optic communication
Position Fixing Navigation System；
Further, the transmitting unit includes: DC power supply, DC/AC high-frequency inverter, resonance circuit, resonance ejection
Coil, driving circuit and control module；One end of the DC power supply is electrically connected with one end of DC/AC high-frequency inverter, DC/
The other end of AC high-frequency inverter is electrically connected with one end of resonance circuit, the other end of resonance circuit and the one of resonance ejection coil
End electrical connection, the another end of DC/AC high-frequency inverter are electrically connected with one end of driving circuit, the other end of driving circuit and control
Module electrical connection；
Illustrate as an example, the transmitting unit is fixed on ground, in being horizontally mounted；
Illustrate as an example, the transmitting unit is fixed on wall, right angle setting；
Further, as shown in Figure 1, what transmitting unit was sent when the wireless communication unit for receiving robot interior installation
When charging instruction, the electric energy of input is applied on resonance ejection coil after high-frequency inversion；Wherein control module is for setting
With adjust resonance frequency, and the TTL square-wave signal of the resonance frequency is exported, by controlling after drive circuit power drive amplification
The switching tube of DC/AC high-frequency inverter being opened and turning off, when switching frequency is consistent with the intrinsic frequency of resonance circuit, transmitting
Coil is generated resonance by excitation and sends out energy；
Illustrate as an example, resonance frequency can be set in advance by manually adjusting in the control module；
Illustrate as an example, certain power compensation is carried out using resonance circuit in the emission power, is increased with this
Big transimission power simultaneously increases whole charge efficiency；
Illustrate that the structure of the resonance circuit includes: capacitor primary side series connection-pair side series compensation as a kind of applicating example
(SS), series compensation (PS) or capacitor primary side be simultaneously when shunt compensation (SP), capacitor primary side are in parallel-secondary for capacitor primary side series connection-pair
One of connection-pair side shunt compensation (PP) or combination；
Further, the receiving unit includes: resonance receiving coil, tuning capacitance, rectification circuit and cell load；
One end of the resonance receiving coil is electrically connected with one end of tuning capacitance, the other end of tuning capacitance and one end of rectification circuit
Electrical connection, the other end of rectification circuit are electrically connected with one end of cell load；
Illustrate as an example, the transmitting unit is connected to charging by magnetic-coupled mode with receiving unit, described
Receiving unit is for receiving the magnetic field energy that transmitting coil transmits；When the reception frequency of resonance receiving coil is protected by tuning
When holding identical as the tranmitting frequency of transmitting unit, resonance can be generated, the alternating magnetic field that resonance receiving coil receives passes through tuning
Resonance current will be formed after capacitor, exports burning voltage using rectifier circuit rectifies, be charged for the battery pack that robot carries；
Illustrate as an example, the receiving unit is horizontal to be mounted on robot bottom or be vertically mounted on robot
Front and rear part；
Further, the optic communication Position Fixing Navigation System includes: that location tags transmit circuit and location tags receive electricity
Road；
Robot localization navigation uses optical communication technique, believes the position of current indoor on the basis of meeting base lighting
Breath is loaded on light source, is transferred to robot terminal by wireless optical link, is parsed machine according to the information that robot receives
The relative position of device people in the environment, and position is mapped in data map, to realize the positioning of robot charge position
It is addressed with track；
Further, the location tags transmit circuit includes: control module (the i.e. micro process mould based on microprocessor
Block), encoder and LED drive circuit；One end of the micro treatment module is electrically connected with one end of encoder, encoder it is another
One end is electrically connected with one end of LED drive circuit；
Further, the location tags receive circuit include: photoelectric detection unit, filter amplification circuit, decoder with
And position signal processing unit；
Illustrate as an example, by being equipped with the LED light of location tags transmit circuit, circulation transmitting tool above interior
There is the visible light signal of the data frame structure of unique positions label, receives the robot of circuit indoors when carrying location tags
When mobile, the visible light sensor in photoelectric detection unit receives the visible light with location tags of LED light source sending, warp
It crosses filter and amplification, decode the energy judgement for obtaining location tags information, then carrying out signal, gradually determine target position, and
It is realized using position signal processing unit and is quickly accurately positioned；
Illustrate as an example, the position signal processing unit carries out position positioning using labeling acts algorithm；
Illustrate as an example, in the optic communication Position Fixing Navigation System, LED light source takes centrosymmetric mode equal
Even arrangement, the light radiation area that different LED light source is formed are overlapped, it is ensured that the photoelectric detection unit that robot carries can be with
Receive the location information that multiple and different LED is sent, multiple security；
Further, the transmitting unit is also equipped with one group of LED light source, as the positioning label information of transmitting unit,
Ensure that charge coil is accurately positioned alignment；
Design principle in order to better illustrate the present invention, now briefly citing working principle is as follows:
Robot judges whether to need to charge by constantly detecting the information such as battery temperature, electricity；When electricity is lower than preset
Setting value when, robot is moved at transmitting unit by being automatically positioned along track, by communication with transmitting unit and right
After the detection of position, automatically begin to charge if meeting charge condition；
Its charging process is divided into three phases:
First stage is low current precharge, and effect is activation robot battery, detects battery by receiving unit
Voltage adjusts the output voltage of transmitting unit according to cell voltage, prevents high current plug-in from causing to impact to battery, makes machine
Device people's cell safety enters charged state；
Second stage is constant-current charge, controls maximum current by control module and driving circuit, this stage is made to charge
Electric current is maintained at maximum charging current and keeps constant, and the electricity for being filled with battery at this time quicklys increase, cell voltage rapid increase,
To improve charging rate；
Three phases use constant-voltage charge, and charging voltage is kept constant during this period, charging current decline, cell voltage
Slowly rise, so that efficient be full of battery dump energy；
Illustrate as an example, battery temperature can be detected by setting detection circuit in entire charging process, and have
Over-voltage, overcurrent, open circuit, short circuit, surge, overtemperature etc. protect circuit, to ensure the safety of charging process；
The location of its coordinate is determined according to the LED location label received when robot needs to charge, and according to institute
The track and path for reaching charging transmitting unit are determined in position and house data map, driving and control robot are mobile, search
Rope charging transmitting unit position, when reaching near transmitting unit, then the LED location label passed through on transmitting unit realizes transmitting
Accurate positioning and final alignment with receiving coil.
Beneficial effects of the present invention:
1, the invention devises a kind of resonance manifold type wireless charging system, transmitting and receives isolated mode and carries out electric energy
Wireless transmission, greatly reduce electric shock contact deficiency；
2, the positioning of Indoor Robot track and the alignment of charge power coil are carried out using visible light communication structure, it can be achieved that
It accurately positions, and can be in steady operation under complex environment；
3, the New structure of connecting innovation based on existing design algorithm greatly reduces the existing various disadvantages of conventional wireless charging
End.
Detailed description of the invention
Fig. 1 is the transmitting unit and receiving unit of a kind of wireless charging system of high-precision indoor positioning of the invention robot
Magnetic coupling arrangement schematic diagram
Fig. 2 is a kind of wireless charging system optic communication Position Fixing Navigation System knot of high-precision indoor positioning of the invention robot
Structure schematic diagram
Specific embodiment
In the following, with reference to figures 1 through shown in 2, a kind of wireless charging system of high-precision indoor positioning robot, comprising: hair
Penetrate unit, receiving unit and optic communication Position Fixing Navigation System；
Further, the transmitting unit include: DC power supply 101, DC/AC high-frequency inverter 102, resonance circuit 103,
Resonance ejection coil 104, driving circuit 105 and control module 106；One end of the DC power supply 101 and DC/AC high frequency are inverse
Become one end electrical connection of device 102, the other end of DC/AC high-frequency inverter 102 is electrically connected with one end of resonance circuit 103, resonance
The other end of circuit 103 is electrically connected with one end of resonance ejection coil 104, the another end of DC/AC high-frequency inverter 102 and driving
One end of circuit 105 is electrically connected, and the other end of driving circuit 105 is electrically connected with control module 106；
Illustrate as an example, the transmitting unit is fixed on ground, in being horizontally mounted；
Illustrate as an example, the transmitting unit is fixed on wall, right angle setting；
Further, as shown in Figure 1, what transmitting unit was sent when the wireless communication unit for receiving robot interior installation
When charging instruction, the electric energy of input is applied on resonance ejection coil 104 after high-frequency inversion；Wherein control module 106 is used
In setting and resonance frequency is adjusted, and exports the TTL square-wave signal of the resonance frequency, is put by 105 power drive of driving circuit
The switching tube of control DC/AC high-frequency inverter 102 being opened and turning off after big, intrinsic when switching frequency and resonance circuit 103
When frequency is consistent, resonance ejection coil 104 is generated resonance by excitation and sends out energy；
Illustrate as an example, resonance frequency can be set in advance by manually adjusting in the control module 106；
Illustrate as an example, certain power compensation is carried out using resonance circuit 103 in the emission power, with this
Increase transimission power and increases whole charge efficiency；
Illustrate as a kind of applicating example, the structure of the resonance circuit 103 includes: capacitor primary side series connection-pair side series connection
It is former to compensate (SS), capacitor primary side series connection-pair series compensation (PS) or capacitor when shunt compensation (SP), capacitor primary side are in parallel-secondary
One of shunt compensation (PP) or combination while in parallel-secondary；
Further, the receiving unit include: resonance receiving coil 107, tuning capacitance 108, rectification circuit 109 and
Cell load 110；One end of the resonance receiving coil 107 is electrically connected with one end of tuning capacitance 108, tuning capacitance 108
The other end is electrically connected with one end of rectification circuit 109, and the other end of rectification circuit 109 is electrically connected with one end of cell load 110；
Illustrate as an example, the transmitting unit is connected to charging by magnetic-coupled mode with receiving unit, described
Receiving unit is for receiving the magnetic field energy that transmitting coil transmits；When the reception frequency of resonance receiving coil 107 passes through tune
When humorous capacitor 108 keeps identical as the tranmitting frequency of transmitting unit, resonance, the friendship that resonance receiving coil 107 receives can be generated
Varying magnetic field will form resonance current after passing through tuning capacitance 108, output burning voltage be rectified using rectification circuit 109, for machine
The battery pack charging that device people is carried；
Illustrate as an example, the receiving unit is horizontal to be mounted on robot bottom or be vertically mounted on robot
Front and rear part；
Further, the optic communication Position Fixing Navigation System includes: that location tags transmit circuit and location tags receive electricity
Road；
Robot localization navigation uses optical communication technique, believes the position of current indoor on the basis of meeting base lighting
Breath is loaded on light source, is transferred to robot terminal by wireless optical link, is parsed machine according to the information that robot receives
The relative position of device people in the environment, and position is mapped in data map, to realize the positioning of robot charge position
It is addressed with track；
Further, the location tags transmit circuit includes: 201 (the i.e. micro process of control module based on microprocessor
Module), encoder 202 and LED drive circuit 203；One end of the micro treatment module 201 and one end electricity of encoder 202
Connection, the other end of encoder 202 are electrically connected with one end of LED drive circuit 203；
Further, it includes: photoelectric detection unit 204, filter amplification circuit 205, solution that the location tags, which receive circuit,
Code device 206 and position signal processing unit 207；
Illustrate as an example, by being equipped with the LED light of location tags transmit circuit, circulation transmitting tool above interior
There is the visible light signal of the data frame structure of unique positions label, receives the robot of circuit indoors when carrying location tags
When mobile, the visible light sensor in photoelectric detection unit 204 receives the visible with location tags of LED light source sending
Light obtains location tags information by filter and amplification, decoding, then carries out the energy judgement of signal, gradually determines that target institute is in place
It sets, and realizes quick accurate positioning using position signal processing unit 207；
Illustrate as an example, the position signal processing unit 207 carries out position positioning using labeling acts algorithm；
Illustrate as an example, in the optic communication Position Fixing Navigation System, LED light source takes centrosymmetric mode equal
Even arrangement, the light radiation area that different LED light source is formed are overlapped, it is ensured that the photoelectric detection unit that robot carries can be with
Receive the location information that multiple and different LED is sent, multiple security；
Further, the transmitting unit is also equipped with one group of LED light source, as the positioning label information of transmitting unit,
Ensure that charge coil is accurately positioned alignment；
Design principle in order to better illustrate the present invention, now briefly citing working principle is as follows:
Robot judges whether to need to charge by constantly detecting the information such as battery temperature, electricity；When electricity is lower than preset
Setting value when, robot is moved at transmitting unit by being automatically positioned along track, by communication with transmitting unit and right
After the detection of position, automatically begin to charge if meeting charge condition；
Its charging process is divided into three phases:
First stage is low current precharge, and effect is activation robot battery, detects battery by receiving unit
Voltage adjusts the output voltage of transmitting unit according to cell voltage, prevents high current plug-in from causing to impact to battery, makes machine
Device people's cell safety enters charged state；
Second stage is constant-current charge, controls maximum current by control module and driving circuit, this stage is made to charge
Electric current is maintained at maximum charging current and keeps constant, and the electricity for being filled with battery at this time quicklys increase, cell voltage rapid increase,
To improve charging rate；
Three phases use constant-voltage charge, and charging voltage is kept constant during this period, charging current decline, cell voltage
Slowly rise, so that efficient be full of battery dump energy；
Illustrate as an example, battery temperature can be detected by setting detection circuit in entire charging process, and have
Over-voltage, overcurrent, open circuit, short circuit, surge, overtemperature etc. protect circuit, to ensure the safety of charging process；
The location of its coordinate is determined according to the LED location label received when robot needs to charge, and according to institute
The track and path for reaching charging transmitting unit are determined in position and house data map, driving and control robot are mobile, search
Rope charging transmitting unit position, when reaching near transmitting unit, then the LED location label passed through on transmitting unit realizes transmitting
Accurate positioning and final alignment with receiving coil.
A kind of resonance manifold type wireless charging system of the new design, transmitting and receives isolated mode and carries out electric energy
Wireless transmission greatly reduces the deficiency of electric shock contact；Using visible light communication structure carry out Indoor Robot track positioning and
The alignment of charge power coil, and can be in steady operation under complex environment, it can be achieved that accurately position；Based on existing design algorithm
New structure of connecting innovation, greatly reduce conventional wireless and charge existing various drawbacks.
Disclosed above is only the specific embodiment of the application, and however, this application is not limited to this, any this field
Technical staff can think variation, should all fall in the protection domain of the application.
Claims (10)
1. a kind of wireless charging system of high-precision indoor positioning robot characterized by comprising transmitting unit receives list
Member and optic communication Position Fixing Navigation System；
The transmitting unit includes: DC power supply, DC/AC high-frequency inverter, resonance circuit, resonance ejection coil, driving circuit
And control module；One end of the DC power supply is electrically connected with one end of DC/AC high-frequency inverter, DC/AC high-frequency inverter
The other end be electrically connected with one end of resonance circuit, the other end of resonance circuit is electrically connected with one end of resonance ejection coil, DC/
The another end of AC high-frequency inverter is electrically connected with one end of driving circuit, and the other end of driving circuit is electrically connected with control module；
Transmitting unit is when the charging instruction that the wireless communication unit for receiving robot interior installation is sent, by the electric energy of input
It is applied to after high-frequency inversion on resonance ejection coil；Wherein control module is for setting and adjusting resonance frequency, and exporting should
The TTL square-wave signal of resonance frequency passes through the switching tube of control DC/AC high-frequency inverter after drive circuit power drive amplification
It opens and turns off, when switching frequency is consistent with the intrinsic frequency of resonance circuit, transmitting coil is generated resonance by excitation and sends out
Send out energy；
The receiving unit includes: resonance receiving coil, tuning capacitance, rectification circuit and cell load；The resonance receives
One end of coil is electrically connected with one end of tuning capacitance, and the other end of tuning capacitance is electrically connected with one end of rectification circuit, rectification
The other end of circuit is electrically connected with one end of cell load；
The optic communication Position Fixing Navigation System includes: that location tags transmit circuit and location tags receive circuit；
Robot localization navigation uses optical communication technique, adds the location information of current indoor on the basis of meeting base lighting
It is downloaded on light source, robot terminal is transferred to by wireless optical link, robot is parsed according to the information that robot receives
Relative position in the environment, and position is mapped in data map, to realize positioning and the rail of robot charge position
Mark addressing；
The location tags transmit circuit include: control module (i.e. micro treatment module) based on microprocessor, encoder and
LED drive circuit；One end of the micro treatment module is electrically connected with one end of encoder, and the other end and LED of encoder drive
One end of circuit is electrically connected；
It includes: photoelectric detection unit, filter amplification circuit, decoder and position signal processing that the location tags, which receive circuit,
Unit.
2. a kind of wireless charging system of high-precision indoor positioning robot according to claim 1, which is characterized in that institute
It states transmitting unit and is fixed on ground or wall, in being horizontally mounted or right angle setting.
3. a kind of wireless charging system of high-precision indoor positioning robot according to claim 1, which is characterized in that institute
Resonance frequency can be set in advance by manually adjusting by stating control module.
4. a kind of wireless charging system of high-precision indoor positioning robot according to claim 1, which is characterized in that institute
The structure for stating resonance circuit includes: capacitor primary side series connection-pair shunt compensation in series compensation (SS), capacitor primary side series connection-pair
(SP), capacitor primary side one of shunt compensation (PP) in parallel-secondary when series compensation (PS) or capacitor primary side are in parallel-secondary or
Combination.
5. a kind of wireless charging system of high-precision indoor positioning robot according to claim 1, which is characterized in that room
Interior top is equipped with the LED light of location tags transmit circuit, and what circulation transmitting had a data frame structure of unique positions label can
Light-exposed signal, the visible light when the robot for carrying location tags reception circuit moves indoors, in photoelectric detection unit
Sensor receives the visible light with location tags of LED light source sending, obtains location tags letter by filter and amplification, decoding
Breath, then the energy judgement of signal is carried out, gradually determine target position, and quickly smart using the realization of position signal processing unit
Determine position.
6. a kind of wireless charging system of high-precision indoor positioning robot according to claim 1, which is characterized in that institute
It states position signal processing unit and position positioning is carried out using labeling acts algorithm.
7. a kind of wireless charging system of high-precision indoor positioning robot according to claim 1, which is characterized in that institute
It states in optic communication Position Fixing Navigation System, LED light source takes centrosymmetric mode to be evenly arranged, what different LED light sources was formed
Light radiation area is overlapped, it is ensured that the photoelectric detection unit that robot carries can receive the position that multiple and different LED is sent
Confidence breath.
8. a kind of wireless charging system of high-precision indoor positioning robot according to claim 1, which is characterized in that institute
It states transmitting unit and one group of LED light source is also installed, the positioning label information as transmitting unit, it is ensured that charge coil is accurately positioned
Alignment.
9. a kind of wireless charging system of high-precision indoor positioning robot according to claim 1, which is characterized in that institute
State the front and rear part for being mounted on robot bottom or being vertically mounted on robot of receiving unit level.
10. a kind of wireless charging system of high-precision indoor positioning robot according to claim 1, which is characterized in that
Based on a kind of charging method of the invention, including three charging stages:
First stage is low current precharge, and effect is activation robot battery, detects cell voltage by receiving unit,
The output voltage that transmitting unit is adjusted according to cell voltage prevents high current plug-in from causing to impact to battery, makes robot
Cell safety enters charged state；
Second stage is constant-current charge, controls maximum current by control module and driving circuit, makes this stage charging current
It being maintained at maximum charging current and keeps constant, the electricity for being filled with battery at this time quicklys increase, cell voltage rapid increase, thus
Improve charging rate；
Three phases use constant-voltage charge, and charging voltage is kept constant during this period, charging current decline, and cell voltage is slow
Rise, so that efficient be full of battery dump energy；
Battery temperature is detected by setting detection circuit in entire charging process, and have over-voltage, overcurrent, open circuit, short circuit, surge,
Overtemperature protection circuit.
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| CN201811441153.4A CN109672236A (en) | 2018-11-29 | 2018-11-29 | A kind of wireless charging system of high-precision indoor positioning robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450656A (en) * | 2019-07-08 | 2019-11-15 | 浙江大学 | A kind of electric car wireless charging closed-loop control system based on differential inductance |
| CN110796843A (en) * | 2019-11-05 | 2020-02-14 | 湖北大盛智能装备有限公司 | Robot cable package wireless signal transmission device |
| CN111478390A (en) * | 2020-04-17 | 2020-07-31 | 上海艾临科智能科技有限公司 | Non-contact charging system and method |
| CN112977101A (en) * | 2021-03-04 | 2021-06-18 | 广西电网有限责任公司电力科学研究院 | Unmanned aerial vehicle wireless charging system with optical communication function |
| WO2021212307A1 (en) * | 2020-04-21 | 2021-10-28 | 深圳市大疆创新科技有限公司 | Driving system and movable platform |
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| CN103151825A (en) * | 2013-04-09 | 2013-06-12 | 哈尔滨工业大学 | Non-contact autonomous wireless charging device for indoor moving robot and method thereof |
| CN103823204A (en) * | 2014-03-10 | 2014-05-28 | 北京理工大学 | Indoor positioning method based on visible light label |
| CN106737687A (en) * | 2017-01-17 | 2017-05-31 | 暨南大学 | Indoor Robot system based on visible ray location navigation |
| CN108390471A (en) * | 2018-03-09 | 2018-08-10 | 山东大学 | A kind of multi-frequency magnet coupled resonant type wireless electric energy transmission system and charging system |
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| CN110450656A (en) * | 2019-07-08 | 2019-11-15 | 浙江大学 | A kind of electric car wireless charging closed-loop control system based on differential inductance |
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| CN111478390A (en) * | 2020-04-17 | 2020-07-31 | 上海艾临科智能科技有限公司 | Non-contact charging system and method |
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Application publication date: 20190423 |