CN112803619A - Wireless charging system and wireless charging alignment method - Google Patents
Wireless charging system and wireless charging alignment method Download PDFInfo
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- CN112803619A CN112803619A CN202011339584.7A CN202011339584A CN112803619A CN 112803619 A CN112803619 A CN 112803619A CN 202011339584 A CN202011339584 A CN 202011339584A CN 112803619 A CN112803619 A CN 112803619A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0045—Contactless power transmission, e.g. by magnetic induction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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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
- H02J50/005—Mechanical details of housing or structure aiming to accommodate the power transfer means, e.g. mechanical integration of coils, antennas or transducers into emitting or receiving devices
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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
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
-
- 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
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
-
- 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
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
Abstract
The invention provides a wireless charging system and a wireless charging alignment method, comprising a charging main body and a wireless charging pile; the wireless charging device comprises a charging main body, a wireless charging receiving device, a receiving end control device, a wireless charging transmission device and a transmitting end control device, wherein the charging main body is provided with a limit switch; when the main part that charges is close to wireless electric pile, realize charging the main part through limit switch and fill electric pile's distance control with wireless, then realize the location butt joint of wireless emitter and the wireless receiving arrangement that charges through high-precision motion mechanism. The invention can fully meet the positioning accuracy requirement of the wireless charging transceiving disc, effectively ensure high charging efficiency, save energy and charging time, has the advantages of simple structure, lower cost, high repeated positioning accuracy and the like, and improves the safety, stability and service life of autonomous charging.
Description
Technical Field
The invention relates to a wireless charging system and a wireless charging alignment method, and belongs to the technical field of wireless charging.
Background
Along with the rapid development of intelligent science and technology, the inspection robot starts to be applied to scenes such as conventional power inspection, factory inspection, cultivation inspection and community inspection in a large scale, and people are liberated from high-risk and severe environments and complex inspection work. However, the inspection robot needs to have continuous power supply so as to ensure uninterrupted duty and 24-hour inspection and monitoring. Therefore, how to solve the existing charging problem becomes a problem that the robot enterprise must think at present.
Most of the automatic charging modes of the existing robot are contact charging, and the following problems exist in the long-term use process: 1. the charging contact is easy to wear, is abraded and aged, has short service life and needs to be replaced periodically; 2. the charging contact is an exposed part, so that the protection level is low, the electric shock danger is easy to occur, and the charging contact cannot normally work under the outdoor, low-temperature condensation, damp, inflammable and explosive environments and the like; 3. the positioning error is limited, the navigation precision is low, and the charging contact is not easy to align; 4. contamination of the charging contacts can result in poor contact or failure of the electrical connection.
In order to solve the existing problem of robot contact charging, it is urgently needed to develop a non-contact charging technology suitable for robots. At present, the wireless charging technology is already applied to electronic products such as mobile phones and kitchen appliances in a large scale, and robots are not yet applied to the technology in a large scale.
Because the charging efficiency is highest when the area of the wireless charging transmitting disc and the wireless charging receiving disc is 1:1, the existing wireless charging transmitting disc can start charging only when the offsets of the X axis, the Y axis and the Z axis are required to be within +/-2 cm, the charging efficiency is highest when the offsets of the X axis, the Y axis and the Z axis are 0, the laser positioning accuracy of the current inspection robot is more than +/-5 cm, and the wireless charging positioning requirement cannot be met, a wireless charging alignment method needs to be designed to meet the accuracy of the wireless charging alignment requirement, and the stability and the charging efficiency of the wireless charging of the robot are ensured.
In an existing wireless charging system, a wireless charging receiving disc is generally mounted at the bottom of a robot, a transmitting module is mounted on the ground, and meanwhile, mechanical guide devices are further arranged and used for achieving alignment of the wireless charging receiving disc and the wireless charging transmitting disc. However, the existing mechanical alignment device often has the problems of complex structure, low positioning accuracy, low positioning efficiency, easy abrasion and the like, and meanwhile, when the transmitting disc is installed on the ground, metal substances are easily accumulated on the surface, and when the transmitting disc is charged, the metal generates eddy effect to generate heat and influence the charging efficiency.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the wireless charging system and the wireless charging alignment method provided by the invention realize the accurate positioning of the wireless charging transceiving disc through the limit switch and the high-precision movement mechanism, effectively meet the positioning requirement of wireless charging, and have the advantages of simple structure, high repeated positioning precision, stability, safety, high efficiency and the like.
The technical scheme is as follows: in order to achieve the purpose, the wireless charging system provided by the invention comprises a charging main body and a wireless charging pile, wherein the charging main body is provided with a limit switch, a wireless charging receiving device and a receiving end control device, and the wireless charging pile is provided with a high-precision movement mechanism, a wireless charging transmitting device and a transmitting end control device;
when the main part that charges is close to wireless electric pile, realize charging the main part through limit switch and fill electric pile's distance control with wireless, then realize the location butt joint of wireless emitter and the wireless receiving arrangement that charges through high-precision motion mechanism.
Further, high-accuracy motion includes lead screw module, module support, be equipped with the module slider on the lead screw module for realize wireless charging emitter's connection is fixed, one side of lead screw module is equipped with step motor, is used for realizing the drive control of lead screw module.
Furthermore, still be equipped with positioning switch on the module support, be equipped with the locating support on the wireless emitter of charging, realize wireless emitter of charging's motion location through the cooperation of locating support and positioning switch.
Furthermore, the wireless charging receiving device and the wireless charging transmitting device are provided with positioning components for realizing positioning confirmation of the wireless charging receiving device and the wireless charging transmitting device.
Furthermore, the positioning assembly comprises a laser positioning transmitter and a laser positioning receiver which are respectively arranged on the wireless charging receiving device and the wireless charging transmitting device.
Further, be equipped with height adjustment mechanism on the wireless electric pile that fills for realize wireless emitter's that charges altitude mixture control, height adjustment mechanism can adopt electronic telescopic bracket or manual regulation support.
The invention also provides a wireless charging alignment method, which comprises the following steps:
t1 when the charging subject is low, the wireless charging pile nearby starts to be searched;
the T2 charging main body is quickly moved to a charging area corresponding to the wireless charging pile through navigation;
the T3 charging body is close to the wireless charging pile at a low speed and stops at a set distance in front of the charging pile by using a limit switch;
the T4 receiving end control device sends an instruction to the transmitting end control device, and the transmitting end control device realizes the positioning butt joint of the wireless charging transmitting device and the wireless charging receiving device through the high-precision motion mechanism.
Further, step T4 specifically includes: the receiving end control device sends an instruction to the transmitting end control device, and the transmitting end control device starts the wireless charging transmitting device after receiving the instruction; after the receiving end control device detects the induced voltage, the transmitting end control device controls the displacement of the wireless charging transmitting device through the high-precision motion mechanism, forms a voltage-offset curve according to the induced voltage detected by the receiving end control device, and finally controls the wireless charging transmitting device to stop at the highest voltage point according to the voltage-offset curve, namely positioning butt joint of the wireless charging transmitting device and the wireless charging receiving device is achieved.
Further, step T4 specifically includes: the receiving end control device sends an instruction to the transmitting end control device, the transmitting end control device controls the displacement of the wireless charging transmitting device through the high-precision motion mechanism, and when the wireless charging transmitting device and the positioning assembly on the wireless charging receiving device confirm that positioning is completed, the wireless charging transmitting device stops moving, namely positioning butt joint of the wireless charging transmitting device and the wireless charging receiving device is achieved.
Furthermore, the positioning assembly comprises a laser positioning transmitter and a laser positioning receiver which are respectively arranged on the wireless charging receiving device and the wireless charging transmitting device.
Has the advantages that: compared with the prior art, the wireless charging system and the wireless charging alignment method provided by the invention have the following advantages:
1. this wireless charging system can fully satisfy the wireless positioning accuracy requirement of receiving and dispatching the dish that charges, and positioning accuracy can reach 5mm, effectively guarantees high charge efficiency, and energy saving and charging time have simple structure, the cost is lower, repeated positioning accuracy is high, stable advantage such as high-efficient.
2. This wireless electric pile that fills's height-adjustable, protection level is high, can stop the risk of electrocuteeing, the first wearing and tearing that charge and the filth appears at outdoor work, has improved security, stability and the life that independently charges.
3. The invention provides two wireless charging alignment methods, which realize the accurate positioning of the wireless charging transceiver panel by using a positioning component and a voltage-distance curve of the wireless charging transceiver panel, have simple and efficient positioning process, lower positioning requirement on the navigation of a charging main body and higher universality and popularization value.
Drawings
The present invention will be further described and illustrated with reference to the following drawings.
Fig. 1 is a schematic diagram of an internal structure of a wireless charging pile according to a first embodiment of the present invention;
fig. 2 is a top view of an internal structure of a wireless charging pile according to a first embodiment of the present invention;
fig. 3 is a schematic diagram illustrating the cooperation between the inspection robot and the wireless charging pile in the first embodiment of the invention;
fig. 4 is an enlarged view of a matching structure of the inspection robot and the wireless charging pile in the second embodiment of the invention;
FIG. 5 is a graph of voltage versus lateral offset formed in one embodiment of the present invention;
fig. 6 is a flowchart of a wireless charging alignment method according to an embodiment of the present invention;
fig. 7 is a flowchart of a wireless charging alignment method according to a second embodiment of the present invention.
The reference numerals in the figures include: 1. fill the electric pile casing, 2, the module support, 3, step motor, 4, the opto-coupler switch, 5, the lead screw module, 6, the launching pad support, 7, the launching pad, 8, the opto-coupler response support, 9, the altitude mixture control support, 10, the anticollision strip, 11, motor drive, 12, the launching pad host computer, 13, fill the electric pile circuit board, 14, fill the electric pile upper cover, 15, the receiving disc, 16, the receiving disc support, 17, the photoelectricity proximity switch, 18, the switch support, 19, the management board that charges, 20, the receiving disc host computer, 21, the robot that patrols and examines, 22, laser sensor, 23, infrared correlation sensor transmitting terminal, 24, infrared correlation sensor receiving terminal.
Detailed Description
The following description of the preferred embodiments of the present invention with reference to the accompanying drawings will more clearly and completely illustrate the technical solutions of the present invention.
The first embodiment is as follows:
fig. 3 shows a wireless charging system, which includes a charging main body and a wireless charging pile, wherein the charging main body is an inspection robot 21 in the present embodiment, and may also be an electric vehicle, a household robot or other industrial robots in other embodiments.
In this embodiment, wireless charging stake shell is including filling electric pile casing 1, filling electric pile upper cover 14 and altitude mixture control support 9, and altitude mixture control support 9 passes through the screw and is connected with filling electric pile casing 1, and the different mounting holes adjustment on the accessible altitude mixture control support 9 fills the mounting height of electric pile casing 1. In addition, fill and be equipped with anticollision strip 10 on the electric pile casing 1 for the anticollision is protected and is filled electric pile.
In other embodiments, the height adjustment mechanism may also employ an electrically telescoping stand or other form of manually adjustable stand. If adopt the electronic telescopic bracket of high accuracy, then the wireless electric pile that fills can realize high regulation and control according to the model of the main part that charges is automatic, further satisfies the requirement of automatic counterpoint that charges, enlarges this wireless charging system's application scope.
As shown in fig. 1 and 2, a high-precision motion mechanism, a wireless charging transmitting device and a transmitting end control device are arranged in the charging pile shell 1, the wireless charging transmitting device comprises a transmitting disc 7 and a transmitting disc support 6, the transmitting end control device comprises a transmitting disc host 12 and a transmitting end controller which are electrically connected with the transmitting disc 7, and the high-precision motion mechanism comprises a lead screw module 5, a module support 2, a stepping motor 3 and a motor driver 11. In this embodiment, the transmitting terminal controller adopts the charging pile circuit board 13, and other controllers can be adopted in other embodiments.
In this embodiment, still be equipped with opto-coupler switch 4 on the module support 2, be equipped with opto-coupler response support 8 on the transmission dish support 6, it is spacing about 7 horizontal motions of transmission dish is realized through opto-coupler response support 8 and opto-coupler switch 4's cooperation. In other embodiments, other positioning switches may be used to achieve the motion positioning of the launch pad 7.
Be equipped with laser sensor 22, limit switch, the wireless receiving device that charges, receiving terminal controlling means on patrolling and examining robot 21, laser sensor 22 is used for realizing the laser navigation of robot, the wireless receiving device that charges includes catch basin 15, catch basin support 16, receiving terminal controlling means include with catch basin 15 electric connection's catch basin host computer 20, receiving terminal controller. In this embodiment, the receiving-end controller adopts the charging management board 19 and laser navigation, and in other embodiments, other controllers and navigation modes may be adopted.
In this embodiment, limit switch is including the photoelectric proximity switch 17 of symmetrical arrangement in receiving dish 15 both sides, photoelectric proximity switch 17 passes through switch bracket 18 to be installed on receiving dish support 16, and photoelectric proximity switch 17's inductive distance is adjustable, and the precision is within 2 mm. Other limit switches meeting the requirement of positioning accuracy can be adopted in other embodiments to realize the distance control between the charging main body and the charging pile.
As shown in fig. 6, a wireless charging alignment method for performing charging alignment through a voltage-lateral offset curve of a photoelectric proximity switch 17 and a transceiver board specifically includes:
s1, when the robot is in low power, the robot starts to search nearby wireless charging piles;
s2, rapidly moving the robot to a position 1m in front of the charging pile through laser navigation;
s3, the robot approaches to the charging pile at a low speed, and stops at a position with a set distance of 2cm in front of the charging pile by using the photoelectric proximity switch 17, so that the robot and the charging pile are positioned in the Y-axis direction, and the positioning accuracy is within +/-2 mm;
s4 the charging management board 19 sends the command to the emission disk host 12 through Bluetooth, and the emission disk host 12 starts the emission disk 7 after receiving the command;
s5 the reel host 20 detects whether the reel 15 has an induced voltage by the voltage detection circuit: if the induced voltage is detected, the receiving disc host 20 transmits the detected induced voltage back to the charging pile circuit board 13 through bluetooth, and then the step S6 is performed; if no induced voltage is detected, go back to step S2;
s6 the charging pile circuit board 13 controls the transmitting disc 7 to move along the X-axis direction from the leftmost end of the lead screw through the stepping motor 3, forms a voltage-lateral deviation curve as shown in figure 5 according to the induced voltage detected by the receiving disc host machine 20, and finally controls the transmitting disc 7 to stop at the highest point of voltage according to the voltage-lateral deviation curve, so that the positioning of the transmitting disc 7 and the receiving disc 15 in the X-axis direction is realized, and the positioning precision can reach +/-2 mm;
s7 charging pile circuit board 13 sends charging command to charging management board 19, starts charging mode and judges whether charging is successful, if successful, the robot starts charging, if failed, the step S6 is repeated.
In the alignment process of the robot and the charging pile, because the distance between the robot and the wireless charging pile (namely the wireless charging receiving and sending plate) in the Z-axis direction is fixed, the robot and the wireless charging pile do not need to be positioned again. And when the robot has long running time and tire wear or other reasons cause the deviation in the Z-axis direction, the wireless charging pile can be repositioned in the Z-axis direction through the mounting hole of the height adjusting bracket.
Example two:
the wireless charging system in this embodiment is basically the same as the first embodiment, and the difference is that: as shown in fig. 4, an infrared correlation sensor transmitting end 23 is arranged on the receiving tray support 16, an infrared correlation sensor receiving end 24 is arranged on the transmitting tray support 6, and the butt joint confirmation of the transmitting tray 7 and the receiving tray 15 is realized through the cooperation of the infrared correlation sensor receiving end 24 and the infrared correlation sensor transmitting end 23. In other embodiments, other laser positioning components meeting the positioning accuracy requirement can be used to confirm the positioning of the launching disk 7 and the receiving disk 15.
As shown in fig. 7, a wireless charging alignment method performs charging alignment through a photoelectric proximity switch 17 and an infrared alignment sensor mounted on a transceiver panel, and specifically includes:
p1 when the robot is low, the robot starts to search for nearby wireless charging piles;
the P2 robot rapidly moves to a position 1m right in front of the charging pile through laser navigation;
the P3 robot approaches to the charging pile at a low speed, and stops at a position with a set distance of 2cm in front of the charging pile by using the photoelectric proximity switch 17, so that the robot is positioned in the Y-axis direction, and the positioning precision is within +/-2 mm;
the P4 charging management board 19 sends an instruction to the charging pile circuit board 13 through Bluetooth, the charging pile circuit board 13 controls the transmitting disc 7 to move along the X-axis direction from the leftmost end of the screw rod through the stepping motor 3, when the infrared correlation sensor receiving end 24 on the transmitting disc support 6 receives a signal transmitted by the infrared correlation sensor transmitting end 23 on the receiving disc support 16, the transmitting disc 7 stops moving, namely the transmitting disc 7 and the receiving disc 15 are positioned in the X-axis direction, and the positioning accuracy of the infrared correlation sensor can reach +/-5 mm;
the P5 charging pile circuit board 13 sends a charging command to the charging management board 19, the charging mode is started, whether charging is successful or not is judged, if so, the robot starts charging, and if not, the step P2 is repeated, and alignment is restarted.
Similarly, because the distance between the robot and the wireless charging pile in the Z-axis direction is fixed, the robot and the wireless charging pile do not need to be positioned again in the alignment process. And when the robot has long running time and tire wear or other reasons cause the deviation in the Z-axis direction, the wireless charging pile can be repositioned in the Z-axis direction through the mounting hole of the height adjusting bracket.
In the above embodiment, the high-precision movement mechanism is mainly used for realizing the lateral displacement regulation and control of the wireless charging transmitting device, while in other embodiments, the high-precision movement mechanism can also be used for realizing the displacement regulation and control of the wireless charging transmitting device in other directions, and correspondingly, the accurate positioning of the wireless charging transmitting and receiving disc can still be realized by using the positioning component and the voltage-distance curve of the wireless charging transmitting and receiving disc in each direction.
The protection grade of the charging pile can reach IP54, the protection grade of a receiving disc arranged on the charging main body side can reach IP65, and the receiving disc host and the charging management board are arranged inside the charging main body. This fill electric pile can realize that non-contact charges, and protection level is high, can stop the risk of electrocuteeing, the first wearing and tearing that charge and the filth appears at outdoor work, has improved security, stability and the life that independently charges.
The above detailed description merely describes preferred embodiments of the present invention and does not limit the scope of the invention. Without departing from the spirit and scope of the present invention, it should be understood that various changes, substitutions and alterations can be made herein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents. The scope of the invention is defined by the claims.
Claims (10)
1. A wireless charging system is characterized by comprising a charging main body and a wireless charging pile;
the wireless charging device comprises a charging main body, a wireless charging receiving device and a receiving end control device, wherein the charging main body is provided with a limit switch, the wireless charging receiving device and the receiving end control device;
when the main part that charges is close to wireless electric pile, realize charging the main part through limit switch and fill electric pile's distance control with wireless, then realize the location butt joint of wireless emitter and the wireless receiving arrangement that charges through high-precision motion mechanism.
2. The wireless charging system according to claim 1, wherein the high-precision motion mechanism comprises a lead screw module and a module bracket, the lead screw module is provided with a module slider for fixing the wireless charging transmitter, and a stepping motor is arranged on one side of the lead screw module for driving and controlling the lead screw module.
3. The wireless charging system of claim 2, wherein the module bracket is further provided with a positioning switch, the wireless charging transmitter is provided with a positioning bracket, and the positioning bracket and the positioning switch are matched to realize the motion positioning of the wireless charging transmitter.
4. The wireless charging system of claim 1, wherein the wireless charging receiving device and the wireless charging transmitting device are provided with positioning components for positioning and confirming the wireless charging receiving device and the wireless charging transmitting device.
5. The wireless charging system of claim 4, wherein the positioning assembly comprises a laser positioning transmitter and a laser positioning receiver respectively disposed on the wireless charging receiving device and the wireless charging transmitting device.
6. The wireless charging system of claim 1, wherein the wireless charging pile is provided with a height adjusting mechanism for adjusting the height of the wireless charging transmitting device.
7. A wireless charging alignment method is characterized by comprising the following steps:
t1 when the charging subject is low, the wireless charging pile nearby starts to be searched;
the T2 charging main body is quickly moved to a charging area corresponding to the wireless charging pile through navigation;
the T3 charging body is close to the wireless charging pile at a low speed and stops at a set distance in front of the charging pile by using a limit switch;
the T4 receiving end control device sends an instruction to the transmitting end control device, and the transmitting end control device realizes the positioning butt joint of the wireless charging transmitting device and the wireless charging receiving device through the high-precision motion mechanism.
8. The wireless charging alignment method according to claim 7, wherein the step T4 specifically includes: the receiving end control device sends an instruction to the transmitting end control device, and the transmitting end control device starts the wireless charging transmitting device after receiving the instruction; after the receiving end control device detects the induced voltage, the transmitting end control device controls the displacement of the wireless charging transmitting device through the high-precision motion mechanism, forms a voltage-offset curve according to the induced voltage detected by the receiving end control device, and finally controls the wireless charging transmitting device to stop at the highest voltage point according to the voltage-offset curve, namely positioning butt joint of the wireless charging transmitting device and the wireless charging receiving device is achieved.
9. The wireless charging alignment method according to claim 7, wherein the step T4 specifically includes: the receiving end control device sends an instruction to the transmitting end control device, the transmitting end control device controls the displacement of the wireless charging transmitting device through the high-precision motion mechanism, and when the wireless charging transmitting device and the positioning assembly on the wireless charging receiving device confirm that positioning is completed, the wireless charging transmitting device stops moving, namely positioning butt joint of the wireless charging transmitting device and the wireless charging receiving device is achieved.
10. The wireless charging alignment method as claimed in claim 9, wherein the positioning assembly includes a laser positioning transmitter and a laser positioning receiver respectively disposed on the wireless charging receiving device and the wireless charging transmitting device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011339584.7A CN112803619A (en) | 2020-11-25 | 2020-11-25 | Wireless charging system and wireless charging alignment method |
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| CN202011339584.7A CN112803619A (en) | 2020-11-25 | 2020-11-25 | Wireless charging system and wireless charging alignment method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103683521A (en) * | 2012-09-21 | 2014-03-26 | 昆山博驭汽车数字化有限公司 | Laser positioning intelligent connection electric vehicle wireless charger and transceiver system |
| CN106356944A (en) * | 2016-10-14 | 2017-01-25 | 四川超影科技有限公司 | Automatic charging laser aligning system of patrol check robot and aligning method |
| US20180370376A1 (en) * | 2015-06-26 | 2018-12-27 | Positec Power Tools (Suzhou) Co., Ltd. | Autonomous Mobile Device and Wireless Charging System Thereof |
| CN111092465A (en) * | 2019-11-26 | 2020-05-01 | 山东信通电子股份有限公司 | Charging method and system for power transmission line inspection robot |
| CN111884350A (en) * | 2020-07-17 | 2020-11-03 | 广东亿嘉和科技有限公司 | Charging system and charging method for robot automatic alignment charging |
-
2020
- 2020-11-25 CN CN202011339584.7A patent/CN112803619A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103683521A (en) * | 2012-09-21 | 2014-03-26 | 昆山博驭汽车数字化有限公司 | Laser positioning intelligent connection electric vehicle wireless charger and transceiver system |
| US20180370376A1 (en) * | 2015-06-26 | 2018-12-27 | Positec Power Tools (Suzhou) Co., Ltd. | Autonomous Mobile Device and Wireless Charging System Thereof |
| CN106356944A (en) * | 2016-10-14 | 2017-01-25 | 四川超影科技有限公司 | Automatic charging laser aligning system of patrol check robot and aligning method |
| CN111092465A (en) * | 2019-11-26 | 2020-05-01 | 山东信通电子股份有限公司 | Charging method and system for power transmission line inspection robot |
| CN111884350A (en) * | 2020-07-17 | 2020-11-03 | 广东亿嘉和科技有限公司 | Charging system and charging method for robot automatic alignment charging |
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