CN114157043B - Wireless charging device and robot capable of being charged wirelessly - Google Patents
Wireless charging device and robot capable of being charged wirelessly Download PDFInfo
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- CN114157043B CN114157043B CN202111325771.4A CN202111325771A CN114157043B CN 114157043 B CN114157043 B CN 114157043B CN 202111325771 A CN202111325771 A CN 202111325771A CN 114157043 B CN114157043 B CN 114157043B
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- 230000008878 coupling Effects 0.000 description 55
- 238000010168 coupling process Methods 0.000 description 55
- 238000005859 coupling reaction Methods 0.000 description 55
- 230000007246 mechanism Effects 0.000 description 50
- 238000005516 engineering process Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 239000003990 capacitor Substances 0.000 description 6
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Classifications
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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
- 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
-
- 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
- H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting 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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
- H02J50/402—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices the two or more transmitting or the two or more receiving devices being integrated in the same unit, e.g. power mats with several coils or antennas with several sub-antennas
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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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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The application provides a wireless charging device and a robot capable of being charged wirelessly, comprising a transmitting end device and a receiving end device; the transmitting end device comprises a wireless charging transmitting coil, the receiving end device comprises a wireless charging receiving coil, a switch, a ranging unit and a control unit, the wireless charging receiving coil comprises a first receiving coil, a second receiving coil and a double receiving coil formed by the communication of the first receiving coil and the second receiving coil, the switch is used for controlling the opening and closing of the first receiving coil, the second receiving coil and the double receiving coil, and the receiving end device is arranged on the robot; the distance measuring unit is used for measuring the distance between the wireless charging transmitting coil and the wireless charging receiving coil; the control unit determines a target receiving coil from the first receiving coil, the second receiving coil and the double receiving coils according to the distance measured by the distance measuring unit, and controls the switch to be connected with the target receiving coil, so that energy is transferred from the wireless charging transmitting coil to the target receiving coil.
Description
Technical Field
The application belongs to the technical field of wireless power transmission, and particularly relates to a wireless charging device and a robot capable of being charged wirelessly.
Background
At present, robots are widely applied to fields of manufacturing, surveying, rescuing, living and the like as advanced intelligent machine equipment in the world, development of robot technology in developed countries is increasingly active along with improvement of technological level, and in the operation and use process of robots, frequent plugging and unplugging of charging is beneficial to increasing labor cost of use, and cruising is also focused by students as a key of long-time stable operation.
The wireless power transmission technology (WPT) is a novel charging technology developed by researchers in recent years, and is an advanced technology which fills future prospects and is widely focused by researchers at home and abroad. The magnetic coupling wireless power transmission (MC-WPT) technology is widely used because of the long energy transmission distance and high transmission power. At present, domestic exploration mainly stays in the theoretical research and laboratory stage, the research mainly depends on universities and colleges, and foreign research on the technology is relatively extensive, and the technology is deeply applied to application scenes such as electric automobiles, mobile equipment and the like.
The wireless power transmission technology is applied to the charging and cruising of the robot, and the electrical isolation between the robot and the charging system can be realized. The wireless charging technology does not need extra wired plug, overcomes the defects of the traditional contact type charging mode for the robot, reduces the corresponding labor cost, improves the complexity of the robot needing to be charged by manpower in the return process, and further improves the automation degree of the charging process. Therefore, more and more researchers apply the WPT technology to the robot charging system, and the WPT charging system has bright application prospect.
However, at present, most of wireless charging of robots are to set a receiving coil (such as a disc coil) on the robots, when the transmitting coil and the receiving coil are transmitted in a short distance, the MC-WPT system has a frequency splitting phenomenon, so that the induced current may not meet the expected situation, and when the receiving coil and the transmitting coil are transmitted in a long distance, the transmitting power of the MC-WPT system is lower, the influence of different transmission distances between the transmitting coil and the receiving coil on the transmitting power is not considered in the prior art, and no scheme of selecting different receiving coils for wireless energy transmission for different transmission distances between the transmitting coil and the receiving coil is available.
Disclosure of Invention
Aiming at the defects in the prior art, the application provides a wireless charging device and a robot, which are used for solving the problem that in the prior art, different receiving coils are not selected for wireless energy transmission according to different transmission distances between a transmitting coil and a receiving coil. The specific technical scheme is as follows:
a wireless charging device, comprising:
transmitting end device and receiving end device;
the transmitting end device comprises a wireless charging transmitting coil and is connected with an external power supply;
the receiving end device comprises a wireless charging receiving coil, a switch, a ranging unit and a control unit, wherein the wireless charging receiving coil comprises a first receiving coil, a second receiving coil and a double receiving coil formed by the communication of the first receiving coil and the second receiving coil, the switch is used for controlling the opening and closing of the first receiving coil, the second receiving coil and the double receiving coil, and the receiving end device is arranged on a robot;
the distance measuring unit is used for measuring the distance between the wireless charging transmitting coil and the wireless charging receiving coil;
and the control unit determines a target receiving coil from the first receiving coil, the second receiving coil and the double receiving coils according to a preset strategy according to the distance measured by the distance measuring unit, and controls the switch to be connected with the target receiving coil so that energy is transferred from the wireless charging transmitting coil to the target receiving coil.
Preferably, the wireless charging transmitting coil is a disc coil.
Preferably, the first receiving coil is a disc coil, and the second receiving coil is a spiral coil.
Preferably, the dual receiving coil is a bottom part, which is formed by connecting an outer end point of the first receiving coil and a lower end point of the second receiving coil and is provided with a cylindrical part and an opening part positioned at one end part of the cylindrical part in the axial direction, wherein the diameters of the first receiving coil and the second receiving coil are equal.
Preferably, the first receiving coil is vertically arranged on the side surface of the robot, the second receiving coil is arranged on the side surface of the robot, and the axial direction of the second receiving coil is transversely arranged along the robot.
Preferably, when the distance between the wireless charging transmitting coil and the wireless charging receiving coil is greater than or equal to a first preset distance and less than a second preset distance, the target receiving coil is the first receiving coil;
when the distance between the wireless charging transmitting coil and the wireless charging receiving coil is larger than or equal to a second preset distance and smaller than a third preset distance, the target receiving coil is the second receiving coil;
and when the distance between the wireless charging transmitting coil and the wireless charging receiving coil is greater than or equal to a third preset distance, the target receiving coil is the dual receiving coil.
Preferably, the ranging unit detects a distance between the wireless charging transmitting coil and the wireless charging receiving coil based on a mutual inductance ranging method.
A wirelessly chargeable robot, comprising: a receiving end device;
the receiving end device comprises a wireless charging receiving coil, a switch, a ranging unit and a control unit, wherein the wireless charging receiving coil comprises a first receiving coil, a second receiving coil and a double receiving coil formed by the communication of the first receiving coil and the second receiving coil, and the switch is used for controlling the opening and closing of the first receiving coil, the second receiving coil and the double receiving coil;
the distance measuring unit is used for measuring the distance between the wireless charging transmitting coil and the wireless charging receiving coil;
and the control unit determines a target receiving coil from the first receiving coil, the second receiving coil and the double receiving coils according to a preset strategy according to the distance measured by the distance measuring unit, and controls the switch to be connected with the target receiving coil so that energy is transferred from the wireless charging transmitting coil to the target receiving coil.
Preferably, the wireless charging transmitting coil is a disc coil, the first receiving coil is a disc coil, and the second receiving coil is a spiral coil.
Preferably, the dual receiving coil is a bottom part, which is formed by connecting an outer end point of the first receiving coil and a lower end point of the second receiving coil and is provided with a cylindrical part and an opening part positioned at one end part of the cylindrical part in the axial direction, wherein the diameters of the first receiving coil and the second receiving coil are equal.
The beneficial effects of the application are as follows: the application provides a wireless charging device and a robot capable of being charged wirelessly, comprising: transmitting end device and receiving end device; the transmitting end device comprises a wireless charging transmitting coil and is connected with an external power supply; the receiving end device comprises a wireless charging receiving coil, a switch, a ranging unit and a control unit, wherein the wireless charging receiving coil comprises a first receiving coil, a second receiving coil and a double receiving coil formed by the communication of the first receiving coil and the second receiving coil, the switch is used for controlling the opening and closing of the first receiving coil, the second receiving coil and the double receiving coil, and the receiving end device is arranged on the robot; the distance measuring unit is used for measuring the distance between the wireless charging transmitting coil and the wireless charging receiving coil; the control unit determines a target receiving coil from the first receiving coil, the second receiving coil and the double receiving coils according to a preset strategy according to the distance measured by the distance measuring unit, and controls the switch to be connected with the target receiving coil, so that energy is transferred from the wireless charging transmitting coil to the target receiving coil. According to the scheme, the two receiving coils of the first receiving coil and the second receiving coil are arranged on the robot, the two receiving coils can form the receiving coils of the first receiving coil, the second receiving coil and the double receiving coil, the corresponding receiving coils are selected from the three receiving coils to receive energy transmitted by the wireless charging transmitting coil according to different distances between the wireless charging transmitting coil and the wireless charging receiving coil, the condition that induced current caused by frequency splitting phenomenon of the MC-WPT system possibly does not meet expectations during short-distance transmission is improved, and meanwhile, the condition that transmission power of the MC-WPT system is lower during long-distance transmission is improved, and transmission power between the wireless charging transmitting coil and the wireless charging receiving coil is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.
Figure 1 is a schematic diagram of a wireless charging device according to the present application,
fig. 2 is a schematic diagram of a first receiving coil according to the present embodiment;
fig. 3 is a schematic diagram of a second receiving coil according to the present embodiment;
fig. 4 is a schematic diagram of a dual receiving coil according to the present embodiment;
FIG. 5 is a graph showing the relationship between the mutual inductance and the transmission distance of three magnetic coupling mechanisms according to the present embodiment;
FIG. 6 is a graph showing the relationship between the transmission efficiency and the transmission distance of three magnetic coupling mechanisms according to the present embodiment;
FIG. 7 is a graph showing the relationship between the secondary current induced by the secondary coil and the transmission distance of three magnetic coupling mechanisms according to the present embodiment;
fig. 8 is a graph after optimizing the switching point and the secondary side current of the switch for power transmission by using the switch to switch and select a suitable magnetic coupling mechanism at the intersection point of the secondary side current induced by the three magnetic coupling mechanisms.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Example 1
As shown in fig. 1, the present embodiment proposes a wireless charging device, including: transmitting end device and receiving end device;
the transmitting end device comprises a wireless charging transmitting coil and is connected with an external power supply;
the receiving end device comprises a wireless charging receiving coil, a switch, a ranging unit and a control unit, wherein the wireless charging receiving coil comprises a first receiving coil, a second receiving coil and a double receiving coil formed by the communication of the first receiving coil and the second receiving coil, the switch is used for controlling the opening and closing of the first receiving coil, the second receiving coil and the double receiving coil, and the receiving end device is arranged on the robot; the distance measuring unit is used for measuring the distance between the wireless charging transmitting coil and the wireless charging receiving coil; the control unit determines a target receiving coil from the first receiving coil, the second receiving coil and the double receiving coils according to a preset strategy according to the distance measured by the distance measuring unit, and controls the switch to be connected with the target receiving coil, so that energy is transferred from the wireless charging transmitting coil to the target receiving coil.
Through the scheme, the two receiving coils of the first receiving coil and the second receiving coil are arranged on the robot, the two receiving coils can form the receiving coils of the first receiving coil, the second receiving coil and the double receiving coil, the corresponding receiving coils are selected from the three receiving coils to receive the energy transmitted by the wireless charging transmitting coil according to different distances between the wireless charging transmitting coil and the wireless charging receiving coil, the condition that induced current possibly does not meet expectations due to the frequency splitting phenomenon of the MC-WPT system during short-distance transmission is improved, and meanwhile, the condition that the transmission power of the MC-WPT system is lower during long-distance transmission is also improved, and the transmission power between the wireless charging transmitting coil and the wireless charging receiving coil is improved.
In this embodiment, compared with a single first receiving coil and a single second receiving coil, the dual receiving coil has larger self-inductance, and when the mutual inductance value of the wireless charging transmitting coil and the dual receiving coil is also greatly increased under the condition of the same distance, the charging efficiency and the anti-offset capability of the wireless charging of the robot can be better improved during long-distance transmission; in short-range transmission, the single first receiving coil or the single second receiving coil is used to operate, so that the transmission power of the dual receiving coil is prevented from being reduced due to frequency splitting, and high-level transmission power can be maintained.
Optionally, the wireless charging transmitting coil is a disc coil, the first receiving coil is a disc coil, and the second receiving coil is a spiral coil. Referring to fig. 2, 3 and 4, fig. 2 is a schematic diagram of a first receiving coil, fig. 3 is a schematic diagram of a second receiving coil, and fig. 4 is a schematic diagram of a dual receiving coil.
Optionally, the dual receiving coil is a bottom part, formed by connecting an outer end point of the first receiving coil and a lower end point of the second receiving coil, of a cylindrical part and an opening part positioned at one end part of the cylindrical part in the axial direction, and the diameters of the first receiving coil and the second receiving coil are equal.
Optionally, the first receiving coil is vertically disposed on a side of the robot, the second receiving coil is disposed on a side of the robot, and an axial direction of the second receiving coil is disposed along a lateral direction of the robot. The wireless charging receiving coil is arranged on the side face of the robot, and the corresponding wireless charging transmitting coil is also arranged vertically. When the electric quantity is insufficient and needs to be charged, the robot autonomously moves to the position where the transmitting end device is located, and as the distance between each stop position of the robot and the transmitting end device is different, the transmission distance between the wireless charging receiving coil and the wireless charging transmitting coil is different, different receiving coils are selected according to different transmission distances in the embodiment, so that the transmission power is improved. The first receiving coil and the second receiving coil are arranged on the side face of the robot, so that the equivalent area and the equivalent number of turns of the wireless charging receiving coil are improved, the space advantage can be utilized to a greater extent, the dual receiving coil of the embodiment has the advantages of multiple turns and large equivalent area, the MC-WPT system compensates the weakening performance of the magnetic field strength by the multiple turns and large equivalent area along with the increase of the distance, that is, the capacity of generating mutual inductance of the dual receiving coil is larger than that of the single receiving coil.
Optionally, when the distance between the wireless charging transmitting coil and the wireless charging receiving coil is greater than or equal to a first preset distance and smaller than a second preset distance, the target receiving coil is a first receiving coil; when the distance between the wireless charging transmitting coil and the wireless charging receiving coil is larger than or equal to the second preset distance and smaller than the third preset distance, the target receiving coil is the second receiving coil; when the distance between the wireless charging transmitting coil and the wireless charging receiving coil is larger than or equal to a third preset distance, the target receiving coil is a dual receiving coil.
The distance measuring unit detects the distance between the wireless charging transmitting coil and the wireless charging receiving coil based on a mutual inductance distance measuring method. An alternating magnetic field is generated by a magnetic field source (wireless charging transmitting coil), a wireless charging receiving coil is arranged at a measuring point, wherein induced electromotive force is generated, and the magnitude of the induced electromotive force can be measured. The distance between the wireless charging receiving coil and the wireless charging transmitting coil is changed, and the magnitude of the induced electromotive force is changed accordingly. Therefore, the distance between the two coils can be obtained according to the magnitude of the induced electromotive force by finding out the functional relation of the coils.
The first preset distance, the second preset distance, and the third preset distance may be set according to actual situations, and an example of the first preset distance, the second preset distance, and the third preset distance is given in the content corresponding to fig. 7.
In order to research the energy efficiency characteristic and the anti-offset characteristic of the novel magnetic coupling mechanism (namely, the wireless charging transmitting coil adopts a disc type coil, the wireless charging receiving coil adopts a dual receiving coil), the novel magnetic coupling mechanism is compared with the single disc type magnetic coupling mechanism (namely, the wireless charging transmitting coil adopts a disc type coil, the wireless charging receiving coil adopts a disc type receiving coil) and the single spiral type magnetic coupling mechanism (namely, the wireless charging transmitting coil adopts a disc type coil, the wireless charging receiving coil adopts a spiral type receiving coil), and the wireless charging transmitting coil adopts a disc type structure. And establishing and simulating physical models of a disc-disc type magnetic coupling mechanism, a disc-spiral type magnetic coupling mechanism and a disc-novel type magnetic coupling mechanism based on simulation software comsol, wherein the coil geometric parameters of the simulation software are set according to the size of a household small-sized robot, and the simulation software is specifically shown in a table 1.
Table 1 coil geometry settings
| Sequence number | Parameters of the design | Numerical value |
| 1 | Primary side coil turns | 13 |
| 2 | Primary side coil inner diameter | 0.01m |
| 3 | Primary side coil spacing | 0.004m |
| 4 | Secondary side disk coil turns | 13 |
| 5 | Inner diameter of secondary side disk coil | 0.01m |
| 6 | Secondary side disc type coil inter-turn distance | 0.004m |
| 7 | Secondary side spiral coil turns | 10 |
| 8 | Secondary side spiral coil inner diameter | 0.058m |
| 9 | Secondary side spiral coil turn-to-turn distance | 0.004m |
| 10 | Coil radius | 0.00125m |
| 11 | Distance between two coils | 0.03m |
Three magnetic coupling mechanisms are applied to an SS topological circuit, the secondary side circuit is set to be in a resonance state, a simulation software simulink is used for modeling and simulation, and the electrical parameter setting of the circuit is shown in table 2.
Table 2 system electrical parameter settings
| Sequence number | Parameters of the design | Numerical value |
| 12 | DC power supply | 20V |
| 13 | Primary side inductor | 8.57uH |
| 14 | Primary side compensation capacitor | 40.9uF |
| 15 | Secondary side disc type structure inductor | 8.57uH |
| 16 | Secondary side disc type side compensation capacitor | 40.9uF |
| 17 | Secondary side spiral structure inductance | 13.9uH |
| 18 | Secondary side spiral side compensating capacitor | 25.2uF |
| 19 | Novel structure inductance of secondary side | 32.2uH |
| 20 | Novel side compensation capacitor of secondary side | 10.9uF |
| 21 | Primary side coil internal resistance | 0.2 |
| 22 | Internal resistance of secondary side coil | 0.2 |
| 23 | Load(s) | 10 |
The coil geometric parameters given in table 1 are simulated by using finite element simulation software comsol for the transmitting coil and the receiving coil, and for three magnetic coupling mechanisms, the mutual inductance coupling, transmission efficiency and induction secondary side current capacity of the receiving coils with different structures are analyzed by taking the distance D between the wireless charging receiving coil and the wireless charging transmitting coil as variables. The different distances D of the two coils are used as parameter variables, parameterization scanning is carried out by taking 1cm as step length, and the change rule of each capability index of the three structures along with the change of the distance D is shown in figures 5, 6 and 7. Fig. 5 is a graph showing the relationship between the mutual inductance and the transmission distance of the three magnetic coupling mechanisms, and from the simulation result, it can be seen that the mutual inductance values of the three magnetic coupling mechanisms are all reduced along with the increase of the transmission distance, but the mutual inductance coupling capability of the novel magnetic coupling mechanism is always greater than that of the spiral magnetic coupling mechanism and the disk magnetic coupling mechanism. In other words, the novel magnetic coupling mechanism has the greatest deflectable distance, i.e., the greatest anti-deflection capability, under the same minimum mutual inductance threshold condition. Fig. 6 is a graph showing the relationship between the transmission efficiency and the transmission distance of three magnetic coupling mechanisms, and it can be seen from the simulation result that the transmission efficiency of the three magnetic coupling mechanisms is reduced with the increase of the transmission distance, but the transmission efficiency capability of the novel magnetic coupling mechanism is always greater than that of the spiral magnetic coupling mechanism and the disk magnetic coupling mechanism. In other words, at the same transmission distance, the transmission efficiency of the novel magnetic coupling mechanism is highest, that is, the charging cost of applying the novel magnetic coupling mechanism is lowest. When the transmission efficiency is considered preferentially as a target, the switch is closed, and the novel magnetic coupling mechanism is used for charging, so that the effect is optimal. Fig. 7 is a graph showing the relationship between secondary current and transmission distance induced by secondary coils of three magnetic coupling mechanisms, and from simulation results, it can be seen that, due to the frequency splitting phenomenon of the MC-WPT system, when the MC-WPT system is charged in a short distance, the capability of the novel magnetic coupling mechanism to induce secondary coil current is lower than that of the single disc magnetic coupling mechanism and the single spiral magnetic coupling mechanism, that is, when the novel magnetic coupling mechanism is transmitted in a short distance, the transmission power may not reach the expectations. For this situation, the present embodiment uses the switch to switch the selection of the magnetic coupling mechanism and the corresponding compensation capacitor at the intersections of the secondary current curves of the novel magnetic coupling mechanism, the spiral magnetic coupling mechanism and the disk magnetic coupling mechanism, so that the entire MC-WPT system can reach the maximum transmission power, and the system is always in the maximum power transmission state.
Fig. 8 shows a plot of optimized switching point and secondary current for power transfer by switching the appropriate magnetic coupling mechanism at the point of intersection of the three magnetic coupling mechanisms sensing secondary current. The switching point and optimized secondary current curve are shown. In fig. 8, it is shown that the wireless charging receiving coil adopts a disc type magnetic coupling mechanism when the transmission distance between the wireless charging transmitting coil and the wireless charging receiving coil is 1cm or more and less than 2.7cm, the wireless charging receiving coil adopts a spiral type magnetic coupling mechanism when the transmission distance between the wireless charging transmitting coil and the wireless charging receiving coil is 2.7cm or more and less than 3.8cm, and the wireless charging receiving coil adopts a novel coupling mechanism when the transmission distance between the wireless charging transmitting coil and the wireless charging receiving coil is more than 3.8cm. As can be seen from the optimized secondary current curve in fig. 8, the whole MC-WPT system always works in the working state of optimal inductive secondary current, and the wireless charging of the robot can be maintained in the maximum power transmission state. It can also be seen that it is feasible to maintain the system at optimum power transfer by selecting the appropriate magnetic coupling mechanism and its compensation capacitance using switching at the secondary current intersection of the three magnetic coupling mechanisms. When the transmission power is preferentially considered as a target, the switch is controlled, and different magnetic coupling mechanisms are used for charging under the condition of different transmission distances, so that the effect is optimal.
In the embodiment, modeling is performed on three magnetic coupling mechanisms by utilizing comsol finite element simulation software, and mutual inductance coupling, transmission efficiency, secondary side current induction capability and other aspects of each magnetic coupling mechanism are simulated, so that a relation curve between each target capability and transmission distance is obtained. Under different target conditions, such as the targets of transmission power, transmission efficiency, anti-offset capability and the like are prioritized, and different magnetic coupling mechanisms and compensation capacitors can be selected for wireless charging by utilizing switch switching under different transmission distances according to the required requirements.
The size of the magnetic coupling mechanism in the present embodiment is given by taking the size of the selected small-sized home robot as a background, and it should be understood that the foregoing is an example for understanding the solution of the present embodiment, and the solution of the present embodiment may also be applied to other robots of various sizes.
The embodiment provides a novel two-in-one magnetic coupling mechanism (namely a dual receiving coil) with a disc coil and a spiral coil combined, different receiving coils are selected for use when different transmission distances are provided, frequency splitting phenomenon in a close range can be avoided, coupling strength in a long range can be effectively improved, and position robustness and anti-offset capability of a robot wireless charging system can be effectively improved.
Example two
The embodiment provides a robot that can wirelessly charge, including: a receiving end device;
the receiving end device comprises a wireless charging receiving coil, a switch, a ranging unit and a control unit, wherein the wireless charging receiving coil comprises a first receiving coil, a second receiving coil and a double receiving coil formed by the communication of the first receiving coil and the second receiving coil, and the switch is used for controlling the opening and closing of the first receiving coil, the second receiving coil and the double receiving coil;
the distance measuring unit is used for measuring the distance between the wireless charging transmitting coil and the wireless charging receiving coil; the control unit determines a target receiving coil from the first receiving coil, the second receiving coil and the double receiving coils according to a preset strategy according to the distance measured by the distance measuring unit, and controls the switch to be connected with the target receiving coil, so that energy is transferred from the wireless charging transmitting coil to the target receiving coil.
Optionally, the wireless charging transmitting coil is a disc coil, the first receiving coil is a disc coil, and the second receiving coil is a spiral coil.
Optionally, the dual receiving coil is a bottom part, formed by connecting an outer end point of the first receiving coil and a lower end point of the second receiving coil, of a cylindrical part and an opening part positioned at one end part of the cylindrical part in the axial direction, and the diameters of the first receiving coil and the second receiving coil are equal.
The structure and the function of the robot in this embodiment are described in the first embodiment, and are not described here again.
Those of ordinary skill in the art will appreciate that the elements of the examples described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the elements of the examples have been described generally in terms of functionality in the foregoing description to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the division of the units is merely a logic function division, and there may be other division manners in actual implementation, for example, multiple units may be combined into one unit, one unit may be split into multiple units, or some features may be omitted.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application, and are intended to be included within the scope of the appended claims and description.
Claims (9)
1. A wireless charging device, comprising:
transmitting end device and receiving end device;
the transmitting end device comprises a wireless charging transmitting coil and is connected with an external power supply;
the receiving end device comprises a wireless charging receiving coil, a switch, a ranging unit and a control unit, wherein the wireless charging receiving coil comprises a first receiving coil, a second receiving coil and a double receiving coil formed by the communication of the first receiving coil and the second receiving coil, the switch is used for controlling the opening and closing of the first receiving coil, the second receiving coil and the double receiving coil, and the receiving end device is arranged on a robot;
the distance measuring unit is used for measuring the distance between the wireless charging transmitting coil and the wireless charging receiving coil;
the control unit determines a target receiving coil from the first receiving coil, the second receiving coil and the double receiving coils according to a preset strategy according to the distance measured by the distance measuring unit, and controls the switch to be connected with the target receiving coil so that energy is transferred from the wireless charging transmitting coil to the target receiving coil;
when the distance between the wireless charging transmitting coil and the wireless charging receiving coil is larger than or equal to a first preset distance and smaller than a second preset distance, the target receiving coil is the first receiving coil;
when the distance between the wireless charging transmitting coil and the wireless charging receiving coil is larger than or equal to a second preset distance and smaller than a third preset distance, the target receiving coil is the second receiving coil;
when the distance between the wireless charging transmitting coil and the wireless charging receiving coil is larger than or equal to a third preset distance, the target receiving coil is the dual receiving coil;
the first preset distance is 1cm, the second preset distance is 2.7cm, and the third preset distance is 3.8cm.
2. The wireless charging device of claim 1, wherein the wireless charging transmit coil is a disc coil.
3. The wireless charging device of claim 1, wherein the first receiving coil is a disc coil and the second receiving coil is a spiral coil.
4. The wireless charging device according to claim 3, wherein the dual receiving coil is a cylindrical portion having a cylindrical shape and a bottom portion located at an opening of an end portion of one side in an axial direction of the cylindrical portion, the bottom portion being formed by connecting an outer end point of the first receiving coil and a lower end point of the second receiving coil, and the diameters of the first receiving coil and the second receiving coil are equal.
5. A wireless charging device according to claim 3, wherein the first receiving coil is arranged vertically on a side of the robot, the second receiving coil is arranged on a side of the robot, and an axial direction of the second receiving coil is arranged laterally along the robot.
6. The wireless charging device according to claim 1, wherein the ranging unit detects a distance of the wireless charging transmitting coil from the wireless charging receiving coil based on a mutual inductance ranging method.
7. A wirelessly chargeable robot, comprising: a receiving end device;
the receiving end device comprises a wireless charging receiving coil, a switch, a ranging unit and a control unit, wherein the wireless charging receiving coil comprises a first receiving coil, a second receiving coil and a double receiving coil formed by the communication of the first receiving coil and the second receiving coil, and the switch is used for controlling the opening and closing of the first receiving coil, the second receiving coil and the double receiving coil;
the distance measuring unit is used for measuring the distance between the wireless charging transmitting coil and the wireless charging receiving coil;
the control unit determines a target receiving coil from the first receiving coil, the second receiving coil and the double receiving coils according to a preset strategy according to the distance measured by the distance measuring unit, and controls the switch to be connected with the target receiving coil so that energy is transferred from the wireless charging transmitting coil to the target receiving coil;
when the distance between the wireless charging transmitting coil and the wireless charging receiving coil is larger than or equal to a first preset distance and smaller than a second preset distance, the target receiving coil is the first receiving coil;
when the distance between the wireless charging transmitting coil and the wireless charging receiving coil is larger than or equal to a second preset distance and smaller than a third preset distance, the target receiving coil is the second receiving coil;
when the distance between the wireless charging transmitting coil and the wireless charging receiving coil is larger than or equal to a third preset distance, the target receiving coil is the dual receiving coil;
the first preset distance is 1cm, the second preset distance is 2.7cm, and the third preset distance is 3.8cm.
8. The wirelessly chargeable robot of claim 7, wherein the wireless charging transmit coil is a disc coil, the first receive coil is a disc coil, and the second receive coil is a spiral coil.
9. The wirelessly chargeable robot of claim 7, wherein the dual receiving coil is a cylindrical portion having a cylindrical shape and a bottom portion located at an opening of an end portion of one side of the cylindrical portion in an axial direction, the bottom portion being formed after the connection of an outer end point of the first receiving coil and a lower end point of the second receiving coil, and the diameters of the first receiving coil and the second receiving coil are equal.
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| CN202111325771.4A CN114157043B (en) | 2021-11-10 | 2021-11-10 | Wireless charging device and robot capable of being charged wirelessly |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102638113A (en) * | 2012-04-11 | 2012-08-15 | 华中科技大学 | Magnetic coupling resonance device |
| CN109756034A (en) * | 2018-12-29 | 2019-05-14 | 南京理工大学 | A kind of transmission range is adaptive and restructural receiving coil |
| CN113113672A (en) * | 2021-03-31 | 2021-07-13 | 歌尔股份有限公司 | Winding type battery and TWS Bluetooth headset |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190260235A1 (en) * | 2016-09-16 | 2019-08-22 | Tdk Electronics Ag | Wireless Power Transmitter, Wireless Power Transmission System and Method for Driving a Wireless Power Transmission System |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102638113A (en) * | 2012-04-11 | 2012-08-15 | 华中科技大学 | Magnetic coupling resonance device |
| CN109756034A (en) * | 2018-12-29 | 2019-05-14 | 南京理工大学 | A kind of transmission range is adaptive and restructural receiving coil |
| CN113113672A (en) * | 2021-03-31 | 2021-07-13 | 歌尔股份有限公司 | Winding type battery and TWS Bluetooth headset |
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