CN114189056A - Wireless charging method for robot - Google Patents
Wireless charging method for robot Download PDFInfo
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- CN114189056A CN114189056A CN202111325300.3A CN202111325300A CN114189056A CN 114189056 A CN114189056 A CN 114189056A CN 202111325300 A CN202111325300 A CN 202111325300A CN 114189056 A CN114189056 A CN 114189056A
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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
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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
- H02J50/40—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
- H02J50/90—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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention belongs to the technical field of wireless charging, in particular to a wireless charging method of a robot, which is characterized in that a first receiving coil and a second receiving coil are arranged on the robot, the two receiving coils may form three forms of a first receiving coil, a second receiving coil and a double receiving coil, according to different distances between the wireless charging transmitting coil and the wireless charging receiving coil, the corresponding receiving coil is selected from the three receiving coils to receive the energy transmitted by the wireless charging transmitting coil, so that the short-distance transmission is improved, the induced current due to the frequency splitting phenomenon of the MC-WPT system may not be satisfactory as expected, meanwhile, the condition that the transmission power of the MC-WPT system is lower during long-distance transmission is improved, the transmission power between the wireless charging transmitting coil and the wireless charging receiving coil is improved.
Description
Technical Field
The invention belongs to the technical field of wireless charging, and particularly relates to a wireless charging method for a robot.
Background
At present, robots are widely applied to the fields of manufacturing, surveying, rescuing, living and the like as advanced intelligent robot equipment in the world, the research and development of the robot technology in developed countries are increasingly active along with the improvement of the technological level, the frequent plugging and unplugging of charging in the operation and use process of the robots increase the use labor cost, and the endurance is also concerned by students as the key of long-time stable operation of the robots. Therefore, scholars propose a wireless charging method for a robot, however, most of the wireless charging methods for robots at present are to arrange a receiving coil (for example, a disk coil) on the robot, when the transmitting coil and the receiving coil transmit in a short distance, the MC-WPT system has a frequency splitting phenomenon, which causes the situation that the induced current may not meet expectations, and when the transmitting coil and the receiving coil transmit in a long distance, the transmission power of the MC-WPT system is low, the prior art does not consider the influence of different transmission distances between the transmitting coil and the receiving coil on the transmission power, and at present, there is no scheme that different receiving coils are selected for different transmission distances between the transmitting coil and the receiving coil for wireless energy transfer.
Disclosure of Invention
In order to solve the above problems, the present invention provides a wireless charging method for a robot, which comprises the following specific technical solutions:
a wireless charging method of a robot adopts a wireless charging system to carry out wireless charging, wherein the wireless charging system comprises a transmitting terminal device and a receiving terminal device arranged on the robot; the transmitting terminal device comprises a wireless charging transmitting coil and is connected with an external power supply;
the receiving end device includes wireless receiving coil, switch, range unit, the control unit that charges, wireless receiving coil that charges includes first receiving coil, second receiving coil and first receiving coil with the double receiving coil that forms behind the second receiving coil intercommunication, the switch is used for controlling first receiving coil, second receiving coil and the switching of double receiving coil, includes following step:
s1: measuring, by the ranging unit, a distance between a wireless charging transmit coil and the wireless charging receive coil;
s2: according to the distance measured by the distance measuring unit, the control unit determines a target receiving coil from the first receiving coil, the second receiving coil and the double receiving coil according to a preset strategy, and controls the switch to switch on the target receiving coil, so that energy is transferred from the wireless charging transmitting coil to the target receiving coil.
Preferably, the determining, by the control unit, a target receiving coil from the first receiving coil, the second receiving coil, and the dual receiving coil according to a preset strategy includes:
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 the first receiving coil;
when the distance between the wireless charging transmitting coil and the wireless charging receiving coil is greater 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.
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 helical coil.
Preferably, the double receiving coil includes a cylindrical portion formed by connecting an outer end point of the first receiving coil and a lower end point of the second receiving coil and having a cylindrical shape, and a bottom portion located at an opening of one end portion of the cylindrical portion in the axial direction.
Preferably, the first receiving coil and the second receiving coil have the same diameter.
Preferably, the first receiving coil is vertically arranged at a side surface of the robot, the second receiving coil is arranged at a side surface of the robot, and an axial direction of the second receiving coil is arranged along a transverse direction of the robot.
Preferably, the ranging unit detects a distance between the wireless charging transmission coil and the wireless charging reception coil based on a mutual inductance ranging method.
The invention has the beneficial effects that: the robot is provided with the first receiving coil and the second receiving coil which can form the first receiving coil, the second receiving coil and the double receiving coil, and the corresponding receiving coil is 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, so that the condition that the induced current caused by the frequency splitting phenomenon of the MC-WPT system cannot meet the expectation during short-distance transmission is improved, 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.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a schematic diagram of a wireless charging system according to the present embodiment;
FIG. 2 is a schematic flow chart of the present invention;
fig. 3 is a schematic diagram of a first receiving coil provided in this embodiment;
fig. 4 is a schematic diagram of a second receiving coil provided in this embodiment;
fig. 5 is a schematic diagram of a dual receiving coil provided in this embodiment;
FIG. 6 is a graph showing the mutual inductance versus transmission distance of three magnetic coupling mechanisms according to this embodiment;
fig. 7 is a graph of the relationship between the transmission efficiency and the transmission distance of three magnetic coupling mechanisms provided in this embodiment;
fig. 8 is a graph showing a relationship between the secondary current induced by the secondary coil of the three magnetic coupling mechanisms provided in this embodiment and the transmission distance;
fig. 9 is a curve obtained by optimizing the switching point and the secondary current of the switch and selecting an appropriate magnetic coupling mechanism for power transmission by switching the switch at the intersection point where the three magnetic coupling mechanisms induce the secondary current.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "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 invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention 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 this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
The specific embodiment of the present invention provides a wireless charging method for a robot, which uses a wireless charging system to perform wireless charging, as shown in fig. 1, the wireless charging system includes a transmitting terminal device and a receiving terminal device disposed on the robot; the transmitting terminal 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 distance measuring 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 after the first receiving coil and the second receiving coil are communicated, 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 as shown in fig. 2, the method comprises the following steps:
s1: measuring, by the ranging unit, a distance between a wireless charging transmit coil and the wireless charging receive coil;
s2: according to the distance measured by the distance measuring unit, the control unit determines a target receiving coil from the first receiving coil, the second receiving coil and the double receiving coil according to a preset strategy, and controls the switch to switch on 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 robot is provided with the first receiving coil and the second receiving coil which can form the first receiving coil, the second receiving coil and the double receiving coil, the corresponding receiving coil is 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 situation that induced current possibly cannot meet expectations due to the fact that the MC-WPT system has frequency splitting phenomenon in short-distance transmission is improved, meanwhile, the situation that transmission power of the MC-WPT system is low in long-distance transmission is also improved, and transmission power between the wireless charging transmitting coil and the wireless charging receiving coil is improved.
The control unit determines a target receiving coil from the first receiving coil, the second receiving coil and the double receiving coil according to a preset strategy, and the method comprises the following steps:
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 the first receiving coil;
when the distance between the wireless charging transmitting coil and the wireless charging receiving coil is greater 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.
In the embodiment, the double receiving coil has a larger self-inductance than the single first receiving coil and the single second receiving coil, and the mutual inductance value of the wireless charging transmitting coil and the double receiving coil is greatly increased under the same distance condition, so that the charging efficiency and the anti-offset capability of the wireless charging of the robot can be better improved during long-distance transmission; in the case of short-distance transmission, in order to prevent the reduction of transmission power due to the frequency splitting phenomenon occurring in the dual receiving coils, a single first receiving coil or a single second receiving coil is used for operation, and high-level transmission power can be maintained.
Wherein, wireless transmitting coil that charges is the disk coil. The first receiving coil is a disc coil, and the second receiving coil is a spiral coil. Referring to fig. 3, 4 and 5, fig. 3 is a schematic diagram of a first receiving coil, fig. 4 is a schematic diagram of a second receiving coil, and fig. 5 is a schematic diagram of a dual receiving coil.
The double receiving coil comprises a cylindrical part formed by connecting the outer end point of the first receiving coil with the lower end point of the second receiving coil and having a cylindrical shape, and a bottom part positioned at the opening of one end part of the cylindrical part in the axial direction. The first receiving coil and the second receiving coil have the same diameter.
The first receiving coil is vertically arranged on the side face of the robot, the second receiving coil is arranged on the side face of the robot, and the axial direction of the second receiving coil is arranged along the transverse direction of the robot. The wireless receiving coil that charges sets up in the side of robot, and the wireless transmitting coil that charges that corresponds is vertical setting too. When the robot needs to be charged due to insufficient electric quantity, the robot autonomously moves to the position of the transmitting terminal device, and the distance between the robot and the transmitting terminal device at each stopping position is possibly different, so that the transmission distance between the wireless charging receiving coil and the wireless charging transmitting coil is different, and different receiving coils are selected according to different transmission distances in the embodiment, so that the transmission power is improved. Install first receiving coil and second receiving coil in the robot side, promoted wireless receiving coil's equivalent area and equivalent turn, the space advantage that utilizes that can great limit, the dual receiving coil of this embodiment has many turns, big equivalent area's advantage, MC-WPT system is along with the increase of distance, the performance that magnetic field intensity weakens is offset by many turns, big equivalent area, that is to say, dual receiving coil produces the ability of mutual inductance and can be greater than single 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 (a wireless charging transmitting coil), a wireless charging receiving coil is placed at a measuring point, 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, by finding out the functional relationship between the two coils, the distance between the two coils can be obtained according to the magnitude of the induced electromotive force.
The first preset distance, the second preset distance, and the third preset distance may be set according to an actual situation, and an example of the first preset distance, the second preset distance, and the third preset distance is given in the following corresponding content of fig. 9.
For researching the energy efficiency characteristic and the anti-deviation characteristic of a novel magnetic coupling mechanism (namely, a wireless charging transmitting coil adopts a disc coil, and a wireless charging receiving coil adopts a dual receiving coil), the novel magnetic coupling mechanism is compared with a single disc magnetic coupling mechanism (namely, the wireless charging transmitting coil adopts a disc coil, and the wireless charging receiving coil adopts a disc receiving coil) and a single spiral magnetic coupling mechanism (namely, the wireless charging transmitting coil adopts a disc coil, and the wireless charging receiving coil adopts a spiral receiving coil), and the wireless charging transmitting coil adopts a disc structure. Physical models of a disc-disc type magnetic coupling mechanism, a disc-spiral type magnetic coupling mechanism and a disc-novel magnetic coupling mechanism are built based on simulation software comsol and are simulated, and geometric parameters of coils of the physical models are set according to the size of a household small robot, and are specifically shown in table 1.
TABLE 1 coil geometry parameter settings
| Serial number | Parameters of | |
| 1 | Number of turns of primary side coil | 13 |
| 2 | Inner diameter of primary side coil | 0.01 |
| 3 | Primary side coil turn pitch | 0.004 |
| 4 | Secondary side disk coil turn number | 13 |
| 5 | Secondary side disk coil bore | 0.01 |
| 6 | Secondary side disc coil turn spacing | 0.004 |
| 7 | Secondary side spiral |
10 |
| 8 | Secondary side spiral coil inner diameter | 0.058m |
| 9 | Secondary side spiral coil turn pitch | 0.004 |
| 10 | Radius of coil wire | 0.00125m |
| 11 | Distance between two coils | 0.03m |
Three magnetic coupling mechanisms are applied to the SS topological circuit, secondary side circuits are set to be in a resonance state, simulation software simulink is used for establishing a model and simulating, and the electrical parameter setting of the circuit is shown in table 2.
TABLE 2 System Electrical parameter settings
| Serial number | Parameters of | Numerical value |
| 12 | Direct current 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 inductor | 13.9uH |
| 18 | Secondary side spiral type side compensation capacitor | 25.2uF |
| 19 | Secondary side novel structure inductor | 32.2uH |
| 20 | Secondary side novel side compensation capacitor | 10.9uF |
| 21 | Internal resistance of primary side coil | 0.2 |
| 22 | Internal resistance of secondary side coil | 0.2 |
| 23 | Load(s) | 10 |
Finite element simulation software comsol is used for simulating the transmitting coil and the receiving coil according to coil geometric parameters given in the table 1, and for three magnetic coupling mechanisms, the distance D between the wireless charging receiving coil and the wireless charging transmitting coil is used as a variable to analyze the mutual inductance coupling, the transmission efficiency and the current capacity of the induction secondary side of the receiving coils with different structures. The two coils with different distances D are taken as parameter variables, and parametric scanning is carried out by taking 1cm as a step length, so that the rule that each capability index of the three structures changes along with the change of the distances D is obtained and is shown in fig. 6, 7 and 8. Fig. 6 is a curve showing the relationship between mutual inductance and transmission distance of three magnetic coupling mechanisms, and it can be seen from simulation results that the mutual inductance values of the three magnetic coupling mechanisms are all reduced 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 largest deflectable distance, i.e., the largest anti-deflection capability, under the same minimum mutual inductance threshold condition. Fig. 7 is a curve showing a relationship between transmission efficiency and transmission distance of three magnetic coupling mechanisms, and it can be seen from simulation results that the transmission efficiency of the three magnetic coupling mechanisms is decreased 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 that of the disk magnetic coupling mechanism. In other words, the transmission efficiency of the novel magnetic coupling mechanism is the highest under the same transmission distance, that is, the charging cost of the novel magnetic coupling mechanism is the lowest. When the transmission efficiency is preferentially considered as a target, the switch is closed, the novel magnetic coupling mechanism is used for charging, and the effect is optimal. Fig. 8 is a relationship curve between the secondary current induced by the secondary coils of the three magnetic coupling mechanisms and the transmission distance, and it can be seen from the simulation result that, because of the frequency splitting phenomenon of the MC-WPT system, when charging in a short-distance wireless manner, the current capability of the secondary coil induced by the novel magnetic coupling mechanism is lower than that of a single disk-type magnetic coupling mechanism and a single spiral-type magnetic coupling mechanism, that is, when transmitting in a short distance, the transmission power of the novel magnetic coupling mechanism may not reach the expectation. For the situation, in this embodiment, a switch is used at an intersection point of secondary side current curves of the novel magnetic coupling mechanism, the spiral magnetic coupling mechanism and the disc magnetic coupling mechanism to switch selection of the magnetic coupling mechanism and the corresponding compensation capacitor, so that the whole MC-WPT system can reach the maximum transmission power, and at this time, the system is always in the maximum power transmission state.
Fig. 9 shows a curve after the switch switching point and the secondary side current are optimized, in which the switch is used to switch and select a suitable magnetic coupling mechanism at the intersection point of the three magnetic coupling mechanisms for inducing the secondary side current to perform power transmission. The switching point and the optimized secondary current curve are shown. In fig. 9, it is shown that when the transmission distance between the wireless charging transmitting coil and the wireless charging receiving coil is greater than or equal to 1cm and less than 2.7cm, the wireless charging receiving coil adopts a disk magnetic coupling mechanism, when the transmission distance between the wireless charging transmitting coil and the wireless charging receiving coil is greater than or equal to 2.7cm and less than 3.8cm, the wireless charging receiving coil adopts a spiral magnetic coupling mechanism, and when the transmission distance between the wireless charging transmitting coil and the wireless charging receiving coil is greater than 3.8cm, the wireless charging receiving coil adopts a novel coupling mechanism. As can be seen from the secondary current curve after optimization in fig. 9, at this time, the entire MC-WPT system always operates in the working state of the optimal induced secondary current, and at this time, the wireless charging of the robot may be maintained in the maximum power transmission state. It can also be seen that it is feasible to select the appropriate magnetic coupling mechanism and its compensation capacitor by switching at the secondary current intersection of the three magnetic coupling mechanisms so that the system maintains the optimum power transfer. 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 conditions of different transmission distances, so that the effect is optimal.
In this embodiment, comsol finite element simulation software is used to model three magnetic coupling mechanisms, and the mutual inductance coupling, transmission efficiency, secondary side current induction capability and other aspects of each magnetic coupling mechanism are simulated to obtain a relationship curve between each target capability and transmission distance. Under different target conditions, such as the targets of transmission power, transmission efficiency, anti-offset capability and the like are considered preferentially, different magnetic coupling mechanisms and compensation capacitors can be selected for wireless charging by switching at different transmission distances according to the required requirements.
The structural size of the magnetic coupling mechanism in the present embodiment is based on the size of the selected small household robot, and it should be understood that the above is an example for understanding the solution of the present embodiment, and the solution of the present embodiment can also be applied to other robots with various sizes.
The embodiment provides a novel magnetic coupling mechanism of two unifications (also dual receiving coil) that disk coil and spiral coil combined together, chooses different receiving coil for use during different transmission distance, can avoid the frequency splitting phenomenon in the closely range, also can effectively promote the coupling strength in the remote range, can effectively promote the wireless charging system's of robot position robustness and anti skew ability.
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 components of the examples have been described above generally in terms of their functionality in order to clearly illustrate the 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 implementation. 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 invention.
In the embodiments provided in the present application, it should be understood that the division of the unit is only one division of logical functions, and other division manners may be used 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 used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (8)
1. A wireless charging method of a robot is characterized in that: the method comprises the following steps of carrying out wireless charging by adopting a wireless charging system, wherein the wireless charging system comprises a transmitting terminal device and a receiving terminal device arranged on a robot; the transmitting terminal device comprises a wireless charging transmitting coil and is connected with an external power supply;
the receiving end device includes wireless receiving coil, switch, range unit, the control unit that charges, wireless receiving coil that charges includes first receiving coil, second receiving coil and first receiving coil with the double receiving coil that forms behind the second receiving coil intercommunication, the switch is used for controlling first receiving coil, second receiving coil and the switching of double receiving coil, includes following step:
s1: measuring, by the ranging unit, a distance between a wireless charging transmit coil and the wireless charging receive coil;
s2: according to the distance measured by the distance measuring unit, the control unit determines a target receiving coil from the first receiving coil, the second receiving coil and the double receiving coil according to a preset strategy, and controls the switch to switch on the target receiving coil, so that energy is transferred from the wireless charging transmitting coil to the target receiving coil.
2. The wireless charging method for a robot according to claim 1, wherein: the control unit determines a target receiving coil from the first receiving coil, the second receiving coil and the double receiving coil according to a preset strategy, and the method comprises the following steps:
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 the first receiving coil;
when the distance between the wireless charging transmitting coil and the wireless charging receiving coil is greater 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.
3. The wireless charging method for a robot according to claim 1, wherein: the wireless charging transmitting coil is a disc coil.
4. The wireless charging method for a robot according to claim 1, wherein: the first receiving coil is a disc coil, and the second receiving coil is a spiral coil.
5. The wireless charging method for a robot according to claim 4, wherein: the double receiving coil comprises a cylindrical part formed by connecting the outer end point of the first receiving coil with the lower end point of the second receiving coil and having a cylindrical shape, and a bottom part positioned at an opening of one end part of the cylindrical part in the axial direction.
6. The wireless charging method for a robot according to claim 5, wherein: the first receiving coil and the second receiving coil have the same diameter.
7. The wireless charging method for a robot according to claim 1, wherein: the first receiving coil is vertically arranged on the side face of the robot, the second receiving coil is arranged on the side face of the robot, and the axial direction of the second receiving coil is arranged along the transverse direction of the robot.
8. The wireless charging method for a robot according to claim 2, wherein: 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.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115828647A (en) * | 2023-02-22 | 2023-03-21 | 广东电网有限责任公司湛江供电局 | Method, system, equipment and medium for determining coil model of wireless power supply system |
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| CN103384095A (en) * | 2007-03-27 | 2013-11-06 | 麻省理工学院 | Wireless energy transfer |
| CN102638113A (en) * | 2012-04-11 | 2012-08-15 | 华中科技大学 | Magnetic coupling resonance device |
| WO2014109460A1 (en) * | 2013-01-09 | 2014-07-17 | 한국전기연구원 | Wireless power transmission system for free-position wireless charging of multiple devices |
| CN108988502A (en) * | 2018-07-16 | 2018-12-11 | 国网冀北电力有限公司电力科学研究院 | A kind of adjusting method and device of wireless charging system |
| 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 |
|---|---|---|---|---|
| CN115828647A (en) * | 2023-02-22 | 2023-03-21 | 广东电网有限责任公司湛江供电局 | Method, system, equipment and medium for determining coil model of wireless power supply system |
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