CN1634726A

CN1634726A - Plane or curved surface or step power supplying method and device for vehicle and robot

Info

Publication number: CN1634726A
Application number: CNA2003101175448A
Authority: CN
Inventors: 利莉; 郑贯天; 郑卫东
Original assignee: Individual
Current assignee: Individual
Priority date: 2003-12-26
Filing date: 2003-12-26
Publication date: 2005-07-06

Abstract

This invention provide an electricity supply method and device, which has the following advantages: trackless or track automobile or moving robots without cable for supply; less limitation on the robot movement or trackless automobiles. The trackless or track automobile or moving robot without power storage device decreases the self-weight of the trackless automobile or moving robot to improve the energy usage efficiency.

Description

A kind of vehicle and robot plane or curved surface or step method of supplying power to and device

Technical field

The present invention is a kind of about vehicle and robot plane or curved surface or step method of supplying power to and device, and more particularly, the present invention is a kind of method and apparatus that power supply is provided to vehicle and robot with plane or curved surface or step method of supplying power to and device.

The present invention is a kind of apparatus and method about vehicle and robot competition.

Background technology

For railless elec. vehicle or mobile robot, just limit its action radius as the traction cable power supply, not attractive in appearance; Elec. vehicle or mobile robot interior are carried electrochemical power source, for example use powered battery, and volume and weight is big, the cost height.Battery is a kind of electrochemical power source, improve specific energy, under the promptly same weight and volume, improves the ampere hour capacity of battery, will use heavy metal material inevitably, and as lead, nickel, cadmium or mercury, the material of battery will cause secondary pollution to environment.Can not continuous working when changing battery and charging.Use cost mainly is to buy the expense of battery, and what elec. vehicle moving velocity and time length were played decisive factor is the performance and the price of battery.Low with inductive power supply efficient, sphere of action is little, and electromagnetic radiation and leakage are arranged.The electronic dodgem of public place of entertainment is gathered power supply with brush with conductive floor and conduction ceiling and conduction wheel above vehicle, system sets up difficulty, forms the obstacle on the space; The straight line moving crane of factory will be powered with track, and the electric car in city also has same defective, all will reduce the degree of freedom of elec. vehicle or mobile robot.

Summary of the invention

The present invention be a kind of with direct current or frequency be intermediate frequency or the source of AC that is lower than intermediate frequency or inversion or switching pulse modulation power source as power supply, power supply has each power supply unit of scanning and judges whether to connect the function of load; Plane or curved surface or the set of step conductive plate power supply unit by each interval, by the wheel of conduction or brush or the contact component of conduction or the pedal of conduction of slide block or conduction, or pass through track, by rectifier bridge, to no track or the elec. vehicle or the power supply of mobile robot of track are arranged.

The purpose of invention and the problem that will solve are to make not traction cable power supply of elec. vehicle or mobile robot, do not carry power supply savings device, or do not carry battery, or reduce to carry the capacity of power supply savings device, or reduce to carry the capacity of battery, to reduce the own wt of railless elec. vehicle or mobile robot, improve utilization efficiency of energy, reduce and produce battery and abandon the pollution of battery environment.

Elec. vehicle or mobile robot are on the plane of each interval or above the set of curved surface conductive plate power supply unit, or face motion in orbit, all or main or part power supply from plane or the set of curved surface conductive plate power supply unit or the track of each interval.After elec. vehicle or mobile robot enter before the plane of each interval or the set of curved surface conductive plate power supply unit and leave the plane or set of curved surface conductive plate power supply unit or track of each interval, by other power supply or energy power supply or drive.

It is to fix, divide into groups, scan a kind of or mixing that replaces, judges automatically in the scanning alternately that the electric polarity of the plane of each interval or set of curved surface conductive plate power supply unit or track distributes.

The plane of each interval or the set of curved surface conductive plate power supply unit or track can be installed on the ladder, to elec. vehicle that can move on ladder or mobile robot power supply.

Plane or curved surface conductive plate power supply unit set or the track of power supply by each interval can provide electrical source of power to elec. vehicle or mobile robot, or provide the control power supply by this public passage simultaneously, or provide charge power supply, or transmission signal, or control transformation moving velocity and direction, be power supply to be carried out the amplitude of output voltage or electric current or phase place or polar modulation send signal, carry out by electric power system to vehicle or robot or by bi-directional signal and the instruction of vehicle or robot to electric power system.

More than be basic scheme and 26S Proteasome Structure and Function.

The problem of this method of supplying power to and device solves and useful effect are:

No track or the elec. vehicle of track is arranged or mobile robot, traction cable power supply not is few to the limit movement of railless elec. vehicle or mobile robot.Work is lasting, and car body is light and handy.

No track or the elec. vehicle of track is arranged or mobile robot, do not carry power supply savings device, or do not carry battery, or reduce to carry the capacity of power supply savings device, or reduce to carry the capacity of battery, to reduce the own wt of railless elec. vehicle or mobile robot, improve utilization efficiency of energy.

This design has reduced capacity of cell and over-the-road expense significantly, helps environmental protection, reduces the vehicle body deadweight, has practicality.

The set of the plane of each interval or curved surface conductive plate power supply unit is each other on how much, physically, independent not direct connection on physical construction, the insulating material by bottom or side interconnects; On other circuit, interrelate again each other, form by different conductive region set.

The design's basic thought, be with power supply unit conducting plate or curved slab, with the power supply unit conducting plate of opposed polarity or phase place or curved slab cutting with connect into each interval or inlay, the space, keep the gap, directly do not link, as the four kinds of typical graphics and the pattern of the (a) and (b) of the (a) and (b) of Fig. 1 or Fig. 3, the conducting plate or the curved slab of white power supply unit 26, white power supply unit 30 and grey power supply unit 27, grey power supply unit 29 expression opposed polarities or phase place among the figure.At public battery lead plate, inlay unit 27, the grey power supply unit 29 that quantity is the grey more than 1 in the middle of both white power supply unit 26, the white power supply unit 30, the unit 27 of each grey, grey power supply unit 29 are with public battery lead plate, both white power supply unit 26, white power supply unit 30 spaces, keep the gap, directly do not link.The contact of power supply unit conducting plate or curved slab conduction driving surface is single layer, by the conducting plate of the conducting plate of positive pole or leading in phase or curved slab and negative pole or lagging phase or curved slab is staggered, interval group is synthetic.Keep insulation gap between the conducting plate of opposed polarity or phase place or the curved slab.The ratio of the conducting plate of positive pole or leading in phase conducting plate or curved slab and negative pole or lagging phase or the gross area of curved slab is 3 to 0.3 times.

The pedal of the brush of the wheel of superincumbent electric vehicle conduction or slide block or conduction or the contact component of conduction or conduction is obtained main or whole power sources from above electric power system.The most basic two-wheeled architectural feature is seen Fig. 2, the conducting plate or the curved slab of white power supply unit 20 and grey power supply unit 15 expression opposed polarities or phase place among the figure, and white power supply unit 20 and grey power supply unit 15 are fixed on above the insulating base 21.Electrically insulated from one another between two wheels 18 and the chassis 28, with chassis 28 with the mutual mechanical connection of bearing.Two wheels 18 slide or roll with conductive shaft 19 and cooperate, and are electrically connected.Each wheel is connected with DC motor 17 by diode rectifier bridge 16, no matter polarity of voltage that the plane electric power system applies two wheels 18 or phase place how, as long as can produce electric current, are single directions with regard to making the electric current by load or electrical motor 17.White power supply unit 20 and grey power supply unit 15 all connect into two groups respectively overleaf with lead, are connected with one group of power supply again.

In the power supply dead band, provide power source by flywheel energy storage system or cond or boosting battery.

Under the condition of two wheels, equal turn radius with wheelspan, be 1 unit of length with the length of side of power supply unit; Mathematical computations and analysis the results are shown in Figure 16 and Figure 17;

Among Figure 16 and Figure 17, ordinate is to be elementary length with the course length, the power supply probability f (r) that calculates; Abscissa is the ratio of the length of side of the wheelspan of vehicle or the turn radius length of side and power supply unit, is the numerical value r that obtains divided by the length of side of power supply unit with the wheelspan of vehicle or the turn radius length of side.

For reducing the power supply dead band, a method is the quantity that increases the power supply wheel, the power supply wheel is 2 to 999, best design is to adopt four power supply wheels, see Fig. 4, four wheels 22 slide or roll with conductive shaft 24 and cooperate, and are electrically connected, diode rectifier bridge 23 is connected with DC motor 25, or is connected with load or electrical motor through commutating circuit, modulation circuit or inverter circuit.Simultaneously, wheelspan or wheelbase are greater than 1 to 3 times of the length of side of power supply unit, and both ratios are 1: 1 to 1: 3; Optimal proportion between wheelspan and the wheelbase is 0.3 to 3 times.By experiment, prove and make the power supply probability arrive 1.A structure is that the car middle will add a wheel, becomes five wheels by four wheels.

Rectifier bridge carries out multichannel and confluxes, and the power supply one or more pairs of wheels are sent here can both be added in the load with same direction.

Rectifier bridge onboard, wheel of every in principle increase just increases by 2 rectifier diodes, to the quantitative requirement of wheel more than or equal to two.Wheel of every increase, the rectifier diode feature of increase is; A rectifier diode enters the positive supply of load to conduct current, and another rectifier diode flows out conduct current the negative supply of load.The rectifier diode feature of these two increases is all to have an end to be electrically connected with this wheel of increase.

Method is when adapting to wheel of vehicle short circuit dissimilar polarities pole plate gap, does not cause damage, and power supply has outgoing current by the protection characteristics, and just during load short circuits, electric current is no more than a certain predetermined value.

Method electric power system conducting plate or curved slab are to adopt Fig. 1 (a) and (b), and the figure of Fig. 2 (a) and (b) and pattern have a public battery lead plate, are white portion 26, white portion 30 in the drawings.In the middle of public battery lead plate, inlay the unit 27 of grey, the unit 29 of grey, the unit 27 of each grey, the unit 29 of grey mutually onboard at interval, direct electrical ties.The unit 29 of the unit 27 of grey, grey is by 2 to 99 groups of independently power supply power supplies among the figure.This is a kind of switched-mode power supply mode, as causing the pole plate short circuit, can not influence the power supply of other power supply unit when promptly guaranteeing wheel through the pole plate gap, improves the power supply probability whereby.The unit 27 of grey, the unit 29 of grey all connect into one group respectively overleaf with lead, with white portion 26, white portion 30 pairings, are connected with one group of power supply again.This is a kind of switched-mode power supply method and apparatus of public battery lead plate stationkeeping.

Beneficial effect is for avoiding some wheel short circuit opposite poles sheet separation, and makes whole vehicle lose external power supply, is to reduce the power supply dead band, just adopts the multi-group power power supply.Each zonule is by independent power supply power supply, and Zone Full all has a common ground electrode.

A method is a kind of switched-mode power supply mode that electric power system conducting plate or curved slab adopt Fig. 5, Fig. 6.This is a kind of switched-mode power supply method and apparatus of public battery lead plate stationkeeping.

Fig. 5 adopts 2 independent power supplies, all power supply unit is by being divided into two groups or district at interval, public conductive region is-77, organize or numbering independently-powered unit+40, district, another group or numbering independently-powered unit+50 and 2, a district independent power supply, be connected for one with the wheel or the conductive contact member of the vehicle of accepting power supply or robot.The independently-powered unit of identical numbering all connects into one group respectively overleaf with lead, is connected with one group of power supply again.N district arranged on the power supply board, N is just arranged divided by 2, the merchant who obtains round numbers again is exactly the number of differential gap, with lead the independently-powered unit of the identical numbering of different differential gaps is all connected into one group respectively overleaf with lead.

Fig. 6 adopts 3 independent power supplies.Number public conductive region and be-, number independently-powered unit+59, number independently-powered unit+60, number independently-powered unit+69 and 3 independent power supply, be connected with the many conductive contact members of wheel of the vehicle of accepting power supply or robot.The independently-powered unit of identical numbering all connects into one group respectively overleaf with lead, is connected with one group of power supply again.N district arranged on the power supply board, N is just arranged divided by 3, the merchant who obtains round numbers again is exactly the number of differential gap, with lead the independently-powered unit of the identical numbering of different differential gaps is all connected into one group respectively overleaf with lead.

A method is to adopt; Only with one group of power supply, through having the dispense switch of intelligent decision, with time division system, one after the other is to the power supply one by one respectively of each district.Its conducting plate or curved slab figure and pattern are seen Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14.Each district is with regard to the independently-powered unit of equivalent and preamble.This is a kind of switched-mode power supply method and apparatus that does not have public battery lead plate, by equilateral hexagon or rectangle or triangle, or 3 equilateral hexagons are synthetic that 2 common edge are respectively arranged, the power supply unit a kind of or the mixing shape that removes 12 limits of common edge then is combined into, power supply unit by 3 to 9 different numbering areas is a differential gap, and each differential gap keeps the gap to cover insulating base each other.

Fig. 7 is 3 domain scannings, and 3 districts are numbering area 70, numbering area 71, numbering 72.The best power supply position when having represented 3 wheels among the figure.N district arranged on the power supply board, N is just arranged divided by 3, the merchant who obtains round numbers again is exactly the number of differential gap, with lead the independently-powered unit of the identical numbering of different differential gaps is all connected into one group respectively overleaf with lead.The independently-powered unit of identical numbering, just the district all connects into one group respectively overleaf with lead, and scanning circuit is seen Figure 15.Scan feature is; In the numbering area 70 and to apply driving voltage be a step in 71 of numbering areas, in the numbering area 70 and to apply driving voltage be a step in 72 of numbering areas, in the numbering area 71 and to apply driving voltage be a step in 72 of numbering areas, in the numbering area 71 and to apply driving voltage be a step in 70 of numbering areas.In the

numbering area

71 and 70 of numbering areas apply this step of driving voltage and can omit because the rectifier diode bridge circuit is arranged in the load.

Fig. 8 is 4 domain scannings, and 4 districts are numbering area 73, numbering area 74, numbering area 75, numbering area 76.The best power supply position when having represented 4 wheels among the figure.N district arranged on the power supply board, N is just arranged divided by 4, the merchant who obtains round numbers again is exactly the number of differential gap, with lead the independently-powered unit of the identical numbering of different differential gaps is all connected into one group respectively overleaf with lead.The independently-powered unit of identical numbering, just the district all connects into one group respectively overleaf with lead, and scanning circuit is seen Figure 15.Scan feature is; In the numbering area 73 and to apply driving voltage be a step in 74 of numbering areas, in the numbering area 73 and to apply driving voltage be a step in 75 of numbering areas, in the numbering area 73 and to apply driving voltage be a step in 76 of numbering areas, in the numbering area 74 and to apply driving voltage be a step in 75 of numbering areas, in the numbering area 74 and to apply driving voltage be a step in 76 of numbering areas, in the numbering area 75 and to apply driving voltage be a step in 76 of numbering areas.

The source of this thinking is the honeycomb exchanged form of mobile communication, and vehicle can move power supply in one's respective area or differential gap; Also can roam into other zone or differential gap, not interrupt moving power supply during transition.

More than each zone, each differential gap be monolayer alignment distribution numbering area, see Fig. 9 for numbering area 3 row arranged distribution, have 9 independently-powered unit just to distinguish, 9 districts are numbering area 31, numbering area 32, numbering area 33, numbering area 34, numbering area 35, numbering area 36, numbering area 37, numbering area 38, numbering area 39.N district arranged on the power supply board, N is just arranged divided by 9, the merchant who obtains round numbers again is exactly the number of differential gap, with lead the independently-powered unit of the identical numbering of different differential gaps is all connected into one group respectively overleaf with lead.

For each zone, each arranged distribution numbering area, differential gap is the double-layer nested Figure 10 of opinion, 9 independently-powered unit, just the district.N district arranged on the power supply board, N is just arranged divided by 9, the merchant who obtains round numbers again is exactly the number of differential gap, with lead the independently-powered unit of the identical numbering of different differential gaps is all connected into one group respectively overleaf with lead.Middle independently-powered unit, every group of differential gap is numbering area 41, is numbering area 42, numbering area 43, numbering area 44, numbering area 45, numbering area 46, numbering area 47, numbering area 48, numbering area 49 around numbering area 41 again.

9 districts are numbering area 41, numbering area 42, numbering area 43, numbering area 44, numbering area 45, numbering area 46, numbering area 47, numbering area 48, numbering area 49., being spliced into big power supply board integral body with the power supply unit of differential gap, each power supply unit keeps the gap mutually.

For independently-powered unit is that conducting plate or the curved slab that the right-angled triangle pattern splices mutually seen Figure 11, Figure 12, is spliced into big power supply board integral body with right-angled triangle, and each power supply unit keeps the gap mutually.For above right-angled triangle pattern, each differential gap, each area arrangement distribution numbering area are double-layer nested 8 the independently-powered unit of wanting, just distinguish, 8 districts of Figure 11 are numbering area 51, numbering area 52, numbering area 53, numbering area 54, numbering area 55, numbering area 56, numbering area 57, numbering area 58.8 districts of Figure 12 are numbering area 61, numbering area 62, numbering area 63, numbering area 64, numbering area 65, numbering area 66, numbering area 67, numbering area 68.

N district arranged on the power supply board, N is just arranged divided by 8, the merchant who obtains round numbers again is exactly the number of differential gap, with lead the independently-powered unit of the identical numbering of different differential gaps is all connected into one group respectively overleaf with lead.

The best pattern and the figure of power supply unit conducting plate or curved slab are equilateral hexagons, see Figure 13, and Figure 14 is spliced into big power supply board integral body with equilateral hexagon, and each power supply unit keeps the gap mutually.For above equilateral hexagon figure and pattern, double-layer nestedly want 7 independently-powered unit, it is minimum comparing other pattern.7 independently-powered unit are just distinguished, and 7 districts are numbering area 1, numbering area 2, numbering area 3, numbering area 4, numbering area 5, numbering area 6, numbering area 7.

N district arranged on the power supply board, N is just arranged divided by 7, the merchant who obtains round numbers again is exactly the number of differential gap, with lead the independently-powered unit of the identical numbering of different differential gaps is all connected into one group respectively overleaf with lead.

Alternate sweep switch arrays and Based Intelligent Control are seen Figure 15.

The alternate sweep switch arrays are by semiconductor devices complete operation task, are to form with a kind of or mixing in aerotron or the field effect transistor.

Each district of power supply unit conducting plate or the identical numbering of curved slab, the independently-powered unit that is identical numbering all connects into one group respectively overleaf with lead, is connected with circular mouth 1, circular mouth 2, circular mouth 3, circular mouth 4, circular mouth 5, circular mouth 6, circular mouth 7 among Figure 15 again.Each district that is power supply unit conducting plate or the identical numbering of curved slab connects into 7 groups with the circular mouth of the identical numbering of circular mouth.

Computing machine is controlled aerotron A1, A2, A3, A4, A5, the A6 of A group, aerotron B1, B2, B3, B4, B5, B6, the B7 conducting in the following order of A7, B group respectively;

The chronological order feature of each aerotron conducting scanning:

During the A1 conducting, below be conducting order sweep time of B group;
	????B2	????B3	????B4	????B5	????B6	????B7
During the A2 conducting, below be conducting order sweep time of B group;	????B2	????B3	????B4	????B5	????B6	????B7
		????B3	????B4	????B5	????B6	????B7
During the A3 conducting, below be conducting order sweep time of B group;		????B3	????B4	????B5	????B6	????B7
			????B4	????B5	????B6	????B7
During the A4 conducting, below be conducting order sweep time of B group;			????B4	????B5	????B6	????B7
				????B5	????B6	????B7
During the A5 conducting, below be conducting order sweep time of B group;				????B5	????B6	????B7
					????B6	????B7
During the A6 conducting, below be conducting order sweep time of B group;					????B6	????B7
						????B7
During the A7 conducting, below be conducting order sweep time of B group;						????B7

As seen, reality is only used aerotron A1, A2, A3, A4, A5, A6, B2, B3, B4, B5, B6, B7.

Owing to rectifying circuit is arranged on the vehicle, can adapt to automatically two groups of switching semiconductor pipes outgoing current various flows to, equal 42 scanning and arrange so multiply by 76, be reduced to 18 scanning combinations.So, do not reduce per sweep time in step of width, just shortened time scanning period, improved continuous power supply probability.

Per sweep time in step, width was 100 microseconds to 1 second.

The best approach is improved to intelligence with average velociity scanning and changes scanning speed automatically.

Use the window type current comparator, the outgoing current of scanning device judged:

The window type comparator is that incoming signal has been set up upper and lower bound numerical value, when incoming signal is between upper and lower bound numerical value, just is judged as and meets.

When two power supply units outputs of the output of corresponding scanning device, each wheel do not touch corresponding position, can not produce current return, be exactly open-circuit condition, for the drive current of aerotron or field effect transistor, for leakage current, for abnormal electric current, set up lower limit numerical value, handled, do not produced and meet signal according to open circuit;

When two power supply units outputs of the output of corresponding scanning device, corresponding wheel position makes this two unit short circuits, is exactly short-circuit condition;

When open circuit and short circuit, electric current is respectively zero or minimum and maximum, with regard to high-velocity scanning, just skips after the short stay; Want short stay to be because if power supply is effective, electrical motor is an inductive load, if contact is normal, electric current can't rise immediately, and must offset the effect of jitter of mechanical contact, current values is just transferred to another power supply unit is exported not in window at the appointed time.

When outgoing current was intermediate value, expression produced actv. output by the electrical motor on the vehicle, differentiates for meeting, just stop scanning, remain on this output state, right up to the cooresponding wheel of vehicle this power supply unit that travels out, current values is just restarted scanning not in window.

Among Figure 15, resistance R 1 is a current sampling resistor, its signal is sent into the inverting input of op amp 11 and the in-phase input end of op amp 10, R2, R3, R4 are given resistance, their signal is sent into the in-phase input end of op amp 11 and the inverting input of op amp 10, and R5, R6 are shaping benchmark divider resistances; Judging short circuited is voltage comparator exclusive disjunction amplifier 10, and output low level is effective.

The electric current of the alternate sweep switch arrays output current sampling resistor R1 that all flows through.

Given resistance R 2, R3, R4 carry out dividing potential drop to reference voltage, produce the constant potential of giving of window type comparator.

What judge open circuit is voltage comparator exclusive disjunction amplifier 11, and output low level is effective, and voltage on the current sampling resistor R1 and lower window edge are compared to constant potential.

Judging short circuited is voltage comparator exclusive disjunction amplifier 10, and output low level is effective, and the voltage on the current sampling resistor R1 and the window upper limit are compared to constant potential.

To voltage comparator exclusive disjunction amplifier 11 output signal with voltage comparator exclusive disjunction amplifier 10, composite signal be Exclusive-OR gate (XOR gate) 12.Shaping is a voltage comparator exclusive disjunction amplifier 13; It is voltage comparator exclusive disjunction amplifier 13 output 14 ends that generation stops sweep signal, and the output low level of 14 ends is effective, is to draw on open collector form or the internal resistance or totem is recommended a kind of in the output form.

The foundation that generation stops sweep signal is; A kind of in relatively of outgoing current judgement, output voltage judgement, horsepower output judgement, output voltage and current rise time, output voltage and current phhase or mix adopts the window comparative approach.

Whether output voltage is judged, is observed the load size correct according to the variation of output voltage.Be on device, being the foundation that stops to scan in the middle of the upper and lower bound numerical value that meets predetermined window with output voltage and given numeric ratio.

Horsepower output is judged, is with output voltage and outgoing current and time product on device, with given numeric ratio, being the foundation that stops to scan in the middle of the upper and lower bound numerical value that meets predetermined window.

Output voltage and current rise time, output voltage and current phhase relatively are to determine that load characteristic is resistive, capacitive or perception, and short circuit load is resistive, and motor load is a perception, is the foundation of judging load characteristic.On device, be phase difference with output voltage and outgoing current, with given numeric ratio, being the foundation that stops to scan in the middle of the upper and lower bound numerical value that meets predetermined window.

Pedal on a kind of walking robot pin is exactly and this electric power system bonded assembly electrode, for the robot in stationary applica-tions work, can move on this electric power system, also can charge on this electric power system.Robot for not carrying electrokinetic cell fully can limit its activity space.

Adopt this electric power system at the intelligent construction thing, when building and finishing, electric power system is installed in advance, battery lead plate can be used stainless steel sheet, copper coin or the combination of Al-alloy metal plate, to guarantee resistance to abrasion.

For the occasion that the person and anti-explosion safety requirement are arranged, the industry person and anti-explosion safety standard are restricted to power supply voltage and short circuit current, so the power supply capacity of this electric power system is restricted.

Also adopted restriction just to outgoing current or the horsepower output or the output ampere hour capacity of this electric power system, be a kind of contest and match feature, its beneficial effect is when carry out the match of elec. vehicle and robot on this electric power system, it for example is the 4-wheel driven car match, no matter be plane power supply or track power supply, just fully can be just, fair, accurate, science and compare the performance of vehicle itself objectively, at full throttle with range as criterion, no longer be the trial of strength of battery performance and price.

At certain voltage; under the current cutting-off protection condition of power supply, or the constant current condition of power supply down or under the output ampere hour capacity condition, its beneficial effect is to make the contest of vehicle have more fairness; be not subjected to the influence of battery performance, can embody design, the manufacture level of vehicle itself fully.

Be the contest speed of a kind of battery-driven car and robot and the standard and the design plan of contest mileage.

Its beneficial effect is, also makes the making that the entrant is more complete, participate in vehicle directly, and to a greater extent performance and recreation scope are arranged, make competition have the internal of scientific and technological contest more, challenge, competitiveness has improved technical risk, state-of-art and complexity.

To the restriction of the outgoing current of this electric power system, be the restriction that electric current that vehicle or robot obtain from this electric power system is subjected to this electric power system, can not surpass a certain numerical value.Be to the outgoing current sampling on device, compare,, just adjust the equivalent internal resistance of this electric power system, keep outgoing current and be no more than given value when outgoing current surpasses given value with given value.

To the restriction of the horsepower output of this electric power system, be the restriction that power that vehicle or robot obtain from this electric power system is subjected to this electric power system, can not surpass a certain numerical value.On device is to outgoing current and output voltage and time product, obtains horsepower output, compares with given value, when horsepower output surpasses given value, just cuts off the output of this electric power system.

To the restriction of the output ampere hour capacity of this electric power system, be the restriction that output ampere hour capacity that vehicle or robot obtain from this electric power system is subjected to this electric power system, can not surpass a certain numerical value.On device is to outgoing current and output time product, obtains exporting ampere hour capacity, compares with given value, when the output ampere hour capacity surpasses given value, just cuts off the output of this electric power system.

This electric power system has intelligent decision and measuring ability, and the feature of load current is analyzed, and has prevented that metal object from causing short circuit, initiation fire.A kind of intelligent determination method of this electric power system, be that robot and vehicle move, cause the scanning of variation, when even robot and vehicle are not mobile, when takeoff output, electric current and power fluctuate, and extraneous short circuited invariant position, electric current and power change unhappy, are the loads of pure resistive, voltage and current phase place unanimity.

It is foundation; A kind of in relatively of outgoing current judgement, output voltage judgement, horsepower output judgement, output voltage and current rise time, output voltage and current phhase or mix judges whether load is pure resistive characteristics, and this is that metal object causes short circuited characteristics.

And that inductive load adds load current or power is normal, is exactly the feature of motor load.

Description of drawings

Fig. 1 is the most basic power supply board figure and pattern;

Fig. 2 is the most basic feed circuit;

Fig. 3 is basic power supply board figure and pattern;

Fig. 4 is the circuit of four-wheeled;

Fig. 5 is the power supply board figure and the pattern of branch 2 districts power supply;

Fig. 6 is the power supply board figure and the pattern of branch 3 districts power supply;

Fig. 7 is the power supply board figure and the pattern of branch 3 districts power supply;

Fig. 8 is the power supply board figure and the pattern of branch 4 districts power supply;

Fig. 9 is the power supply board figure and the pattern of branch 9 districts power supply;

Figure 10 is the power supply board figure and the pattern of branch 9 districts power supply;

Figure 11 is the power supply board figure and the pattern of branch 8 districts power supply;

Figure 12 is the power supply board figure and the pattern of branch 8 districts power supply;

Figure 13 is the power supply board figure and the pattern of equilateral hexagon;

Figure 14 is the power supply board figure and the pattern of branch 7 districts power supply;

Figure 15 is power supply and control circuit figure;

Figure 16 is power supply probability calculation result;

Figure 17 is power supply probability calculation result.

The specific embodiment

The present invention is described in further detail below in conjunction with accompanying drawing and the specific embodiment:

Fig. 2 is the most basic feed circuit, with the locus of chassis 28 maintenance wheels, rotating shaft, circuit elements device, and the load of vehicle.This is the electric power system of the most basic two wheels.

Fig. 4 is the circuit of four-wheeled, and directly perceived, succinct for this figure has only a motor load, with the commutation of vehicle, do not turn to, speed governing, modulation, inversion, control circuit is drawn, and the actual commutation that will use vehicle turns to, speed governing, modulation, inversion, control circuit has a plurality of motor loads.

Figure 15 is power supply and control circuit figure, directly perceived for this figure, succinctly, the circuit that will limit load short circuit current is not drawn, reality is destroyed circuit for preventing load short circuits, hold at public power supply+V, or each aerotron of A group, or each aerotron of B group, in a kind of or mix the circuit that adopts the restriction load short circuit current.

In concrete an enforcement, basic scanning speed is 1 to 10 millisecond of per step.

Exclusive-OR gate (XOR gate) 12 is to be voltage comparator exclusive disjunction amplifier 10 and what judge open circuit is voltage comparator exclusive disjunction amplifier 11 judging short circuited, when all output low level is effective, just produces effectively and exports.

A feature of scanning is; The aerotron of the aerotron of A group and B group, the conducting simultaneously of the aerotron of same sequence number.

Circuit bonded assembly feature is, the emitter of the positive-negative-positive aerotron of A group is all received public power supply+V end, base stage is all by computer controlled, the collecting electrode of same sequence number all passes through circular mouth 1, circular mouth 2, circular mouth 3, circular mouth 4, circular mouth 5, circular mouth 6, the circular mouth 7 among Figure 15, and the collecting electrode of organizing NPN type aerotron with the B of same sequence number is connected.The emitter of B group NPN type aerotron is all received public ground, and base stage is all by computer controlled.

More particularly, be that the collecting electrode of the positive-negative-positive aerotron A1 of A group all pass through the circular mouth 1 among Figure 15, be electrically connected with the district 1 of each differential gap, the collecting electrode of organizing NPN type aerotron B1 with B is electrically connected.

When increasing a kind of contest and competition method and device, just increase following method and apparatus;

In a kind of battery-driven car of the present invention or robot competition method and apparatus, it is characterized in that;

During to the restriction of the outgoing current of this electric power system, limit maximum output voltage simultaneously, battery-driven car or the machine people the fastest with moving velocity are the winner; Or with can traveling load the heaviest battery-driven car or machine people be the winner; Or be the winner with the battery-driven car or the machine people of level or normal thrust maximum; Or do work to produce mechanical action maximum battery-driven car or machine people are the winner; Or to produce mechanical action the weight of the weight of regulation is lifted maximum height or the battery-driven car or the machine people of number of times are the winner at most.Simultaneously, more than every, again in the shortest time, to be reached for the winner.

During to the restriction of the horsepower output of this electric power system, battery-driven car or the machine people the fastest with moving velocity are the winner; Or with can traveling load the heaviest battery-driven car or machine people be the winner; Or be the winner with the battery-driven car or the machine people of level or normal thrust maximum; Or do work to produce mechanical action maximum battery-driven car or machine people are the winner; Or to produce mechanical action the weight of the weight of regulation is lifted maximum height or the battery-driven car or the machine people of number of times are the winner at most; Or with operating range or mileage maximum or the longest battery-driven car or machine people is the winner.Simultaneously, more than every, again in the shortest time, to be reached for the winner.

During to the restriction of the output ampere hour capacity of this electric power system, it on device variable to outgoing current, carry out integral operation at interval every a regular time, accumulation results by integrating obtains exporting ampere hour capacity, compare with given value, when the output ampere hour capacity surpasses given value, just cut off the output of this electric power system.

Battery-driven car or the machine people the fastest with moving velocity are the winner; Or with can traveling load the heaviest battery-driven car or machine people be the winner; Or be the winner with the battery-driven car or the machine people of level or normal thrust maximum; Or do work to produce mechanical action maximum battery-driven car or machine people are the winner; Or to produce mechanical action the weight of the weight of regulation is lifted maximum height or the battery-driven car or the machine people of number of times are the winner at most; Or with operating range or mileage maximum or the longest battery-driven car or machine people is the winner.Simultaneously, more than every, again in the shortest time, to be reached for the winner.

The moving velocity of battery-driven car or robot is measured and compared.

The traveling load weight of battery-driven car or robot is measured and compared.

The level of battery-driven car or robot or normal thrust are measured and compared.

To the generation mechanical action of battery-driven car or robot and the size of doing work measure and compare.

The generation mechanical action of battery-driven car or robot is lifted maximum height or number of times with the weight of the weight of regulation and measures and compare.

The operating range of battery-driven car or robot or mileage are measured and compared.

Simultaneously, more than every, again in the shortest time, to be reached for the winner.

In a kind of battery-driven car of the present invention or robot competition method and apparatus, it is characterized in that; To the power supply mode of battery-driven car or robot be no track power supply the track power supply is arranged or the traction cable self-powered in a kind of or mix.

Claims

1. one kind about vehicle and robot plane or curved surface or step method of supplying power to, more particularly, is a kind ofly to provide the method for power supply with plane or curved surface or step method of supplying power to vehicle and robot,

With a kind of method about vehicle and robot competition:

It is characterized in that; Be a kind of with direct current or frequency be intermediate frequency or the source of AC that is lower than intermediate frequency or inversion or switching pulse modulation power source as power supply, power supply has each power supply unit of scanning and judges whether to connect the function of load; Plane or curved surface or the set of step conductive plate power supply unit by each interval, by the wheel of conduction or brush or the contact component of conduction or the pedal of conduction of slide block or conduction, or by track, by rectifier bridge to no track or have the elec. vehicle of track or mobile robot to power;

Elec. vehicle or mobile robot are on the plane of each interval or above the set of curved surface conductive plate power supply unit, or face motion in orbit, all or main or part power supply from plane or the set of curved surface conductive plate power supply unit or the track of each interval; After elec. vehicle or mobile robot enter before the plane of each interval or the set of curved surface conductive plate power supply unit and leave the plane or set of curved surface conductive plate power supply unit or track of each interval, by other power supply or energy power supply or drive;

The electric polarity of the plane of each interval or set of curved surface conductive plate power supply unit or track or PHASE DISTRIBUTION are to fix, divide into groups, scan a kind of or mixing that replaces, judges automatically in the scanning alternately;

The plane of each interval or the set of curved surface conductive plate power supply unit or track can be installed on the ladder, to elec. vehicle that can move on ladder or mobile robot power supply;

Plane or curved surface conductive plate power supply unit set or the track of power supply by each interval can provide electrical source of power to elec. vehicle or mobile robot, or provide the control power supply by this public passage simultaneously, or provide charge power supply, or transmission signal, or control transformation moving velocity and direction, be power supply to be carried out the amplitude of output voltage or electric current or polarity or phase modulation send signal, carry out by electric power system to vehicle or robot or by bi-directional signal and the instruction of vehicle or robot to electric power system;

The set of the plane of each interval or curved surface conductive plate power supply unit is each other on how much, physically, independent not direct connection on physical construction, the insulating material by bottom or side interconnects; On other circuit, interrelate again each other, form by different conductive region set;

Be power supply unit conducting plate or curved slab with opposed polarity or phase place, power supply unit conducting plate or curved slab are cut and connect into each interval or inlay the conducting plate or the curved slab of white power supply unit (26), white power supply unit (30) and grey power supply unit (27), grey power supply unit (29) expression opposed polarity or phase place; At public battery lead plate, inlay the unit that quantity is the grey more than 1 (27), grey power supply unit (29) in the middle of both white power supply unit (26), the white power supply unit (30), the unit of each grey (27), grey power supply unit (29) are with public battery lead plate, both white power supply unit (26), white power supply unit (30) space, keep the gap, directly do not link; The unit (29) of the unit of grey (27), grey all connects into a binding respectively overleaf with lead; The unit (29) of the unit of grey (27), grey all connects into one group respectively overleaf with lead, with white portion (26), white portion (30) pairing, be connected with one group of power supply, this is a kind of switched-mode power supply method and apparatus of public battery lead plate stationkeeping again; The contact of power supply unit conducting plate or curved slab conduction driving surface is single layer, by the conducting plate of the conducting plate of positive pole or leading in phase or curved slab and negative pole or lagging phase or curved slab is staggered, interval group is synthetic; Keep insulation gap between the conducting plate of opposed polarity or phase place or the curved slab; The ratio of the conducting plate of positive pole or leading in phase conducting plate or curved slab and negative pole or lagging phase or the gross area of curved slab is 3 to 0.3 times;

In the power supply dead band, provide power source by flywheel energy storage system or cond or boosting battery;

Method electric power system conducting plate or curved slab are that each power supply unit is by 2 to 99 groups of independently power supply power supplies; The power supply of employing multi-group power; Each zonule is by independent power supply power supply, and Zone Full all has a common ground electrode; This is a kind of switched-mode power supply mode;

A kind of switched-mode power supply method and apparatus of public battery lead plate stationkeeping, be to adopt (2) individual independent power supply, all power supply unit is by being divided into two groups or district at interval, public conductive region is (77), organizing or distinguish for one is numbering independently-powered unit (+41), another group or the independently-powered unit of numbering, district (+50) and 2 independent power supplies, is connected with the wheel or the conductive contact member of the vehicle of accepting power supply or robot; The independently-powered unit of identical numbering all connects into one group respectively overleaf with lead, is connected with one group of power supply again; N district arranged on the power supply board, N is just arranged divided by 2, the merchant who obtains round numbers again is exactly the number of differential gap, with lead the independently-powered unit of the identical numbering of different differential gaps is all connected into one group respectively overleaf with lead;

A kind of is to adopt 3 independent power supplies; Numbering public conductive region is (-), number independently-powered unit (+59), number independently-powered unit (+60), number independently-powered unit (+69) and 3 independent power supplies, be connected with the many conductive contact members of wheel of the vehicle of accepting power supply or robot; The independently-powered unit of identical numbering all connects into one group respectively overleaf with lead, is connected with one group of power supply again; N district arranged on the power supply board, N is just arranged divided by 3, the merchant who obtains round numbers again is exactly the number of differential gap, with lead the independently-powered unit of the identical numbering of different differential gaps is all connected into one group respectively overleaf with lead;

A method is to adopt; Only with one group of power supply, through having the dispense switch of intelligent decision, with time division system, one after the other is to the power supply one by one respectively of each district; Its conducting plate or curved slab figure and pattern are by equilateral hexagon or rectangle or triangle, or 3 equilateral hexagons are synthetic that 2 common edge are respectively arranged, the power supply unit a kind of or the mixing shape that removes 12 limits of common edge then is combined into, power supply unit by 3 to 9 different numbering areas is a differential gap, and each differential gap keeps the gap to cover insulating base each other; Each district is with regard to the independently-powered unit of equivalent and preamble; This is a kind of switched-mode power supply method and apparatus that does not have public battery lead plate;

A kind of is 3 domain scannings, and 3 districts are numbering area (70), numbering area (71), numbering area (72); N district arranged on the power supply board, N is just arranged divided by 3, the merchant who obtains round numbers again is exactly the number of differential gap, with lead the independently-powered unit of the identical numbering of different differential gaps is all connected into one group respectively overleaf with lead; The independently-powered unit of identical numbering, just the district all connects into one group respectively overleaf with lead; Scan feature is; Applying driving voltage between numbering area (70) and numbering area (71) is a step, applying driving voltage between numbering area (70) and numbering area (72) is a step, applying driving voltage between numbering area (71) and numbering area (72) is a step, and applying driving voltage between numbering area (71) and numbering area (70) is a step; Applying this step of driving voltage between numbering area (71) and numbering area (70) can omit, because the rectifier diode bridge circuit is arranged in the load;

A kind of is 4 domain scannings, and 4 districts are numbering area (73), numbering area (74), numbering area (75), numbering area (76); N district arranged on the power supply board, N is just arranged divided by 4, the merchant who obtains round numbers again is exactly the number of differential gap, with lead the independently-powered unit of the identical numbering of different differential gaps is all connected into one group respectively overleaf with lead; The independently-powered unit of identical numbering, just the district all connects into one group respectively overleaf with lead; Scan feature is; Applying driving voltage between numbering area (73) and numbering area (74) is a step, applying driving voltage between numbering area (73) and numbering area (75) is a step, applying driving voltage between numbering area (73) and numbering area (76) is a step, applying driving voltage between numbering area (74) and numbering area (75) is a step, applying driving voltage between numbering area (74) and numbering area (76) is a step, and applying driving voltage between numbering area (75) and numbering area (76) is a step;

Vehicle can move power supply in one's respective area or differential gap; Also can roam into other zone or differential gap, not interrupt moving power supply during transition;

More than each zone, each differential gap be monolayer alignment distribution numbering area, for numbering area 3 row arranged distribution, have 9 independently-powered unit just to distinguish, 9 districts are numbering area (31), numbering area (32), numbering area (33), numbering area (34), numbering area (35), numbering area (36), numbering area (37), numbering area (38), numbering area (39); N district arranged on the power supply board, N is just arranged divided by 9, the merchant who obtains round numbers again is exactly the number of differential gap, with lead the independently-powered unit of the identical numbering of different differential gaps is all connected into one group respectively overleaf with lead;

For each zone, each arranged distribution numbering area, differential gap is double-layer nested, 9 independently-powered unit, just the district; N district arranged on the power supply board, N is just arranged divided by 9, the merchant who obtains round numbers again is exactly the number of differential gap, with lead the independently-powered unit of the identical numbering of different differential gaps is all connected into one group respectively overleaf with lead; Middle independently-powered unit, every group of differential gap is numbering area (41), is numbering area (42), numbering area (43), numbering area (44), numbering area (45), numbering area (46), numbering area (47), numbering area (48), numbering area (49) around numbering area (41) again;

9 districts are numbering area (41), numbering area (42), numbering area (43), numbering area (44), numbering area (45), numbering area (46), numbering area (47), numbering area (48), numbering area (49); , being spliced into big power supply board integral body with the power supply unit of differential gap, each power supply unit keeps the gap mutually;

For independently-powered unit is conducting plate or the curved slab that the right-angled triangle pattern splices mutually, is spliced into big power supply board integral body with right-angled triangle, and each power supply unit keeps the gap mutually; For above right-angled triangle pattern, each differential gap, each area arrangement distribution numbering area are double-layer nested 8 the independently-powered unit of wanting, just distinguish, 8 districts are numbering area (51), numbering area (52), numbering area (53), numbering area (54), numbering area (55), numbering area (56), numbering area (57), numbering area (58); 8 districts are numbering area (61), numbering area (62), numbering area (63), numbering area (64), numbering area (65), numbering area (66), numbering area (67), numbering area (68);

N district arranged on the power supply board, N is just arranged divided by 8, the merchant who obtains round numbers again is exactly the number of differential gap, with lead the independently-powered unit of the identical numbering of different differential gaps is all connected into one group respectively overleaf with lead;

The best pattern and the figure of power supply unit conducting plate or curved slab are equilateral hexagons, are spliced into big power supply board integral body with equilateral hexagon, and each power supply unit keeps the gap mutually; For above equilateral hexagon figure and pattern, double-layer nestedly want 7 independently-powered unit, it is minimum comparing other pattern; 7 independently-powered unit are just distinguished, and 7 districts are numbering area (1), numbering area (2), numbering area (3), numbering area (4), numbering area (5), numbering area (6), numbering area (7);

N district arranged on the power supply board, N is just arranged divided by 7, the merchant who obtains round numbers again is exactly the number of differential gap, with lead the independently-powered unit of the identical numbering of different differential gaps is all connected into one group respectively overleaf with lead;

Per sweep time in step, width was 100 microseconds to 1 second;

The best approach is improved to intelligence with average velociity scanning and changes scanning speed automatically;

The window type comparator is that incoming signal has been set up upper and lower bound numerical value, when incoming signal is between upper and lower bound numerical value, just is judged as and meets;

When open circuit and short circuit, electric current is respectively zero or minimum and maximum, with regard to high-velocity scanning, just skips after the short stay; Want short stay to be because if power supply is effective, electrical motor is an inductive load, if contact is normal, electric current can't rise immediately, and must offset the effect of jitter of mechanical contact, current values is just transferred to another power supply unit is exported not in window at the appointed time;

When outgoing current was intermediate value, expression produced actv. output by the electrical motor on the vehicle, differentiates for meeting, just stop scanning, remain on this output state, right up to the cooresponding wheel of vehicle this power supply unit that travels out, current values is just restarted scanning not in window;

The foundation that generation stops sweep signal is; A kind of in relatively of outgoing current judgement, output voltage judgement, horsepower output judgement, output voltage and current rise time, output voltage and current phhase or mix adopts the window comparative approach;

Whether output voltage is judged, is observed the load size correct according to the variation of output voltage; Be on device, being the foundation that stops to scan in the middle of the upper and lower bound numerical value that meets predetermined window with output voltage and given numeric ratio;

Horsepower output is judged, is with output voltage and outgoing current and time product on device, with given numeric ratio, be the foundation that stops to scan with the upper and lower bound numerical value centre that meets predetermined window;

Output voltage and current rise time, output voltage and current phhase relatively are to determine that load characteristic is resistive, capacitive or perception, and short circuit load is resistive, and motor load is a perception, is the foundation of judging load characteristic; On device, be phase difference with output voltage and outgoing current, with given numeric ratio, being the foundation that stops to scan in the middle of the upper and lower bound numerical value that meets predetermined window;

Method is when adapting to wheel of vehicle short circuit dissimilar polarities pole plate gap, do not cause damage, power supply has outgoing current by the protection characteristics, just during load short circuits, electric current is no more than a certain predetermined value, is the power consumption of constant voltage power suspply when reducing short circuit;

When increasing a kind of contest and competition method and device, just increase following method;

To the restriction of the outgoing current of this electric power system or horsepower output or output ampere hour capacity, be a kind of contest and match feature,

Be the contest speed of a kind of battery-driven car and robot and the standard and the design plan of contest mileage;

To the restriction of the outgoing current of this electric power system, be the restriction that electric current that vehicle or robot obtain from this electric power system is subjected to this electric power system, can not surpass a certain numerical value, limit maximum output voltage simultaneously; Be to the outgoing current sampling on device, compare,, just adjust the equivalent internal resistance of this electric power system, keep outgoing current and be no more than given value when outgoing current surpasses given value with given value;

To the restriction of the horsepower output of this electric power system, be the restriction that power that vehicle or robot obtain from this electric power system is subjected to this electric power system, can not surpass a certain numerical value; On device is to outgoing current and output voltage and time product, obtains horsepower output, compares with given value, when horsepower output surpasses given value, just cuts off the output of this electric power system; The output ampere hour capacity that system obtains is subjected to the restriction of this electric power system, can not surpass a certain numerical value; On device is to outgoing current and output time product, obtain exporting ampere hour capacity, it on device variable to outgoing current, carry out integral operation at interval every a regular time, accumulation results by integrating obtains exporting ampere hour capacity, compare with given value,, just cut off the output of this electric power system when the output ampere hour capacity surpasses given value;

In a kind of battery-driven car of the present invention or robot competition method, it is characterized in that;

During to the restriction of the outgoing current of this electric power system, limit maximum output voltage simultaneously,

Or during to the restriction of the horsepower output of this electric power system,

Or during to the restriction of the output ampere hour capacity of this electric power system,

Battery-driven car or the machine people the fastest with moving velocity are the winner; Or with can traveling load the heaviest battery-driven car or machine people be the winner; Or be the winner with the battery-driven car or the machine people of level or normal thrust maximum; Or do work to produce mechanical action maximum battery-driven car or machine people are the winner; Or to produce mechanical action the weight of the weight of regulation is lifted maximum height or the battery-driven car or the machine people of number of times are the winner at most; Or with operating range or mileage maximum or the longest battery-driven car or machine people is the winner; Simultaneously, more than every, again in the shortest time, to be reached for the winner;

The moving velocity of battery-driven car or robot is measured and compared;

The traveling load weight of battery-driven car or robot is measured and compared;

The level of battery-driven car or robot or normal thrust are measured and compared;

To the generation mechanical action of battery-driven car or robot and the size of doing work measure and compare;

The generation mechanical action of battery-driven car or robot is lifted maximum height or number of times with the weight of the weight of regulation to be measured and compares;

The operating range of battery-driven car or robot or mileage are measured and compared;

Simultaneously, more than every, again in the shortest time, to be reached for the winner;

2. one kind about vehicle and robot plane or curved surface or step electric supply installation, more particularly, is a kind ofly to provide the device of power supply with plane or curved surface or step supplier of electricity device to vehicle and robot,

With a kind of device about vehicle and robot competition:

It is characterized in that; Be a kind of with direct current or frequency be intermediate frequency or the source of AC that is lower than intermediate frequency or inversion or switching pulse modulation power source as power supply, power supply has each power supply unit of scanning and judges whether to connect the function of load; Plane or curved surface or the set of step conductive plate power supply unit by each interval, wheel or the brush of slide block or conduction or contact component, the set of conduction by conduction, by the wheel of conduction or brush or the contact component of conduction or the pedal of conduction of slide block or conduction, or by track, by rectifier bridge to no track or have the elec. vehicle of track or mobile robot to power;

Elec. vehicle or mobile robot are on the plane of each interval or above the set of curved surface conductive plate power supply unit, or face motion in orbit,

Be power supply unit conducting plate or curved slab with opposed polarity or phase place, power supply unit conducting plate or curved slab are cut and connect into each interval or inlay the conducting plate or the curved slab of white power supply unit (26), white power supply unit (30) and grey power supply unit (27), grey power supply unit (29) expression opposed polarity or phase place; At public battery lead plate, inlay the unit that quantity is the grey more than 1 (27), grey power supply unit (29) in the middle of both white power supply unit (26), the white power supply unit (30), the unit of each grey (27), grey power supply unit (29) are with public battery lead plate, both white power supply unit (26), white power supply unit (30) space, keep the gap, directly do not link; The unit (29) of the unit of grey (27), grey all connects into one group respectively overleaf with lead, with white portion (26), white portion (30) pairing, be connected with one group of power supply, this is a kind of switched-mode power supply method and apparatus of public battery lead plate stationkeeping again; The contact of power supply unit conducting plate or curved slab conduction driving surface is single layer, by the conducting plate of the conducting plate of positive pole or leading in phase or curved slab and negative pole or lagging phase or curved slab is staggered, interval group is synthetic; Keep insulation gap between the conducting plate of opposed polarity or phase place or the curved slab; The ratio of the conducting plate of positive pole or leading in phase conducting plate or curved slab and negative pole or lagging phase or the gross area of curved slab is 3 to 0.3 times;

The pedal of the brush of the wheel of superincumbent electric vehicle conduction or slide block or conduction or the contact component of conduction or conduction is obtained main or whole power sources from above electric power system; The most basic two-wheeled architectural feature, the conducting plate or the curved slab of white power supply unit (20) and grey power supply unit (15) expression opposed polarity or phase place, white power supply unit (20) and grey power supply unit (15) are fixed on above the insulating base (21); Electrically insulated from one another between two wheels (18) and chassis (28), with chassis (28) with the mutual mechanical connection of bearing; Two wheels (18) slide or roll with conductive shaft (19) and cooperate, and are electrically connected; Each wheel is connected with DC motor (17) by diode rectifier bridge (16), no matter how are polarity of voltage that the plane electric power system applies two wheels (18) or phase place, as long as can produce electric current, be single direction with regard to making electric current by load or electrical motor (17); White power supply unit (20) and grey power supply unit (15) all connect into two groups respectively overleaf with lead, are connected with one group of power supply again;

The quantity of power supply wheel is 2 to 999, best design is to adopt four power supply wheels, four wheels (22) slide or roll with conductive shaft (24) and cooperate, and be electrically connected, diode rectifier bridge (23) is connected with DC motor (25), or is connected with load or electrical motor through commutating circuit, modulation circuit or inverter circuit; Simultaneously, wheelspan or wheelbase are greater than 1 to 999 times of the length of side of power supply unit, and both ratios are 1: 1 to 1: 3; Ratio between wheelspan and the wheelbase is 0.1 to 10 times;

Rectifier bridge carries out multichannel and confluxes, and the power supply one or more pairs of wheels are sent here can both be added in the load with same direction;

Rectifier bridge onboard, wheel of every in principle increase just increases by 2 rectifier diodes, to the quantitative requirement of wheel more than or equal to two; Wheel of every increase, the rectifier diode feature of increase is; A rectifier diode enters the positive supply of load to conduct current, and another rectifier diode flows out conduct current the negative supply of load; The rectifier diode feature of these two increases is all to have an end to be electrically connected with this wheel of increase;

The alternate sweep switch arrays are by semiconductor devices complete operation task, are to form with a kind of or mixing in aerotron or the field effect transistor;

Each district of power supply unit conducting plate or the identical numbering of curved slab, the independently-powered unit that is identical numbering all connects into one group respectively overleaf with lead, with circular mouth (1), circular mouth (2), circular mouth (3), circular mouth (4), circular mouth (5), circular mouth (6), circular mouth (7), connect again; Each district that is power supply unit conducting plate or the identical numbering of curved slab connects into 7 groups with the circular mouth of the identical numbering of circular mouth;

Computing machine is controlled aerotron (A1), (A2), (A3), (A4), (A5), (A6), (A7) of (A) group, aerotron (B1), (B2), (B3), (B4), (B5), (B6), (B7) conducting in the following order of (B) group respectively;

The chronological order feature of each aerotron conducting scanning:

(A1) during conducting, below be conducting order sweep time of (B) group; (B2), (B3), (B4), (B5), (B6), (B7); (A2) during conducting, below be conducting order sweep time of (B) group; (B3), (B4), (B5), (B6), (B7); (A3) during conducting, below be conducting order sweep time of (B) group; (B4), (B5), (B6), (B7); (A4) during conducting, below be conducting order sweep time of (B) group; (B5), (B6), (B7); (A5) during conducting, below be conducting order sweep time of (B) group; (B6), (B7); (A6) during conducting, below be conducting order sweep time of (B) group; (B7);

Owing to rectifying circuit is arranged on the vehicle, can adapt to automatically two groups of switching semiconductor pipes outgoing current various flows to, equal 42 scanning and arrange so multiply by 76, be reduced to 18 scanning combinations; So, do not reduce per sweep time in step of width, just shortened time scanning period, improved continuous power supply probability;

Per sweep time in step, width was 100 microseconds to 1 second;

Resistance (R1) is current sampling resistor, its signal is sent into the inverting input of op amp (11) and the in-phase input end of op amp (10), (R2), (R3), (R4) are given resistance, their signal is sent into the in-phase input end of op amp (11) and the inverting input of op amp (10), (R5), (R6) be shaping benchmark divider resistance; Judging short circuited is voltage comparator exclusive disjunction amplifier (10), and output low level is effective;

The electric current of the alternate sweep switch arrays output current sampling resistor (R1) of all flowing through;

Given resistance (R2), (R3), (R4) carry out dividing potential drop to reference voltage, produce the constant potential of giving of window type comparator;

What judge open circuit is voltage comparator exclusive disjunction amplifier (11), and output low level is effective, and voltage and lower window edge on the current sampling resistor (R1) are compared to constant potential;

Judging short circuited is voltage comparator exclusive disjunction amplifier (10), and output low level is effective, and the voltage on the current sampling resistor (R1) and the window upper limit are compared to constant potential;

To the output signal of voltage comparator exclusive disjunction amplifier (11) and voltage comparator exclusive disjunction amplifier (10), composite signal be Exclusive-OR gate (XOR gate) (12); Shaping is a voltage comparator exclusive disjunction amplifier (13); It is voltage comparator exclusive disjunction amplifier (13) output (14) end that generation stops sweep signal, and the output low level of (14) end is effective, is to draw on open collector form or the internal resistance or totem is recommended a kind of in the output form;

In concrete an enforcement, basic scanning speed is 1 to 10 millisecond of per step; Exclusive-OR gate (XOR gate) (12) is to be voltage comparator exclusive disjunction amplifier (10) and what judge open circuit is voltage comparator exclusive disjunction amplifier (11) judging short circuited, when all output low level is effective, just produces effective output;

A feature of scanning is; (A) Zu aerotron and the aerotron of (B) organizing, the conducting simultaneously of the aerotron of same sequence number;

Circuit bonded assembly feature is, (A) emitter of Zu (PNP) type aerotron all receive public power supply (+V) end, base stage is all by computer controlled, the collecting electrode of same sequence number all passes through circular mouth (1), circular mouth (2), circular mouth (3), circular mouth (4), circular mouth (5), circular mouth (6), circular mouth (7), and the collecting electrode of organizing (NPN) type aerotron with (B) of same sequence number is connected; (B) emitter of group (NPN) type aerotron is all received public ground, and base stage is all by computer controlled;

More particularly, be that the collecting electrode of (PNP) type aerotron (A1) of (A) group all passes through circular mouth (1), be electrically connected with the district (1) of each differential gap, be electrically connected with the collecting electrode of (B) group (NPN) type aerotron (B1);

For preventing that load short circuits from destroying circuit, public power supply (+V) end, or (A) each aerotron of group, or (B) each aerotron of group, in a kind of or mix the circuit that adopts the restriction load short circuit current;

When increasing a kind of contest and competition method and device, just increase with lower device;

The moving velocity of battery-driven car or robot is measured and compared;

Simultaneously, more than every, again in the shortest time, to be reached for the winner; In a kind of battery-driven car of the present invention or robot competition method and apparatus, it is characterized in that; To the power supply mode of battery-driven car or robot be no track power supply the track power supply is arranged or the traction cable self-powered in a kind of or mix.

3. according to claim 1 and 2 a kind of about vehicle and robot plane or curved surface or step method of supplying power to and device, more particularly, be a kind ofly to provide the method and apparatus of power supply to vehicle and robot with plane or curved surface or step method of supplying power to and device,

With a kind of apparatus and method about vehicle and robot competition:

It is characterized in that;

For the occasion that the person and anti-explosion safety requirement are arranged, restricted to this power supply voltage and short circuit current according to the industry person and anti-explosion safety standard;

This electric power system has intelligent decision and measuring ability, and the feature of load current is analyzed, and has prevented that metal object from causing short circuit, initiation fire; A kind of intelligent determination method of this electric power system, be that robot and vehicle move, cause the scanning of variation, when even robot and vehicle are not mobile, when takeoff output, electric current and power fluctuate, and extraneous short circuited invariant position, electric current and power change unhappy, are the loads of pure resistive, voltage and current phase place unanimity;

It is foundation; A kind of in relatively of outgoing current judgement, output voltage judgement, horsepower output judgement, output voltage and current rise time, output voltage and current phhase or mix judges whether load is pure resistive characteristics, and this is that metal object causes short circuited characteristics;

4. according to claim 1 and 2 a kind of about vehicle and robot plane or curved surface or step method of supplying power to and device, more particularly, be a kind ofly to provide the method and apparatus of power supply to vehicle and robot with plane or curved surface or step method of supplying power to and device,

With a kind of apparatus and method about vehicle and robot competition:

It is characterized in that; Pedal on a kind of walking robot pin is exactly and this electric power system bonded assembly electrode, for the robot in stationary applica-tions work, can move on this electric power system, also can charge on this electric power system; Robot for not carrying electrokinetic cell fully can limit its activity space;