机器人随机位置下动态无线供电阵列式发射模组优化设计

doi:10.19595/j.cnki.1000-6753.tces.211611

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摘要为群智能行为研究和货物分拣场景中随机移动的多机器人实时补给电能,满足其不间断工作的需求是一个重要问题。该文提出一种基于有效耦合区域定量分析的阵列式电磁发射模组优化设计方法,可满足机器人在工作区域任意位置实时补给电能的需求。首先,分析了机器人运动过程中收发线圈存在的耦合情形以及相应的接收功率解析式。其次,提出了以满足机器人额定功率需求为基准,界定有效耦合区域的划分方法,并采用有限元分析方法定量表述了不同激励模式下的有效耦合区域,进而得到阵列式发射模组空间结构排布方法以及相应的线圈激励导通工作模态。最后,搭建了基于2×2阵列发射模组的小功率动态无线供电平台,验证了机器人随机位置动态无线获取电能补给的有效性。

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关键词 ：阵列发射模组, 动态无线供电, 有效耦合区域, 耦合机构, 机器人

Abstract：Uninterrupted powering is the key to achieving intelligent swarmed or cargo-sorting robots. The paper proposes an optimized design for the transmitting array module based on the analysis of the effective coupling area, which meets the real-time power requirements of the robot at any position in the working area. Firstly, the paper analyzes the coupling situation of the transmitting and receiving coils during the robot operation, and the analytical expressions of the received power. Besides, a method defining the effective coupling area based on the robot's rated power demand is proposed. The effective coupling area under different excitation modes is quantitatively expressed using finite element analysis (FEA). Furthermore, the spatial structure arrangement of the transmitting array module and the corresponding coil excitation and conduction working mode are obtained. Finally, a scaled-down dynamic wireless power supply prototype based on 2×2 array transmitter modules is built to verify the effectiveness of dynamic wireless power supply for robots under any position.

Key words： Array transmitting module dynamic wireless power supply effective coupling region coupling mechanism robots

收稿日期: 2021-10-11

PACS:

TM724

基金资助:国家自然科学基金面上资助项目（52077153）

通讯作者: 薛明男,1987年生,博士,研究方向为无线电能传输技术。E-mail: xueming@tiangong.edu.cn

作者简介: 杨庆新男,1961年生,教授,博士生导师,研究方向为工程电磁场与磁技术。E-mail: qxyang@tjut.edu.cn

引用本文:

薛明, 杨庆新, 章鹏程, 郭建武, 侯虎. 机器人随机位置下动态无线供电阵列式发射模组优化设计[J]. 电工技术学报, 2022, 37(24): 6319-6331. Xue Ming, Yang Qingxin, Zhang Pengcheng, Guo Jianwu, Hou Hu. Optimal Design of Dynamic Wireless Power Transmitting Array Module in Random Position of Robot. Transactions of China Electrotechnical Society, 2022, 37(24): 6319-6331.

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