| This thesis focuses on the contactless charging of mobile robots. These methods of its safety, reliability, flexibility advantages, make up the shortcomings of traditional contact type charging method in these areas. When contactless charging method is as the energy supply of the multi-robot system, a study about self-charging tactics on the robot is given to achieve the optimal allocation of resources and improve the efficiency of the system.The first chapter introduces the history and status of the robot and the contactless power transfer development. Final statement of the content and significance of this thesis are stated.In the second chapter, the contactless power transfer system is introduced, focusing on the advantages of contactless charging stations for mobile robot.In the chapter III, through the simulations and comparison implemented with Maxwell simulation software, select a kind of mobile features to better meet the needs of mobile robot induction coil form. Meanwhile, Eddy, skin effect, proximity effect in the coil sensor transmission were studied.In chapter IV, the entire charging system is researched. Various inverter topologies are analyzed, in order to select one of the most suitable inverter as the circuit of charging system. Also the choice of the device, charging circuit is analyzed to discover a suitable charging system of the rechargeable battery on board.In chapter V, the multi-robot system is introduced, and autonomous robots and multi-charge strategy is studied. Solve the battery charging station and the optimal allocation of resources between the robotsIn chapter VI, the contactless charging device simulation and experiment is introduced. Simulation and experimental problems are researched, and solutions are proposed. And on this basis, the experimental device has been improved so that the final experimental device to meet the requirements. |
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