| The wireless power supply technology has the advantages of no plugging and unplugging,no sparking,safe and efficient,and is an effective means for solving the charging of mobile robots and electric vehicles.However,in the application of wireless power supply,the coils of energy transmitter and energy receiver are required to be positioned accurately in order to ensure efficient energy transmission.Therefore,the accurate positioning between coils is the key technology to realize self-charging for mobile robots and electric vehicles.Traditional positioning methods mainly use vision,lidar or infrared sensors to measure the relative distance between the robot and the target,so as to realize the mobile robot positioning.Aiming at the problem that the existing mobile robot positioning needs other external sensors and is susceptible to environmental impact,this paper proposes an innovative method that uses the voltage information between a single transmitting coil and a receiving coil as navigation information to realize automatic alignment between the transmitting coil and the receiving coil without the help of other sensors,so as to ensure efficient charging.The difficulty of this design is how to use the one-dimensional voltage information generated by the transmitting coil and the receiving coil as navigation information to realize the automatic alignment of the transmitting coil and the receiving coil in the twodimensional direction.In this paper,the experimental platform for measuring the induced voltage distribution of the coil is first constructed.The distribution shape is obtained by measuring the induced voltage at different relative positions between the coils.Then,the quadratic surface fitting method is used to establish the model of distributed voltage.Based on this model,a three-point voltage localization method is proposed.The relative distance between the coils can be calculated by the relative displacement of small ranges.Finally,the proposed method was evaluated by a parasitic experiment.From the results,the method can effectively achieve the alignment,and the positioning accuracy is up to 6mm,which satisfies the application requirements.Then,the platform of mobile car is built,and the kinematics model of mobile car is deduced through theory.The kinematics model is built and verified in MATLAB.The model is proved to be feasible by actual test.Combining wireless charging sensor module with mobile car,a two-point voltage location method is proposed.Compared with the three-point voltage location method,the two-point voltage location method reduces the number of times of movement,and solves the limitations of the three-point voltage location method,which is more suitable for practical car applications.Finally,a method of tracking the charging coil is proposed.By laying a series of transmitting coils on the ground as road antennas,the mobile car can track according to the guidance of the transmitting coils,and the turning of the moving trolley is completed through actual experiments.Tracing and S-shaped track tracing,and proved that the charging coil tracking scheme is feasible. |
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