Design And Experimental Study Of Wireless Power Transmitting System Based On Planar Spiral Transmitting Coil For Capsule Robots

As a new type of gastrointestinal detecting equipment,capsule robot can not only avoid the discomfort caused by the traditional detecting tools,but also reach the blind area of the traditional detecting method.With the continuous development of the capsule robot,it carries more and more functions,which also leads to the increasing energy consumption.The gradual maturity of wireless energy transmission technology brings a new way of energy supply to the capsule robot.This paper analyzed the current status of research on wireless energy supply systems for capsule robots at home and abroad,and found that the transmitting coils of most systems are not suitable for practical applications,and the system parameters need to be further optimized to improve the system transmitting performance.Moreover,the method of establishing the parameter model of coupling coils is too complicated during the optimization of system parameters.To address these above problems,this paper proposed a wireless power transmitting system for capsule robots with a planar spiral coil as the transmitting coil.And established the model of coupling coils parameters by BP neural network,then optimized the system parameters by particle swarm optimization algorithm.This paper includes the following contents:1.The structure and basic principles of wireless power transmitting system for capsule robots are introduced,and the components of the system have been analyzed.Then the topology of transmitting and receiving circuit,and the compensation networks are filtered according to performance and practical application conditions.2.The mathematical model of the wireless power transmitting system is established.And the parameters of system are analyzed through simulation experiment,the influence of system parameters like operating frequency f,the coupling coefficient k between the transmitting coil and the receiving coil,the mutual inductance M,the resistance of coils R₁ and R₂,and the system equivalent load R_L on system transmitting efficiency and system output power is analyzed.3.A design scheme of wireless power transmitting system for capsule robots based on the planar spiral transmitting coil is proposed,and the feasibility of the scheme is verified through the wireless LED lamp experiment.Finally,after the preliminary optimization of the coupling coils and the receiving circuit,the proposed scheme is successfully applied to the capsule robot.As a result,an overall efficiency of 8.8%is realized at 10-cm distance with the output power larger than 1 W at the frequency of 256k Hz.4.BP neural network is used to establish the models of system coupling coils parameters,which avoids the complex analysis process of coil parameters in the past.After verification,the established models have good accuracy.Through the particle swarm optimization algorithm,the established system model is optimized,and the result is verified by experiments.