CN103219805B - A kind of electromagnetic rail type movable robot - Google Patents

Abstract

The invention discloses a kind of electromagnetic rail type movable robot, comprise mobile apparatus human body, steering assembly, hoofing part assembly, energy emission system, energy acceptance system and Vehicle Controller, steering assembly and hoofing part assembly are installed on mobile apparatus human body, energy emission system and energy acceptance system constitute the electric power system of mobile robot, energy emission system comprises radiating circuit, launch control system and the more than one transmitting coil laid successively along robot motion track, energy acceptance system comprises the receiving coil be installed on mobile apparatus human body, direct current signal inversion is high frequency ac signal and launches with electromagnetic wave energy by radiating circuit and transmitting coil, receiving coil be used for receive electromagnetic wave energy and by after the power management module process in Vehicle Controller give steering assembly, hoofing part assembly power supply.The present invention have simple and compact for structure, cruising time long, locate the advantages such as reliable.

Description

A kind of electromagnetic rail type movable robot

Technical field

The present invention is mainly concerned with mobile robot field, refers in particular to a kind of employing electromagnetic rail type movable robot.

Background technology

At present, in numerous applications of mobile robot, have a class to be replace the mankind to complete repeated work in fixed area by robot, as shop equipment patrol and examine, public place security monitoring etc.This type of robot generally moves along projected path, and the internal combustion engine of the battery that its energy mainly relies on robot to carry or installation provides.Adopt the mode of battery-powered simple, convenient, but battery itself can increase the volume and weight of mobile robot, and flying power is limited, needs periodic charge, is unfavorable for that robot carries out on a large scale, the operation of all the period of time.Although adopt the mode flying power of internal combustion engine energy supply to be improved, generally manually need add fuel, and there is the unfavorable factors such as fuel cost, toxic emission, noise, its application is very limited.And then, practitioner is had to refer to the slip method of supplying power to of a kind of mobile robot, its way of realization is on the orbit of robot, be provided with the slip connecting external power supply, is connected with current-collector, by current-collector sliding as robot powers on slip at the chassis lower surface of mobile robot.This slip method of supplying power to is based upon on the basis of ground rail, also needs to lay in addition the slip being equivalent to track length, and engineering cost is higher, and at the outdoor environment of complexity, its Supply Security also has problems.

Summary of the invention

The technical problem to be solved in the present invention is just: the technical problem existed for prior art, the invention provides a kind of simple and compact for structure, cruising time long, locate reliable electromagnetic rail type movable robot.

For solving the problems of the technologies described above, the present invention by the following technical solutions:

A kind of electromagnetic rail type movable robot, comprise mobile apparatus human body, steering assembly, hoofing part assembly, energy emission system, energy acceptance system and Vehicle Controller, described steering assembly and hoofing part assembly are installed on mobile apparatus human body, described energy emission system and energy acceptance system constitute the electric power system of mobile robot, described energy emission system comprises radiating circuit, launch control system and the more than one transmitting coil laid successively along robot motion track, described energy acceptance system comprises the receiving coil be installed on mobile apparatus human body, direct current signal inversion is high frequency ac signal and launches with electromagnetic wave energy by described radiating circuit and transmitting coil, described receiving coil be used for receive electromagnetic wave energy and by after the power management module process in Vehicle Controller give steering assembly, hoofing part assembly power supply.

As a further improvement on the present invention:

The energy exchange pattern of described transmitting coil and receiving coil is magnet coupled resonant type.

Described transmitting coil and receiving coil add capacitance compensation structure respectively, and both settings have identical natural frequency.

Described mobile apparatus human body is provided with automated navigation system, described mobile apparatus human body is provided with automated navigation system, described automated navigation system comprises more than one group coil groups and trace follow control device that are made up of track induction coil and benchmark induction coil, the induction coil that tracks described in the moving process of mobile apparatus human body will produce the different induced voltage of two-way with benchmark induction coil, and described induced voltage can reflect offset direction and the offset distance of mobile apparatus human body; Described two-way induced voltage is input in trace follow control device, by exporting a turn signal after the process of trace follow control device to steering assembly.

Described coil groups is two groups, and before the car being arranged on mobile apparatus human body respectively and the tailstock, the plane that described benchmark induction coil is parallel to transmitting coil is placed, described in track induction coil perpendicular to transmitting coil plane and the border being parallel to transmitting coil place.

Described launch control system comprises mission controller, power-sensing circuit and switch switching circuit, described power-sensing circuit is used for the power output of Real-Time Monitoring radiating circuit, described mission controller switches according to the real-time output power switch switching circuit of radiating circuit, switches to corresponding transmitting coil to power in real time.

Described steering assembly is steer motor, and described hoofing part assembly is walking motor.

Compared with prior art, the invention has the advantages that:

1, continued power.The present invention can realize the continued power of mobile robot, solves conventional mobile robot and need carry battery or internal combustion engine, can not continue a difficult problem for energy supply.

2, structure is simple, weight reduction.Mobile robot proposed by the invention only needs to carry a receiving coil and a rectifying and voltage-stabilizing module can realize power supply, and not only structure is simple, and cost is low, and alleviates the weight of mobile apparatus human body, reduce further robot power consumption.

3, trackless tracks.Mobile robot proposed by the invention can self adaptation track, and saves quantities and cost of investment that track is laid on ground.

4, location is easy to.Because coil is wheel current charge, only have a coil to have electricity, therefore, it is possible to determine the accurate location of robot movement easily, without the need to the positioner of GPS or other modes at every turn.

Accompanying drawing explanation

Fig. 1 is the side-looking structural representation of mobile robot of the present invention.

Fig. 2 is the plan structure schematic diagram of mobile robot of the present invention.

Fig. 3 is that the one of the present invention's transmitting coil in embody rule example lays schematic diagram.

Fig. 4 is the frame structure schematic diagram of the present invention's energy emission system in embody rule example.

Fig. 5 is the frame structure schematic diagram of the present invention's energy acceptance system in embody rule example.

Fig. 6 is the principle analysis schematic diagram of Automatic Track Finding principle of the present invention; The forward sight that wherein Fig. 6 (a) is angle parameter analyzes schematic diagram; What Fig. 6 (b) was angle parameter overlooks analysis schematic diagram; The forward sight that Fig. 6 (c) is distance parameter analyzes schematic diagram.

Marginal data:

1, mobile apparatus human body; 2, receiving coil; 3, track induction coil; 4, benchmark induction coil; 5, transmitting coil; 6, steer motor; 7, Vehicle Controller; 71, power management module; 72, trace follow control device; 73, main controller; 8, walking motor; 9, launch control system; 91, mission controller; 92, power-sensing circuit; 93, switch switching circuit; 10, radiating circuit; 11, capacitance compensation structure.

Embodiment

Below with reference to Figure of description and specific embodiment, the present invention is described in further details.

As depicted in figs. 1 and 2, electromagnetic rail type movable robot of the present invention, comprise mobile apparatus human body 1, steering assembly, hoofing part assembly, energy emission system, energy acceptance system and Vehicle Controller 7, steering assembly and hoofing part assembly are installed on and mobile apparatus human body 1 have been used for the turning to and hoofing part of mobile apparatus human body 1, it can adopt propons to turn to according to actual needs, rear bridge driven mode, or other modes; Driving-energy adopts electric energy, and steering assembly adopts steer motor 6, and hoofing part assembly adopts walking motor 8.Energy emission system constitutes the electric power system of mobile robot together with energy acceptance system, this energy emission system comprises radiating circuit 10, launch control system 9 and the more than one transmitting coil 5 laid successively along robot motion track, this energy acceptance system comprises the receiving coil 2 be installed on mobile apparatus human body 1, radiating circuit 10 and transmitting coil 5 are high frequency ac signal direct current signal inversion and launch with electromagnetic wave energy, receiving coil 2 is used for receiving electromagnetic wave energy and powers to mobile robot after completing rectifying and wave-filtering voltage stabilizing by the power management module 71 in Vehicle Controller 7.

In a particular embodiment, be illustrated in figure 3 a kind of laying method of transmitting coil 5, the arrangement mode that it is connected successively by multiple transmitting coil 5, this arrangement mode is that the track route preset by robot is laid, and is laid on subsurface, namely forms driving path.Wherein, the energy exchange pattern of transmitting coil 5 and receiving coil 2 is magnet coupled resonant type, carries out wireless power.Transmitting coil 5 is set to narrow long type structure, and each transmitting coil 5 is independently connected to radiating circuit 10, carries out energy transmitting.Receiving coil 2 is fixed on mobile apparatus human body 1, and be set to and transmitting coil 5 commensurateiy wide, length dimension is less than transmitting coil 5, and receiving coil 2 is connected to Vehicle Controller 7, carries out energy acceptance and the main controller 73 inputted in Vehicle Controller 7 processes; And transmitting coil 5 and receiving coil 2 are single-turn circular coil, all add capacitance compensation structure 11, by formula configuration makes it have identical natural frequency, and after radiating circuit 10 switches on power, transmitting coil 5 and receiving coil 2 carry out wireless energy transfer by magnetic coupling resonance.

Magnet coupled resonant type is based on coupled mode theory, as described below:

ω is respectively for two natural frequencys ₁and ω ₂, amplitude is respectively a ₁and a ₂lossless resonant device, the fundamental equation of coupled mode is as follows: $\frac{{\mathrm{da}}_1}{\mathrm{dt}}=j{\mathrm{\ω}}_1{a}_1+{\mathrm{\κ}}_{12}{a}_2$ (1)

$\frac{{\mathrm{da}}_2}{\mathrm{dt}}=j{\mathrm{\ω}}_2{a}_2+{\mathrm{\κ}}_{21}{a}_1$

Wherein κ ₁₂and κ ₂₁the coupling coefficient between two resonators, when | κ ₁₂| < < ω ₁, | κ ₂₁| < < ω ₂time, system is weak coupling.According to the conservation of energy, the gross energy of system is constant, namely can derive thus its by for κ ₂₁complex conjugate, suppose that the natural frequency of coupled system is ω, solution formula (1), can obtain:

$\mathrm{\&omega;}=\frac{{\mathrm{\&omega;}}_1+{\mathrm{\&omega;}}_2}{2}\&PlusMinus;\sqrt{{\left(\frac{{\mathrm{\&omega;}}_1-{\mathrm{\&omega;}}_2}{2}\right)}^2+{\left|{\mathrm{\&kappa;}}_{12}\right|}^2}=\frac{{\mathrm{\&omega;}}_1+{\mathrm{\&omega;}}_2}{2}\&PlusMinus;{\mathrm{\&Omega;}}_0---\left(2\right)$

Wherein visible, the relation due to coupling makes the natural frequency of system separately, and namely system exists two natural frequencys, works as ω ₁=ω ₂time, the difference between two natural frequencys is 2 Ω ₀, a during appointment t=0 ₁and a (0) ₂(0) value, known a ₂(0)=0, and ω ₁=ω ₂=ω ₀, can obtain:

$a_1\left(t\right)=a_1\left(0\right)\cos \left({\mathrm{\&Omega;}}_{0}t\right)e^{j{\mathrm{\&omega;}}_{0}t}$

$a_2\left(t\right)=\frac{{\mathrm{\&kappa;}}_{21}}{{\mathrm{\&Omega;}}_0}{a}_1\left(0\right)\sin \left({\mathrm{\&Omega;}}_{0}t\right)e^{j{\mathrm{\&omega;}}_{0}t}---\left(3\right)$

Analyze above formula, during t=0, the first resonator is excited completely, and shi Jifa is entirely at the second resonator. shi Jifa gets back to again the first resonator, so constantly repeats, excites with frequency 2 Ω ₀=2| κ ₁₂| change back and forth between two resonators.Work as ω ₁≠ ω ₂time, conversion is not exclusively.As coupling coefficient κ ₁₂during > > Γ, the switching rate of system is much larger than loss speed, and now close coupling between two resonant bodies, energy efficient transmits.Wherein Γ represents the loss factor of system, comprises internal resistance loss and radiation loss.

Transmitting coil 5 in the present invention and receiving coil 2 are set to identical natural frequency, according to the above coupled mode theory analyzed, system will have two natural frequency points, and when the operating frequency of system is close to this two natural frequency points, system has efficient efficiency of transmission.

In the present embodiment, mobile apparatus human body 1 is provided with automated navigation system, realizes the automatic walking of mobile apparatus human body 1 in predetermined trajectory.As shown in Figure 5, automated navigation system comprises more than one group coil groups and trace follow control device 72 that are made up of track induction coil 3 and benchmark induction coil 4, in the moving process of mobile apparatus human body 1, the induction coil 3 that tracks will produce the different induced voltage of two-way with benchmark induction coil 4, and this induced voltage can reflect offset direction and the offset distance of mobile apparatus human body 1; Then two-way induced voltage is input in trace follow control device 72, undertaken exporting a turn signal to steer motor 6 after phase compare and amplitude detection etc. process by trace follow control device 72, thus control mobile apparatus human body 1 carries out orientation adjustment.

In the present embodiment, comprising coil groups is two groups, often organizes induction coil and is made up of a benchmark induction coil 4 and one induction coil 3 that tracks, before being arranged on the car of mobile apparatus human body 1 respectively and the tailstock.Mobile robot advance or retreat time by before car or wherein one group of induction coil of the tailstock carry out work.Wherein benchmark induction coil 4 be parallel to transmitting coil 5 plane place, the induction coil 3 that tracks perpendicular to transmitting coil 5 plane and be parallel to transmitting coil 5 border place.

Wherein, using the induced voltage phase place of benchmark induction coil 4 generation as reference phase, the induced voltage phase place that the induction coil 3 that tracks produces and reference phase compare, and when mobile apparatus human body 1 occurs to offset left or offset to the right, the comparative result of phase place is zero or 180 degree of phase differences; Meanwhile, the induced voltage by producing the induction coil 3 that tracks carries out the distance that amplitude detection can judge mobile apparatus human body 1 offset launch coil 5 central shaft.

The processing method of the above-mentioned two-way induced voltage for induction coil generation is based on following theory:

Composition graphs 6 is analyzed this, and two parallel long straight conductor L1 and L2 represent two borders of transmitting coil, and the spacing of L1 and L2 is d, the alternating current that, direction identical by size is contrary point P represents the center position of the induction coil 3 that tracks, and the height of range transmission coil 5 plane is R.

By carrying flow direct conducting wire in space any magnetic field computing formula: wherein μ ₀for permeability of vacuum, I is the electric current passed through in carrying flow direct conducting wire, and r is the vertical range of required spatial point and carrying flow direct conducting wire, by Shi Ke get, and the magnetic flux density of some P for $\stackrel{\&RightArrow;}{B}={\stackrel{\&RightArrow;}{B}}_1+{\stackrel{\&RightArrow;}{B}}_2,$ Wherein $B_1=\frac{{\mathrm{\&mu;}}_0{I}_1\sin {\mathrm{\&theta;}}_1}{2\mathrm{\&pi;R}},$ $B_2=\frac{{\mathrm{\&mu;}}_0{I}_2\sin {\mathrm{\&theta;}}_2}{2\mathrm{\&pi;R}}.$ Wherein θ ₁, θ ₂as shown in Fig. 6 (a).

In the present embodiment, the induction coil 3 that tracks vertically is placed, and therefore only considers the horizontal component of magnetic flux density vector, then puts the induction level B of P _pfor:

The computing formula of application magnetic flux and induced electromotive force: wherein Φ is magnetic flux, for magnetic flux density, for area, ε is induced electromotive force.The area of induction coil 3 of supposing to track is 1, is α with the angle of transmitting coil 5 central shaft, as shown in Fig. 6 (b), and the induced voltage effective value V of the induction coil 3 that can track _pfor:

$V_P=\frac{{\mathrm{\&mu;}}_0{\mathrm{\&omega;}}_{0}I\cos \mathrm{\&alpha;}}{2\sqrt{2}\mathrm{\&pi;R}}({\sin }^2{\mathrm{\&theta;}}_1-{\sin }^2{\mathrm{\&theta;}}_2),$ Wherein ${\mathrm{\&theta;}}_2=\arcsin \frac{R}{\sqrt{R^2+{(d-R\cot {\mathrm{\&theta;}}_1)}^2}},$ Substitution can obtain

$V_P=\frac{{\mathrm{\&mu;}}_0{\mathrm{\&omega;}}_{0}I\cos \mathrm{\&alpha;}}{2\sqrt{2}\mathrm{\&pi;R}}({\sin }^2{\mathrm{\&theta;}}_1-\frac{R^2}{R^2+{(d-R\cot {\mathrm{\&theta;}}_1)}^2})---\left(5\right)$

Wherein ω ₀for the power frequency in straight wire, d is the distance between two straight wire L1 and L2.With the central shaft of transmitting coil 5 for co-ordinate zero point, central shaft is reference axis positive direction to the right, as shown in Fig. 6 (c), replaces angle θ with distance x ₁, will substitution formula (5):

$V_P=\frac{{\mathrm{\&mu;}}_0{\mathrm{\&omega;}}_{0}I\cos \mathrm{\&alpha;}}{2\sqrt{2}\mathrm{\&pi;R}}(\frac{R^2}{R^2+{(x+\frac{1}{2}d)}^2}-\frac{R^2}{R^2+{(\frac{1}{2}d-x)}^2})---\left(6\right)$

Analysis is carried out from formula (6), as x=0, V _p=0, when x increases to positive direction, V _preverse increase, otherwise, when x increases to opposite direction, V _pforward increases.Because V _pfor the effective value of induced voltage, actual induced voltage is so when x is plus or minus, induced voltage phase by pi.

Apply above theoretical foundation, phase place through benchmark induced voltage and the induced voltage that tracks can know that mobile apparatus human body 1 is left avertence or right avertence, can judge that mobile apparatus human body 1 departs from the distance of transmitting coil 5 central shaft according to the amplitude of the induced voltage that tracks simultaneously.

To be made up of multiple coil due to transmitting coil 5 and to only have at synchronization a transmitting coil 5 to power, therefore when mobile robot moves between adjacent transmission coil 5, needing the power switching carrying out transmitting coil 5.In the present embodiment, as shown in Figure 4, launch control system 9 comprises mission controller 91, power-sensing circuit 92 and switch switching circuit 93, power-sensing circuit 92 is used for the power output of Real-Time Monitoring radiating circuit 10, mission controller 91 switches according to the real-time output power switch switching circuit 93 of radiating circuit 10, switches to corresponding transmitting coil 5 to power in real time.During embody rule, along with the movement of mobile apparatus human body 1, the power output of radiating circuit 10 will have respective change: when mobile apparatus human body 1 shifts out from the edge of transmitting coil now 5, and power output starts to reduce; When shifting out the body exceeding half, namely the relative area of receiving coil 2 and transmitting coil 5 is less than a half of receiving coil 2 area, transmitting coil 5 and receiving coil 2 coupling weaken, the energy shortage received is to drive mobile robot, and now the power output of radiating circuit 10 is close to no-load power.When power-sensing circuit 92 detects power output close to no-load power, transmit to mission controller 91, switched by mission controller 91 control switch commutation circuit 93, switch to adjacent next transmitting coil 5 to power.

Below be only the preferred embodiment of the present invention, protection scope of the present invention be not only confined to above-described embodiment, all technical schemes belonged under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, should be considered as protection scope of the present invention.

Claims (5)

1. an electromagnetic rail type movable robot, it is characterized in that: comprise mobile apparatus human body (1), steering assembly, hoofing part assembly, energy emission system, energy acceptance system and Vehicle Controller (7), described steering assembly and hoofing part assembly are installed on mobile apparatus human body (1), described energy emission system and energy acceptance system constitute the electric power system of mobile robot, described energy emission system comprises radiating circuit (10), launch control system (9) and the more than one transmitting coil (5) laid successively along robot motion track, described energy acceptance system comprises the receiving coil (2) be installed on mobile apparatus human body (1), direct current signal inversion is high frequency ac signal and launches with electromagnetic wave energy by described radiating circuit (10) and transmitting coil (5), described receiving coil (2) be used for receive electromagnetic wave energy and by Vehicle Controller (7) power management module (71) process after give steering assembly, hoofing part assembly power supply, described mobile apparatus human body (1) is provided with automated navigation system, described automated navigation system comprises more than one group coil groups and trace follow control device (72) that are made up of the induction coil that tracks (3) and benchmark induction coil (4), the induction coil (3) that tracks described in moving process in mobile apparatus human body (1) will produce the different induced voltage of two-way with benchmark induction coil (4), and described induced voltage can reflect offset direction and the offset distance of mobile apparatus human body (1), described two-way induced voltage is input in trace follow control device (72), after being processed by trace follow control device (72), exports a turn signal to steering assembly, described benchmark induction coil (4) be parallel to transmitting coil (5) plane place, described in track induction coil (3) perpendicular to transmitting coil (5) plane and be parallel to transmitting coil (5) border place, described launch control system (9) comprises mission controller (91), power-sensing circuit (92) and switch switching circuit (93), described power-sensing circuit (92) is used for the power output of Real-Time Monitoring radiating circuit (10), described mission controller (91) switches according to the real-time output power switch switching circuit (93) of radiating circuit (10), switches to corresponding transmitting coil (5) to power in real time, when described mobile apparatus human body (1) is shifted out from the edge of residing transmitting coil (5), power output starts to reduce, when shifting out the body exceeding half, the relative area of described receiving coil (2) and transmitting coil (5) is less than a half of receiving coil (2) area, described transmitting coil (5) and receiving coil (2) coupling weaken, and the power output of described radiating circuit (10) is close to no-load power, when described power-sensing circuit (92) detects power output close to no-load power, transmit to mission controller (91), switched by described mission controller (91) control switch commutation circuit (93), switch to adjacent next transmitting coil (5) to power.

2. electromagnetic rail type movable robot according to claim 1, is characterized in that: the energy exchange pattern of described transmitting coil (5) and receiving coil (2) is magnet coupled resonant type.

3. electromagnetic rail type movable robot according to claim 2, is characterized in that: described transmitting coil (5) and receiving coil (2) add capacitance compensation structure (11) respectively, and both settings have identical natural frequency.

4. electromagnetic rail type movable robot according to claim 1, is characterized in that: described coil groups is two groups, before the car being arranged on mobile apparatus human body (1) respectively and the tailstock.

5. the electromagnetic rail type movable robot according to claim 1 or 2 or 3, is characterized in that: described steering assembly is steer motor (6), and described hoofing part assembly is walking motor (8).