自主移动机器人的非接触充电模式

摘要

Contactless power transfer is suitable for the unattended autonomous mobile robots combining fixed power frequency with dynamic adjustment of the circuit reactive parameters are presented to assure the system working in the resonant state. That is the excitation power maintaining high fixed frequency, and the control system real-time detecting load current, according to loads current to adjust the compensation capacitor value, return the system to re-resonant state to generate higher load current. Other, while charging, robots need to maintain a high positioning accuracy, so the auxiliary sensors are used to reduce the positioning errors and improve the efficiency of power transmission.%　　自主移动机器人在无人值守的情况下采用非接触供电方式获取电能是合适的。提出了采用最大电流作为判断非接触供电系统是否处于谐振状态的依据。采用固定激励电源频率与动态调节电路无功器件参数相结合的方法进行自适应调谐。激励电源保持较高的固定工作频率，根据最大电流原则，系统自动调节原边和副边电路的补偿电容值，使系统重新回归谐振状态。另外，机器人在充电时，需要较高的定位精度，利用辅助传感器可以减小定位误差，提高供电效率