Optimization design of wireless charging system for autonomous robots based on magnetic resonance coupling

Abstract

Wireless charging is the key technology to realize real autonomy of mobile robots. As the core part of wireless power transfer system, coupling mechanism including coupling coils and compensation topology is analyzed and optimized through simulations, to achieve stable and practical wireless charging suitable for ordinary robots. Multi-layer coil structure, especially double-layer coil is explored and selected to greatly enhance coupling performance, while shape of ferrite shielding goes through distributed optimization to guarantee coil fault tolerance and cost effectiveness. On the basis of optimized coils, primary compensation topology is analyzed to adopt composite LCL compensation, to stabilize operations of the primary side under variations of mutual inductance. Experimental results show the optimized system does make sense for wireless charging application for robots based on magnetic resonance coupling, to realize long-term autonomy of robots.

Design of Powered Floor Systems for Mobile Robots with Differential Evolution

“…We applied our proposed method for the automatic design of contacts arrays to a set of problems inspired by the geometry of three real robotic platforms: Thymio II 1 , mBot 2 , and Elisa-3 3 . The three robots, shown in Figure 3, have similar size and were designed to ease learning and experimenting, in particular for children.…”

“…A viable alternative consists in delivering power to the robot by electrifying the environment where it moves: this solution builds on the longestablished experience on supplying powers to mobile machines, the most notable examples being in transportation systems, e.g., trains [1] and trams [2]. Another large family of solutions is based on wireless power delivery, often realized by means of resonating coils [3,4].…”

A Hybrid Battery Charging Approach for Drone-Aided Border Surveillance Scheduling

“…However, it is currently not possible to get a reasonable relationship between the efficiency and the distances (varying both distances: vertical and horizontal) because there are many factors that affect the power transfer efficiency such as E-line shape, size, turns, input-power, and frequency. The general trend is that the efficiency decreases as the distance (air gap) increases [17,18]. Moreover, the flight trajectory of the rotary-wing drone (the distance between a drone and a DWCS varied with flight) varies with flight environment.…”

“…As described in Section 2, the operation cost of the SWCS incurs proportionately to the number of drones in recharging process. The charging level of the drone battery cannot exceed its maximum capacity (Constraint (16)), and the maximum flight duration of the drone flight path is confined by Constraint (17). Constraints (18)- (23) are to calculate the remaining battery duration whenever the drone arrives at the next waypoint.…”

A Complete Framework for the Synthesis of Powered Floor Systems

“…For this reason, continuous charging methodologies and direct power delivery have been proposed [7]. The most common approach found in mobile robots literature is that of wireless energy delivery through the use of resonating coils [8], [9]. The same concept is found in the field of electrical road transportation [10], [11], [12], [13].…”