基于磁耦合谐振自主无线充电机器人系统设计.pdfVIP

基于磁耦合谐振的自主无线充电机器人系统设计 宋 凯，朱春波，李 阳，李晓宇，赵 鑫 （哈尔滨工业大学，黑龙江哈尔滨 150001） 摘要：本文设计了具有非接触自主无线充电功能的室内移动机器人系统，采用基于磁耦合谐振原理的无线电能传 输技术对机器人进行非接触无线充电。发射线圈埋于室内固定某处，其上方放置扬声器，接收线圈安放在机器人 底部。充电步骤为：机器人通过监测电池电压或用户发送手机短信的方式开启充电程序，同时触发能量发射系统 语音播放单元，使其播放语音指令呼叫机器人充电；机器人利用DSP 实时采集语音信号，并通过声源定位算法判 断发射系统方向，利用DSP 进行驱动、控制，指导其寻找发射源；当机器人进入发射源指定区域范围内，便可实 现无线充电。由于该系统具有自主移动寻源和非接触无线充电的特点，无需人为干预，机器人可在几十秒内快速 找到发射源并实现自主无线充电。 关键词：无线电能传输；移动机器人；自主充电；磁耦合谐振；DSP Design and Implementation of an Autonomous Wireless Charging Robot Using Magnetically Coupled Resonance SONG Kai, ZHU Chunbo, LI Yang, LI Xiaoyu, ZHAO Xin (Harbin Institute of Technology, Harbin, 150001, China) Abstract: In this paper, an indoor mobile robot system with autonomous wireless charging function is developed and magnetically coupled resonance technology is used to perform non-contact wireless charging for the robot. The transmitting coil is fixed somewhere in the floor and a speaker is placed in the same area, while the receiving coil is placed in the robot bottom. The charging steps are as follows: Firstly, robot will carry out the charging procedure if the monitored battery voltage is lower than the threshold value or user sends a mobile phone short message to the robot. Simultaneously, voice playback unit of the power emission source is triggered so that it w broadcast voice instruction and call robot charging. Secondly, robot processes the sampled voice signals and determines the source direction using the sound localization algorithm on DSP. What’s more, the robot is driven and controlled by DSP which guide its search for the power emission source. Finally, wireless charging can be achieved when robot enters within the designated area of the emission source. Since the system has the