Charging control system and charging control method

Abstract

This invention relates to a charging control system and a charging control method. The system includes an energy storage device and a robot device. The energy storage device includes a first acquisition module, a transmitting coil, and a first contact module. The robot device includes a second acquisition module, a receiving coil, a second contact module, and a controller module. The first acquisition module is used to acquire the current of the transmitting coil. The second acquisition module is used to acquire the current of the receiving coil. The controller module aligns the center of the receiving coil with the center of the transmitting coil based on the current of the transmitting coil and the current of the receiving coil. It is also used to control the connection between the first contact module and the second contact module and to charge the robot device. After the transmitting coil and the receiving coil are aligned, the robot device will extend a contact charging plug to connect with the contact charging socket of the energy storage device, thereby charging the robot device through contact and improving charging efficiency.

Description

Technical Field

[0001] This invention relates to the field of charging technology, and in particular to a charging control system and a charging control method. Background Technology

[0002] Wireless charging technology transmits electrical energy without contact using electric fields, magnetic fields, microwaves, or ultrasound. It offers advantages such as low precision requirements and no plugging / unplugging, making it increasingly widely used in autonomous mobile robot platforms. Contact charging, on the other hand, uses cables to transmit energy, offering advantages such as high power output. Detection methods for charging docking on autonomous mobile robot platforms typically include photoelectric sensors detecting tags, image sensors recognizing QR codes, LiDAR mapping to determine the charging docking position, or satellite positioning to obtain the relative position of the robot and charger. However, because the area of ​​the receiving coil in wireless charging is limited by the robot platform on which it resides, a smaller coil area results in lower charging efficiency and longer charging times. Summary of the Invention

[0003] The present invention aims to provide a charging control method, device, terminal equipment and storage medium to overcome the shortcomings of the prior art. The technical problem to be solved by the present invention is achieved through the following technical solutions.

[0004] In a first aspect, embodiments of the present invention provide a charging control system, the system comprising: an energy storage device and a robot device, the energy storage device comprising a first acquisition module, a transmitting coil and a first contact module, and the robot device comprising a second acquisition module, a receiving coil, a second contact module and a controller module;

[0005] The first acquisition module is used to acquire the current of the transmitting coil;

[0006] The second acquisition module is used to acquire the current of the receiving coil;

[0007] The controller module aligns the center of the receiving coil with the center of the transmitting coil based on the transmitting coil current and the receiving coil current. It is also used to control the second contact module to connect to the second contact module and to charge the robot device.

[0008] Optionally, the energy storage device further includes a first wireless communication module, and the robot device further includes a second wireless communication module, wherein the first wireless communication module is connected to the second wireless communication module.

[0009] Optionally, the robot device further includes a relay module connected to the controller module. The relay module is used to control the second contact module to connect or disconnect from the first contact module according to the control command sent by the controller module.

[0010] Secondly, embodiments of the present invention provide a charging control method, the method comprising:

[0011] When the center of the receiving coil on the robot device is aligned with the center of the transmitting coil of the energy storage device, the controller module on the robot device controls the second contact module to connect with the first contact module of the energy storage device and sends a charging command to the second contact module.

[0012] The controller module on the robot device controls the relay module to turn on, so that the energy storage device is connected through the first contact module and the second contact module to charge the robot device.

[0013] Optionally, the receiving coil on the robotic device is aligned with the center of the transmitting coil of the energy storage device, including:

[0014] The energy storage device sends an initial positioning command to the robot device, the initial positioning command including initial position information, so that the robot device moves to the position corresponding to the initial position information;

[0015] The robot device acquires the current from the receiving coil.

[0016] The robot device judges the current of the receiving coil. If the current of the receiving coil is greater than the first threshold, the robot device switches to coil positioning mode.

[0017] In the coil positioning mode, the electrical parameters of the transmitting coil and the receiving coil are acquired respectively;

[0018] Based on the electrical parameters of the transmitting coil and the receiving coil, determine the axial offset of the transmitting coil and the receiving coil;

[0019] If the axial offset is less than a preset value, then the center of the receiving coil on the robot device is determined to be aligned with the center of the transmitting coil of the energy storage device.

[0020] Optionally, in the coil positioning mode, acquiring the electrical parameters of the transmitting coil and the receiving coil respectively includes:

[0021] Determine the mutual inductance parameters between the transmitting coil and the receiving coil.

[0022] Optionally, determining the axial offset of the transmitting coil and the receiving coil based on the electrical parameters of the transmitting coil and the receiving coil includes:

[0023] Based on the established electromagnetic mutual inductance energy transfer model of the coils, the current of the transmitting coil and the current of the receiving coil are detected respectively.

[0024] Calculate the axial offset between the transmitting coil and the receiving coil based on the transmitting coil current and the receiving coil current;

[0025] The robot's movement is controlled according to the axial offset until the centers of the receiving coil and the transmitting coil on the robot are aligned.

[0026] Optionally, determining the mutual inductance parameters between the transmitting coil and the receiving coil includes:

[0027]

[0028] Where M is the mutual inductance parameter, r1 is the radius of the transmitting coil, r2 is the radius of the receiving coil, μ0 is the permeability, N1 is the number of turns of the transmitting coil, N2 is the number of turns of the receiving coil, h is the vertical distance between the transmitting and receiving coils, r is the axial offset distance of the coils, a is the offset in the X direction, and b is the offset in the Y direction.

[0029] Optionally, the step of detecting the transmitting coil current and the receiving coil current respectively based on the established electromagnetic mutual inductance energy transfer model includes:

[0030]

[0031]

[0032] Where I1 is the transmitting coil current, I2 is the receiving coil current, Z1 is the transmitting coil impedance, and Z2 is the receiving coil impedance; V S The voltage of the AC voltage source at the transmitting end in the electromagnetic mutual inductance energy transfer model;

[0033]

[0034]

[0035] ω is the system resonant frequency, L1, C1, and R1 are the inductance, capacitance, and parasitic resistance of the transmitting resonator, and L2, C2, and R2 are the inductance, capacitance, and parasitic resistance of the receiving resonator. L This is the load resistance.

[0036] Optionally, the method further includes:

[0037] The robot equipment acquires the contact charging voltage in real time.

[0038] The robotic device determines whether the contact charging voltage is greater than a second threshold.

[0039] If the contact charging voltage is greater than the second threshold, the robot device issues a stop command and closes the contact charging circuit between the first contact module and the second contact module.

[0040] The embodiments of the present invention have the following advantages:

[0041] The charging control system and charging control method provided in this invention include an energy storage device and a robot device. The energy storage device includes a first acquisition module, a transmitting coil, and a first contact module. The robot device includes a second acquisition module, a receiving coil, a second contact module, and a controller module. The first acquisition module is used to acquire the current of the transmitting coil. The second acquisition module is used to acquire the current of the receiving coil. The controller module aligns the center of the receiving coil with the center of the transmitting coil based on the current of the transmitting coil and the current of the receiving coil. It is also used to control the connection between the first contact module and the second contact module and to charge the robot device. After the transmitting coil and the receiving coil are aligned, the robot device will push out a contact charging plug and connect to the contact charging socket of the energy storage device, thereby charging the robot device through contact and improving charging efficiency. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of a charging control system embodiment of the present invention;

[0043] Figure 2 This is a flowchart illustrating an embodiment of the charging control method of the present invention;

[0044] Figure 3 This is a schematic diagram of the parallel coaxial coil of the present invention;

[0045] Figure 4 This is a schematic diagram of the parallel center offset current-carrying coil of the present invention;

[0046] Figure 5 This is a schematic diagram of the coil energy transfer model of the present invention;

[0047] Figure 6 This is a schematic diagram of the motion control process of a robot device according to the present invention;

[0048] Figure 7 This is a schematic diagram of the motion control process of another robot device according to the present invention. Detailed Implementation

[0049] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0050] Reference Figure 1The diagram shows a structural schematic of an embodiment of a charging control system according to the present invention. The system includes an energy storage device and a robot device. The energy storage device includes a first acquisition module, a transmitting coil and a first contact module. The robot device includes a second acquisition module, a receiving coil, a second contact module and a controller module.

[0051] The first acquisition module is used to acquire the current of the transmitting coil;

[0052] The second acquisition module is used to acquire the current of the receiving coil.

[0053] The controller module aligns the center of the receiving coil with the center of the transmitting coil based on the current of the transmitting coil and the current of the receiving coil. It is also used to control the connection between the first contact module and the second contact module and to charge the robot device.

[0054] Specifically, the energy storage device includes an energy system master controller, an energy transmitter controller module, a data acquisition module, a wireless communication module, a DC power supply, a high-frequency inverter module, a bus communication module, a resonant compensation module, a transmitting coil, and a first contact module; the energy transmitter controller module is used to control the transmitting coil.

[0055] The robot equipment includes a robot control system, a data acquisition module, a microcontroller (controller module), wireless communication, rectification and filtering, a DC-DC converter module, a resonant compensation module, a bus communication module, a receiving coil, a relay module, a motor drive board, and a second contact module.

[0056] The first contact module and the second contact module are specifically located at... Figure 1 The positions and shapes of the two blank arrows are not shown in the diagram. The first and second contact modules are connected by contact, such as a socket and plug connection.

[0057] The transmitting coil and the receiving coil are connected in a non-contact manner.

[0058] Another embodiment of the present invention further provides a description of the charging control device provided in the above embodiments.

[0059] Optionally, the energy storage device further includes a first wireless communication module, and the robot device further includes a second wireless communication module, with the first wireless communication module connected to the second wireless communication module.

[0060] Optionally, the robot device also includes a relay module, which is connected to the controller module (the robot control system includes a controller module, which is not shown in the figure). The relay module is used to control the second contact module to connect or disconnect from the first contact module according to the control commands sent by the controller module.

[0061] like Figure 2The diagram shows a flowchart of an embodiment of a charging control method of the present invention. The charging control method includes:

[0062] Step A1: When the center of the receiving coil on the robot device is aligned with the center of the transmitting coil of the energy storage device, the controller module on the robot device controls the second contact module to connect with the first contact module of the energy storage device and sends a charging command to the second contact module.

[0063] Step A2: The controller module on the robot device controls the relay module to turn on, so that the energy storage device is connected through the first contact module and the second contact module to charge the robot device.

[0064] Optionally, the receiving coil on the robotic device is aligned with the center of the transmitting coil of the energy storage device, including:

[0065] The energy storage device sends an initial positioning command to the robot device. The initial positioning command includes initial position information so that the robot device can move to the position corresponding to the initial position information.

[0066] Specifically, the power supply to the transmitting coil of the energy storage device is turned on, and it sends power-on and coarse positioning information to the robot via the wireless communication module. This coarse positioning information is the initial position information. Upon receiving this positioning information, the robot moves to the position indicated by the coarse positioning information according to the initial positioning command.

[0067] Furthermore, the robotic device acquires the current from the receiving coil;

[0068] The robot device judges the current of the receiving coil. If the current of the receiving coil is greater than the first threshold, the robot device switches to coil positioning mode.

[0069] Furthermore, in coil positioning mode, the electrical parameters of the transmitting coil and the receiving coil are acquired respectively;

[0070] Based on the electrical parameters of the transmitting coil and the receiving coil, determine the axial offset of the transmitting coil and the receiving coil;

[0071] If the axial offset is less than the preset value, then the center of the receiving coil on the robot device is aligned with the center of the transmitting coil of the energy storage device.

[0072] Optionally, in coil positioning mode, the electrical parameters of the transmitting coil and the receiving coil are acquired respectively, including:

[0073] Determine the mutual inductance parameters between the transmitting coil and the receiving coil.

[0074] Figure 3This is a schematic diagram of the parallel coaxial coil of the present invention. The mutual inductance of the two coils is calculated according to the Neumann formula.

[0075]

[0076] In the mutual inductance formula, μ0 is the permeability, N1 is the number of turns of coil 1 (transmitting coil), N2 is the number of turns of coil 2 (receiving coil), l1 is the arc length of coil 1, l2 is the arc length of coil 2, and R is the distance between the arc length elements of coil 1 and coil 2.

[0077] Figure 4 This is a schematic diagram of the parallel center offset current-carrying coil of the present invention. Optionally, the mutual inductance parameters between the transmitting coil and the receiving coil are determined, i.e., the mutual inductance parameters are obtained through the following mutual inductance formula:

[0078]

[0079] Where M is the mutual inductance parameter, r1 is the radius of the transmitting coil, r2 is the radius of the receiving coil, μ0 is the permeability, N1 is the number of turns of the transmitting coil, N2 is the number of turns of the receiving coil, h is the vertical distance between the transmitting and receiving coils, r is the axial offset distance of the coils, a is the offset in the X direction, and b is the offset in the Y direction.

[0080] The mutual inductance of the coils decreases monotonically with respect to the axial offset from the center; the smaller the axial offset, the greater the mutual inductance of the coils.

[0081] Optionally, the axial offset of the transmitting and receiving coils is determined based on the electrical parameters of the transmitting coil and the receiving coil, including:

[0082] Step B1: Based on the established electromagnetic mutual inductance energy transfer model of the coils, detect the current of the transmitting coil and the current of the receiving coil respectively;

[0083] Specifically, Figure 5 This is a schematic diagram of the coil energy transfer model of the present invention. According to Kirchhoff's voltage law, the transmitting coil current and the receiving coil current can be obtained. Optionally, based on the established coil electromagnetic inductance energy transfer model, the transmitting coil current and the receiving coil current are detected respectively, including:

[0084]

[0085]

[0086] Where I1 is the transmitting coil current, I2 is the receiving coil current, Z1 is the transmitting coil impedance, and Z2 is the receiving coil impedance; V S The voltage of the AC voltage source at the transmitting end in the electromagnetic mutual inductance energy transfer model;

[0087]

[0088]

[0089] ω is the system resonant frequency, L1, C1, and R1 are the inductance, capacitance, and parasitic resistance of the transmitting resonator, and L2, C2, and R2 are the inductance, capacitance, and parasitic resistance of the receiving resonator. L This is the load resistance.

[0090] Specifically, the values ​​of a (x-axis offset) and b (y-axis offset) are calculated in reverse using the transmitting coil current, receiving coil current, and the aforementioned mutual inductance formula. A larger mutual inductance indicates a smaller axial offset between the transmitting and receiving coils. Charging begins only after the axial offset is minimized via the contact socket.

[0091] The transmitting coil current is a monotonically decreasing function of the coil mutual inductance, meaning the smaller the center offset, the smaller the transmitting coil current; the receiving coil current is a bar function of the coil mutual inductance. The smaller the center offset, the larger the current in the receiving coil. The greater the center offset, the greater the current in the receiving coil.

[0092] Step B2: Calculate the axial offset between the transmitting coil and the receiving coil based on the transmitting coil current and the receiving coil current;

[0093] Step B3: Control the robot's movement according to the axial offset until the centers of the receiving coil and the transmitting coil on the robot are aligned.

[0094] Optionally, the method further includes:

[0095] The robot equipment acquires the contact charging voltage in real time.

[0096] The robotic equipment determines whether the contact charging voltage exceeds a second threshold.

[0097] If the contact charging voltage exceeds the second threshold, the robot will issue a stop command and close the contact charging circuit between the first and second contact modules.

[0098] Specifically, after the receiving coil of the robot device and the transmitting coil of the energy storage device are aligned, the robot device controls the second contact module to connect with the first contact module of the energy storage device. The power supply of the energy storage device charges the robot device. At this time, the acquisition module of the robot device obtains the contact charging voltage in real time. If the contact charging voltage is greater than the second threshold, the robot device issues a stop command and closes the contact charging circuit between the first contact module and the second contact module through a relay to stop charging.

[0099] Figure 6 This is a schematic diagram of the motion control process of a robot device according to the present invention; Figure 7 This is a schematic flowchart of the motion control process of another robot device control system according to the present invention. Specifically, the X-axis and Y-axis center offsets of the coils are calculated by detecting the current flowing through the transmitting and receiving coils and then converted to the robot platform coordinate system. The robot control system moves to the corresponding position according to the axial offset of the coils until the coil center is aligned. The X-axis and Y-axis movement control strategies of the robot control system are as follows: Figure 6 and Figure 7 As shown. After the coil center is aligned, the robot system controls the opening of the contact charging to improve charging efficiency.

[0100] This invention provides a wireless-wired integrated charging control method for docking. By detecting the electrical parameters of the transmitter and receiver coils, the robot system can obtain the offset distance between the charging transmitter and receiver, and adjust the robot's posture according to the offset distance to achieve precise positioning and alignment between the transmitter and receiver. After detecting the alignment between the transmitter and receiver, the robot system extends the contact charging plug and contact charging base for connection. After the receiver controller detects the contact charging electrical connection, it turns on the contact charging switch, resulting in a significant increase in charging power, high docking accuracy down to the millimeter level, low requirements for the recognition environment, and a high recognition success rate.

[0101] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0102] The charging control system and charging control method provided in this invention include an energy storage device and a robot device. The energy storage device includes a first acquisition module, a transmitting coil, and a first contact module. The robot device includes a second acquisition module, a receiving coil, a second contact module, and a controller module. The first acquisition module is used to acquire the current of the transmitting coil. The second acquisition module is used to acquire the current of the receiving coil. The controller module aligns the center of the receiving coil with the center of the transmitting coil based on the current of the transmitting coil and the current of the receiving coil. It is also used to control the connection between the first contact module and the second contact module and to charge the robot device. After the transmitting coil and the receiving coil are aligned, the robot device will push out a contact charging plug and connect to the contact charging socket of the energy storage device, thereby charging the robot device through contact and improving charging efficiency.

[0103] It should be noted that the above detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0104] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0105] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0106] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0107] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways, such as rotated 90 degrees or in other orientations, and the spatial relative descriptions used herein will be interpreted accordingly.

[0108] In the detailed description above, reference has been made to the accompanying drawings, which form part of this document. In the drawings, similar symbols typically identify similar parts unless the context otherwise indicates otherwise. The illustrated embodiments described in the detailed specification, drawings, and claims are not intended to be limiting. Other embodiments may be used and other changes may be made without departing from the spirit or scope of the subject matter presented herein.

[0109] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A charging control system, characterized in that, The system includes an energy storage device and a robot device. The energy storage device includes a first acquisition module, a transmitting coil, and a first contact module. The robot device includes a second acquisition module, a receiving coil, a second contact module, and a controller module. The first acquisition module is used to acquire the current of the transmitting coil; The second acquisition module is used to acquire the current of the receiving coil; The controller module aligns the center of the receiving coil with the center of the transmitting coil based on the transmitting coil current and the receiving coil current. It is also used to control the connection between the first contact module and the second contact module and to charge the robot device. The receiving coil on the robotic device is aligned with the center of the transmitting coil of the energy storage device, including: The energy storage device sends an initial positioning command to the robot device, the initial positioning command including initial position information, so that the robot device moves to the position corresponding to the initial position information; The robot device acquires the current from the receiving coil. The robot device judges the current of the receiving coil. If the current of the receiving coil is greater than the first threshold, the robot device switches to coil positioning mode. In the coil positioning mode, the electrical parameters of the transmitting coil and the receiving coil are acquired respectively, including determining the mutual inductance parameters between the transmitting coil and the receiving coil; Based on the electrical parameters of the transmitting coil and the receiving coil, determine the axial offset of the transmitting coil and the receiving coil; If the axial offset is less than a preset value, then it is determined that the center of the receiving coil on the robot device is aligned with the center of the transmitting coil of the energy storage device. Determining the axial offset of the transmitting coil and the receiving coil based on the electrical parameters of the transmitting coil and the receiving coil includes: Based on the established electromagnetic mutual inductance energy transfer model of the coils, the current of the transmitting coil and the current of the receiving coil are detected respectively. Calculate the axial offset between the transmitting coil and the receiving coil based on the transmitting coil current and the receiving coil current; The robot's movement is controlled according to the axial offset until the centers of the receiving coil and the transmitting coil on the robot are aligned.

2. The system according to claim 1, characterized in that, The energy storage device further includes a first wireless communication module, and the robot device further includes a second wireless communication module, wherein the first wireless communication module is connected to the second wireless communication module.

3. The system according to claim 1, characterized in that, The robot device also includes a relay module, which is connected to the controller module. The relay module is used to control the second contact module to connect or disconnect from the first contact module according to the control instructions sent by the controller module.

4. A charging control method based on any one of claims 1-3, characterized in that, The method includes: When the center of the receiving coil on the robot device is aligned with the center of the transmitting coil of the energy storage device, the controller module on the robot device controls the second contact module to connect with the first contact module of the energy storage device and sends a charging command to the second contact module. The controller module on the robot device controls the relay module to turn on, so that the energy storage device is connected through the first contact module and the second contact module to charge the robot device; The receiving coil on the robotic device is aligned with the center of the transmitting coil of the energy storage device, including: The energy storage device sends an initial positioning command to the robot device, the initial positioning command including initial position information, so that the robot device moves to the position corresponding to the initial position information; The robot device acquires the current from the receiving coil. The robot device judges the current of the receiving coil. If the current of the receiving coil is greater than the first threshold, the robot device switches to coil positioning mode. In the coil positioning mode, the electrical parameters of the transmitting coil and the receiving coil are acquired respectively, including determining the mutual inductance parameters between the transmitting coil and the receiving coil; Based on the electrical parameters of the transmitting coil and the receiving coil, determine the axial offset of the transmitting coil and the receiving coil; If the axial offset is less than a preset value, then it is determined that the center of the receiving coil on the robot device is aligned with the center of the transmitting coil of the energy storage device. Determining the axial offset of the transmitting coil and the receiving coil based on the electrical parameters of the transmitting coil and the receiving coil includes: Based on the established electromagnetic mutual inductance energy transfer model of the coils, the current of the transmitting coil and the current of the receiving coil are detected respectively. Calculate the axial offset between the transmitting coil and the receiving coil based on the transmitting coil current and the receiving coil current; The robot's movement is controlled according to the axial offset until the centers of the receiving coil and the transmitting coil on the robot are aligned.

5. The method according to claim 4, characterized in that, Determining the mutual inductance parameters between the transmitting coil and the receiving coil includes: Where M is the mutual inductance parameter, r1 is the radius of the transmitting coil, r2 is the radius of the receiving coil, μ0 is the permeability, N1 is the number of turns of the transmitting coil, N2 is the number of turns of the receiving coil, h is the vertical distance between the transmitting and receiving coils, r is the axial offset distance of the coils, a is the offset in the X direction, and b is the offset in the Y direction.

6. The method according to claim 5, characterized in that, The step of detecting the transmitting coil current and the receiving coil current respectively based on the established electromagnetic mutual inductance energy transfer model includes: Where I1 is the transmitting coil current, I2 is the receiving coil current, Z1 is the transmitting coil impedance, and Z2 is the receiving coil impedance; V S The voltage of the AC voltage source at the transmitting end in the electromagnetic mutual inductance energy transfer model; ω is the system resonant frequency, L1, C1, and R1 are the inductance, capacitance, and parasitic resistance of the transmitting resonator, and L2, C2, and R2 are the inductance, capacitance, and parasitic resistance of the receiving resonator. L This is the load resistance.

7. The method according to claim 5, characterized in that, The method further includes: The robot equipment acquires the contact charging voltage in real time. The robotic device determines whether the contact charging voltage is greater than a second threshold. If the contact charging voltage is greater than the second threshold, the robot device issues a stop command and closes the contact charging circuit between the first contact module and the second contact module.

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