Dual-sided multiplexed wireless charging coupling mechanism and dual-load wireless power transfer system

Abstract

This invention relates to the field of wireless power transmission technology, specifically disclosing a double-sided multiplexed wireless charging coupling mechanism and a dual-load wireless power transmission system. The coupling mechanism includes: a transmitting end device, a first energy receiving coil (13), and a second energy receiving coil (14). The transmitting end device is a double-sided multiplexed coil structure, including a first energy transmitting coil (11) on the front and a second energy transmitting coil (12) on the back. The first energy transmitting coil (11) and the first energy receiving coil (13) are both unipolar coils, and the second energy transmitting coil (12) and the second energy receiving coil (14) are both bipolar coils, realizing double-sided multiplexing of the energy transmitting coil. The two energy receiving coils are decoupled from each other and will not interfere with each other. The double-sided multiplexed energy transmitting coil structure can be extended to multi-load application scenarios, and wireless charging for more loads can be achieved without increasing the size of the transmitting coil.

Description

Technical Field

[0001] This invention relates to the field of wireless power transmission technology, and more particularly to a double-sided multiplexed wireless charging coupling mechanism and a dual-load wireless power transmission system. Background Technology

[0002] Wireless Power Transfer (WPT) technology offers a solution to the problem of safe, reliable, flexible, and convenient power replenishment for electrical devices. Currently, single-input, single-output (SIP) WPT technology is relatively mature and widely used in electric vehicle charging, unmanned equipment charging, and implantable medical devices. Multi-load WPT systems refer to systems with only one primary-side power transmitter and multiple secondary-side power receivers. This system enables contactless power supply from a single power source to multiple devices, and its utilization rate of the transmitting coil is higher than that of SIP WPT systems, leading to its increasingly widespread applications.

[0003] Most current multi-load WPT systems use a structure of one large transmitting coil and multiple smaller receiving coils, or use multi-stage relay coils to power multiple loads, thereby increasing the energy transmission distance and achieving multiple outputs. However, these two methods have limited utilization of the energy transmitting coil and are not very resistant to offset. Summary of the Invention

[0004] This invention provides a dual-sided multiplexed wireless charging coupling mechanism and a dual-load wireless power transmission system. The technical problem it solves is that the utilization rate of the energy transmission coil in the existing multi-load WPT system is relatively limited and the anti-offset capability is not strong.

[0005] To solve the above technical problems, the present invention first provides a double-sided multiplexed wireless charging coupling mechanism, including a transmitter device, a first receiver device, and a second receiver device;

[0006] The transmitting device is a double-sided multiplexed coil structure, including a first energy transmitting coil disposed on the front and a second energy transmitting coil disposed on the back.

[0007] The first receiving device includes a first energy receiving coil that is opposite to and coupled to the first energy transmitting coil, and the second receiving device includes a second energy receiving coil that is opposite to and coupled to the second energy transmitting coil;

[0008] Both the first energy transmitting coil and the first energy receiving coil are unipolar coils, and both the second energy transmitting coil and the second energy receiving coil are bipolar coils. The first energy receiving coil and the second energy receiving coil are decoupled from each other.

[0009] Preferably, the first energy emitting coil and the second energy emitting coil are both placed vertically and have the same length and height. The second energy emitting coil is composed of two energy emitting sub-coils connected in series, with the excitation currents of the two energy emitting sub-coils in opposite directions.

[0010] Preferably, both the first energy receiving coil and the second energy receiving coil are placed vertically; the second energy receiving coil is composed of two energy receiving sub-coils connected in series, distributed vertically; the induced currents of the two energy receiving sub-coils are in opposite directions.

[0011] Preferably, the length and height of the first energy transmitting coil are greater than or equal to the length and height of the first energy receiving coil, respectively; and the length and height of the second energy transmitting coil are greater than or equal to the length and height of the second energy receiving coil, respectively.

[0012] Preferably, the first energy emitting coil and the second energy emitting coil are wound from the same wire, in which case the first energy emitting coil and the second energy emitting coil are connected in series; or, the first energy emitting coil and the second energy emitting coil are each wound from two different wires, in which case the first energy emitting coil and the second energy emitting coil are not connected.

[0013] Preferably, the first energy receiving coil, the second energy receiving coil, the first energy transmitting coil, and the second energy transmitting coil are each wound with at least two turns of coil.

[0014] Based on the above coupling mechanism, the present invention also provides a dual-load wireless power transmission system, comprising:

[0015] Primary-side power transmitting circuit, first secondary-side power receiving circuit, second secondary-side power receiving circuit;

[0016] The primary-side power transmission circuit includes a power supply, a full-bridge inverter, a primary-side resonant compensation network, and a primary-side transmitting coil connected in sequence. The primary-side transmitting coil adopts the transmitting end device described above.

[0017] The first secondary-side power receiving circuit includes a first secondary-side receiving coil, a first secondary-side resonant compensation network, a first rectifier filter circuit, and a first load connected in sequence. The first secondary-side receiving coil adopts the first receiving end device as described above.

[0018] The second secondary power receiving circuit includes a second secondary receiving coil, a second secondary resonant compensation network, a second rectifier filter circuit, and a second load connected in sequence. The second secondary receiving coil adopts the second receiving end device as described above.

[0019] Preferably, the primary-side resonance compensation network adopts a first LCC compensation network.

[0020] Preferably, the first secondary-side resonant compensation network adopts a second LCC compensation network.

[0021] Preferably, the second secondary-side resonant compensation network adopts a third LCC compensation network.

[0022] The present invention provides a dual-sided multiplexing wireless charging coupling mechanism and a dual-load wireless power transmission system. Two sets of decoupled energy receiving coils are arranged on both sides of a planar energy transmitting coil. This achieves dual-sided multiplexing of the energy transmitting coil without increasing its size, improving its utilization rate. Simultaneously, the two sets of decoupled energy receiving coils prevent mutual interference. This dual-sided multiplexing energy transmitting coil structure can be extended to multi-load applications, enabling wireless charging for more loads without increasing the size of the transmitting coil, thus reducing the space occupied by multi-load systems. Furthermore, the length and height of the first energy transmitting coil are greater than those of the first energy receiving coil, and the length and height of the second energy transmitting coil are greater than those of the second energy receiving coil. During charging, both the first and second energy receiving coils exhibit good anti-offset performance. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of a wireless charging anti-offset coupling mechanism provided in Embodiment 1;

[0024] Figure 2 This is a schematic diagram of the current direction of a wireless charging anti-offset coupling mechanism provided in Embodiment 1;

[0025] Figure 3 A schematic diagram showing the dimensions of a wireless charging anti-offset coupling mechanism provided in Embodiment 1;

[0026] Figure 4 This is a schematic diagram of the magnetic field direction in the xy plane of a wireless charging anti-offset coupling mechanism provided in Embodiment 1;

[0027] Figure 5 This is a schematic diagram of the magnetic field direction in the xz plane of a wireless charging anti-offset coupling mechanism provided in Embodiment 1;

[0028] Figure 6 This is a schematic diagram of the change in mutual inductance (altered along the z-axis) when the energy receiving coil is offset, as provided in Embodiment 1.

[0029] Figure 7 The circuit diagram of the dual-load wireless power transmission system provided in Embodiment 2.

[0030] Reference numerals: First energy transmitting coil 11, Second energy transmitting coil 12, First energy receiving coil 13, Second energy receiving coil 14. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0033] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0034] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0035] Example 1:

[0036] To address the limitations of energy transmission coil utilization and poor offset resistance in existing multi-load WPT systems, this invention proposes a double-sided multiplexed wireless charging coupling mechanism, such as... Figure 1 , 2 The three-dimensional diagram shows a transmitter device, a first receiver device, and a second receiver device.

[0037] The transmitting device is a double-sided multiplexed coil structure, including a first energy transmitting coil 11 disposed on the front and a second energy transmitting coil 12 disposed on the back. It is worth noting that a diagram of the double-sided multiplexed coil structure can be found here. Figure 1 As shown, Figure 2 The first energy transmitting coil 11 and the second energy transmitting coil 12 are placed separately to provide a more intuitive understanding of their structures. The structures of the first energy transmitting coil 11 and the second energy transmitting coil 12 are as follows: Figure 1 They fit together as shown.

[0038] The first receiving device includes a first energy receiving coil 13 that is opposite to and coupled to the first energy transmitting coil 11, and the second receiving device includes a second energy receiving coil 14 that is opposite to and coupled to the second energy transmitting coil 12.

[0039] The first energy transmitting coil 11 and the first energy receiving coil 13 are both unipolar coils, while the second energy transmitting coil 12 and the second energy receiving coil 14 are both bipolar coils. The first energy receiving coil 13 and the second energy receiving coil 14 are decoupled from each other.

[0040] like Figure 1 , 2 As shown, the first energy emitting coil 11 and the second energy emitting coil 12 are both placed vertically and have the same length and height. The second energy emitting coil 12 is composed of two energy emitting sub-coils (DD coils) distributed vertically and connected in series. The excitation currents of the two energy emitting sub-coils are in opposite directions.

[0041] The first energy receiving coil 13 and the second energy receiving coil 14 are both placed vertically and are of equal length and height. The second energy receiving coil 14 is composed of two energy receiving sub-coils (DD coils) connected in series, one above the other. The induced currents in the two energy receiving sub-coils are in opposite directions. Relative to the transmitting device, the first energy receiving coil 13 and the second energy receiving coil 14 are placed at the same height. While the first energy receiving coil 13 and the second energy receiving coil 14 are set to be of equal length and height, in other embodiments they can also be set to be one large and one small. This will reduce the decoupling effect and the anti-offset effect, but a certain level of wireless charging efficiency can still be achieved.

[0042] It is worth noting that in this embodiment, the first energy receiving coil 13 and the second energy receiving coil 14 can be decoupled from each other and prevent mutual interference by using only two different pairs of coils (including the first energy transmitting coil 11 and the first energy receiving coil 13, both of which are unipolar coils, and the second energy transmitting coil 12 and the second energy receiving coil 14, both of which are bipolar coils). The double-sided multiplexed transmitting coil structure enables the supply of power to two loads without increasing the coil size.

[0043] Through the above implementation method, two sets of energy receiving coils are arranged on both sides of a planar energy transmitting coil, achieving double-sided reuse of the energy transmitting coil without increasing the coil size, thus improving the utilization rate of the energy transmitting coil. Simultaneously, the two sets of energy receiving coils are designed to be decoupled, preventing mutual interference. Furthermore, the lateral length of the first energy transmitting coil 11 is greater than that of the first energy receiving coil 13, and the lateral length of the second energy transmitting coil 12 is greater than that of the second energy receiving coil 14. During charging, the first energy receiving coil 13 and the second energy receiving coil 14 exhibit better anti-displacement performance.

[0044] Optionally, the vertical height of the first energy transmitting coil 11 is greater than or equal to the vertical height of the first energy receiving coil 13, and the vertical height of the second energy transmitting coil 12 is greater than or equal to the vertical height of the second energy receiving coil 14, thereby improving the anti-offset performance.

[0045] The following example will illustrate this; see [link / reference]. Figure 3 , Figure 3 In the first energy transmitting coil 11, the horizontal length, vertical height, and one-side coil width are 200mm, 200mm, and 20mm, respectively; the horizontal length, vertical height, and one-side coil width of the second energy transmitting coil 12 are 200mm, 200mm, and 20mm, respectively; the horizontal length, vertical height, and one-side coil width of the first energy receiving coil 13 are 100mm, 100mm, and 10mm, respectively; and the horizontal length, vertical height, and one-side coil width of the second energy receiving coil 14 are 100mm, 100mm, and 10mm, respectively. The distance between the first energy transmitting coil 11 and the first energy receiving coil 13 is 50mm, and the distance between the second energy transmitting coil 12 and the second energy receiving coil 14 is 50mm.

[0046] See Figure 4 , Figure 4 for Figure 3 The diagram shows the magnetic field direction in the xy plane of the wireless charging anti-offset coupling mechanism. Figure 5 for Figure 3 The schematic diagram shown is of the magnetic field direction in the xz plane of the wireless charging anti-offset coupling mechanism. Figure 4 and Figure 5It can be seen that the energy transmitting coil generates magnetic fields along the x-axis and y-axis on both sides, which can effectively couple with the corresponding energy receiving coil. Furthermore, the magnetic field strength is relatively uniformly distributed along the z-axis, giving the energy receiving coil a high tolerance for offset (here, only z-axis offset is taken as an example, because the receiving coil is fixed to the robot body (using the robot as an example), and there is no offset perpendicular to the ground, i.e., the xz plane). Combining the simulation parameters of the wireless charging offset coupling mechanism shown in Table 1, it can be seen that compared to the mutual inductance M1 (mutual inductance between the first energy transmitting coil 11 and the first energy receiving coil 13) and M2 (mutual inductance between the second energy transmitting coil 12 and the second energy receiving coil 14) between the energy receiving coil and the energy transmitting coil, the mutual inductance M3 between the first energy receiving coil 13 and the second energy receiving coil 14 is almost negligible, achieving good decoupling. When the energy receiving coil is offset along the z-axis, the changes in mutual inductances M1 and M2 are as follows: Figure 6 As shown, the change in coil mutual inductance is less than 5% under an offset of ±30%. In Table 1, L1 is the energy transmitting coil (including the first energy transmitting coil 11 and the second energy transmitting coil 12), L2 is the first energy receiving coil 13, and L3 is the second energy receiving coil 14.

[0047] Table 1 Coil Parameters

[0048] Parameter name Parameter value Parameter name Parameter value <![CDATA[L1]]> 71.24μH <![CDATA[M1]]> 3.4μH <![CDATA[L2]]> 20.36μH <![CDATA[M2]]> 2.31μH <![CDATA[L3]]> 27.54μH <![CDATA[M3]]> <![CDATA[10 -6 μH]]>

[0049] In this embodiment, the first energy emitting coil 11 and the second energy emitting coil 12 are wound from the same wire, and the first energy emitting coil 11 and the second energy emitting coil 12 are connected in series in this winding method.

[0050] Alternatively, in another embodiment, the first energy emitting coil 11 and the second energy emitting coil 12 are respectively wound by two wires, and in this winding method, the first energy emitting coil 11 and the second energy emitting coil 12 are not connected.

[0051] Optionally, in this embodiment, the first energy receiving coil 13, the second energy receiving coil 14, the first energy transmitting coil 11, and the second energy transmitting coil 12 are all wound with at least two turns of coil, and the specific number of turns can be determined according to actual needs.

[0052] Figures 1-3This is only a preferred example. Based on this, the height of the first energy transmitting coil 11 and the second energy transmitting coil 12 of the transmitting device can be extended indefinitely. Then, more first energy receiving coils 13 and multiple second energy receiving coils 14 decoupled from each of the first energy receiving coils 13 can be set along the extension direction of the transmitting device. Each energy receiving coil corresponds to a load, thereby enabling the simultaneous power supply of more than 3 loads.

[0053] Furthermore, the term "vertical" in this application does not strictly refer to "the measured vertical height perpendicular to the ground plane or the horizontal main axis," but is only for the convenience of describing the relative positional relationship between each transmitting coil and each receiving coil. The limitation of height and length is only relative to the relationship shown in the attached drawings. The vertical height may correspond to the horizontal length in reality. In specific implementation, how to place the coupling mechanism can be flexibly set according to the charging environment and charging requirements.

[0054] The double-sided multiplexed energy transmitting coil structure can be extended to multi-load application scenarios. Without increasing the size of the transmitting coil, it can wirelessly charge twice the number of loads, reducing the space occupied by multi-load systems.

[0055] Example 2:

[0056] To address the limitations of energy transmission coil utilization and poor offset resistance in existing multi-load WPT systems, this embodiment proposes a wireless power transfer system based on the coupling mechanism of Embodiment 1. This system can be applied to wireless charging scenarios in automobiles, drones, robots, etc. (See [link]). Figure 7 The wireless power transmission system includes:

[0057] Primary-side power transmitting circuit, first secondary-side power receiving circuit, second secondary-side power receiving circuit;

[0058] The primary-side power transmission circuit includes power supplies (U) connected in sequence. dc ), full-bridge inverter (consisting of Q1, Q2, Q4, Q4), primary-side resonant compensation network (consisting of inductor L) 1P Capacitor C 1P Capacitor C 2P Composition), primary-side transmitting coil (L1);

[0059] The first secondary-side power receiving circuit includes a first secondary-side receiving coil (L2) and a first secondary-side resonant compensation network (composed of inductor L2) connected in sequence. 1S Capacitor C 1S Capacitor C 2S Composition), first rectifier filter circuit and first load (R) L1 );

[0060] The second secondary power receiving circuit includes a second secondary receiving coil (L3) and a second secondary resonant compensation network (composed of inductor L3) connected in sequence. 2S Capacitor C 3S Capacitor C 4S Composition), second rectifier filter circuit and second load (R) L2 ).

[0061] The primary transmitting coil adopts the transmitting end device shown in Embodiment 1 (i.e., the first energy transmitting coil 11 and the second energy transmitting coil 12 are wound with a single wire and are connected in series), the first secondary receiving coil adopts the first receiving end device shown in Embodiment 1, and the second secondary receiving coil adopts the second receiving end device shown in Embodiment 1. In other words, this system applies the coupling mechanism shown in Embodiment 1 to a specific circuit, enabling the system to utilize the function of the coupling mechanism and achieve the corresponding effect.

[0062] like Figure 7 As shown, the primary-side resonant compensation network adopts the first LCC compensation network, which is a common and effective primary-side compensation network in wireless power transmission systems. The first secondary-side resonant compensation network adopts the second LCC compensation network, and the second secondary-side resonant compensation network adopts the third LCC compensation network. LCC compensation networks are common and effective secondary-side compensation networks in wireless power transmission systems.

[0063] In another embodiment, the first energy emitting coil 11 and the second energy emitting coil 12 are each wound with two wires. The primary-side power emitting circuit includes a power supply, a full-bridge inverter, two sets of primary-side resonant compensation networks connected in parallel with the output of the full-bridge inverter, and the first energy emitting coil 11 and the second energy emitting coil 12 respectively connected to the output of the two sets of primary-side resonant compensation networks. With this circuit configuration, the first energy emitting coil 11 and the second energy emitting coil 12 can be turned on or off individually. For example, the first energy emitting coil 11 can be turned on alone, the second energy emitting coil 12 can be turned on alone, or both can be turned on or off simultaneously. The system can determine which energy transmitting coil is activated or both are activated simultaneously by detecting the type of the secondary energy receiving coil. For example, if the first energy transmitting coil 11 is a unipolar coil and the second energy transmitting coil 12 is a horizontal bipolar coil, and the secondary energy receiving coil is detected as a unipolar coil, then the first energy transmitting coil 11 is activated, while the second energy transmitting coil 12 remains closed. If, during the wireless charging process between the first energy transmitting coil 11 and the secondary energy receiving coil, another secondary energy receiving coil approaches and is detected as a horizontal bipolar coil, then the second energy transmitting coil 12 is activated. In this case, both the first energy transmitting coil 11 and the second energy transmitting coil 12 are activated.

[0064] For the case where the first energy transmitting coil 11 and the second energy transmitting coil 12 are respectively wound with two wires, taking the wireless charging device as an inspection robot (equipped with a first secondary power receiving circuit or a second secondary power receiving circuit, that is, equipped with a secondary power receiving coil that is a unipolar coil or a bipolar coil) as an example, the control flow of the transmitter device of this system includes the following steps:

[0065] S1. Detect whether an inspection robot is parked at the first charging position opposite to the first energy transmitting coil 11 or at the second charging position opposite to the second energy transmitting coil 12. If yes, proceed to the next step; otherwise, continue the detection.

[0066] S2. If only the first charging position has an inspection robot docked, proceed to steps S3-S4; if only the second charging position has an inspection robot docked, proceed to steps S5-S6; if both the first and second charging positions have inspection robots docked, proceed to steps S7-S8.

[0067] S3. Detect whether the secondary energy receiving coil on the inspection robot is a monopole coil or a bipole coil through primary and secondary side communication. If it is a monopole coil, turn on the first energy transmitting coil 11 for wireless charging. If it is a bipole coil, proceed to the next step.

[0068] S4. Prompt the inspection robot to switch to the second charging position opposite to the second energy emission coil 12 and turn on the second energy emission coil 12;

[0069] S5. Detect whether the secondary energy receiving coil on the inspection robot is a monopole coil or a bipole coil through primary and secondary side communication. If it is a bipole coil, turn on the second energy transmitting coil 12 for wireless charging. If it is a monopole coil, proceed to the next step.

[0070] S6. Prompt the inspection robot to switch to the first charging position opposite to the first energy emission coil 12 and turn on the first energy emission coil 11;

[0071] S7. Detect whether the secondary side energy receiving coils of the inspection robot at the first charging position and the second charging position are unipolar coils and bipolar coils respectively through primary and secondary side communication. If so, simultaneously turn on the first energy transmitting coil 11 and the second energy transmitting coil 12 for wireless charging. Otherwise, proceed to the next step.

[0072] S8. If both the first charging position and the second charging position are unipolar coils, then only the first energy transmitting coil 11 is turned on, and the inspection robot at the second charging position is prompted to find the next charging position of the transmitting device; if both the first charging position and the second charging position are unipolar coils, then only the second energy transmitting coil 12 is turned on, and the inspection robot at the first charging position is prompted to find the next charging position of the transmitting device.

[0073] In steps S3, S6, and S8, during the continuous charging of the first energy transmitting coil 11, it is continuously detected whether an inspection robot is parked at the second charging position opposite to the second energy transmitting coil 12 that is not turned on. If so, it is detected whether the secondary energy receiving coil on the inspection robot is a unipolar coil or a bipolar coil. If it is a unipolar coil, the inspection robot is prompted to find the next charging position of the transmitting device. If it is a bipolar coil, the second energy transmitting coil 12 is turned on.

[0074] In steps S4, S5, and S8, during the continuous charging of the second energy transmitting coil 12, it is continuously detected whether an inspection robot is parked at the first charging position opposite to the first energy transmitting coil 11 that is not turned on. If so, it is detected whether the secondary energy receiving coil on the inspection robot is a unipolar coil or a bipolar coil. If it is a bipolar coil, the inspection robot is prompted to find the next charging position of the transmitting device. If it is a unipolar coil, the first energy transmitting coil 11 is turned on.

[0075] In addition, in step S4, besides prompting the inspection robot to switch to the second charging position opposite to the second energy transmitting coil 12, it can also be prompted to switch to the second charging position of the next transmitting device. The inspection robot determines where to switch to based on its own path algorithm. If it switches to a new transmitting device, charging will begin according to the corresponding process in steps S1 to S8. Similarly, in steps S6 and S8, the inspection robot can also be prompted to switch to other transmitting devices.

[0076] Alternatively, in other embodiments, the primary-side resonant compensation network, the first secondary-side resonant compensation network, and the second secondary-side resonant compensation network may also employ resonant compensation networks such as LCC-S, S-LCC, and LCL. Figure 7 The example given is an LCC-LCC type resonant compensation network. Figure 7 In the double-sided multiplexed transmitting coil structure, only the transmitting coil and the receiving coil have mutual inductance M1 and M2, and the two receiving coils will not interfere with each other.

[0077] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A double-sided reusable wireless charging coupling mechanism, characterized in that, It includes a transmitter device, a first receiver device, and a second receiver device; The transmitting device is a double-sided multiplexed coil structure, including a first energy transmitting coil (11) disposed on the front and a second energy transmitting coil (12) disposed on the back. The first receiving device includes a first energy receiving coil (13) that is opposite to and coupled to the first energy transmitting coil (11), and the second receiving device includes a second energy receiving coil (14) that is opposite to and coupled to the second energy transmitting coil (12). The first energy transmitting coil (11) and the first energy receiving coil (13) are both unipolar coils, and the second energy transmitting coil (12) and the second energy receiving coil (14) are both bipolar coils. The first energy receiving coil (13) and the second energy receiving coil (14) are decoupled from each other. The first energy emitting coil (11) and the second energy emitting coil (12) are each wound with two wires, so the first energy emitting coil (11) and the second energy emitting coil (12) are not connected; the first receiving device or the second receiving device is installed on the inspection robot; the control process of the transmitting device includes the following steps: S1. Detect whether there is an inspection robot parked at the first charging position opposite to the first energy transmitting coil (11) or at the second charging position opposite to the second energy transmitting coil (12). If yes, proceed to the next step; otherwise, continue the detection. S2. If only the first charging position has an inspection robot docked, proceed to steps S3-S4; if only the second charging position has an inspection robot docked, proceed to steps S5-S6; if both the first and second charging positions have inspection robots docked, proceed to steps S7-S8. S3. Detect whether the secondary energy receiving coil on the inspection robot is a unipolar coil or a bipolar coil through primary and secondary side communication. If it is a unipolar coil, turn on the first energy transmitting coil (11) for wireless charging. If it is a bipolar coil, proceed to the next step. S4. Prompt the inspection robot to switch to the second charging position opposite to the second energy emission coil (12) and turn on the second energy emission coil (12). S5. Detect whether the secondary energy receiving coil on the inspection robot is a unipolar coil or a bipolar coil through primary and secondary side communication. If it is a bipolar coil, turn on the second energy transmitting coil (12) for wireless charging. If it is a unipolar coil, proceed to the next step. S6. Prompt the inspection robot to switch to the first charging position opposite to the first energy emission coil (12) and turn on the first energy emission coil (11). S7. Detect whether the secondary side energy receiving coils of the inspection robot at the first charging position and the second charging position are unipolar coils and bipolar coils respectively through primary and secondary side communication. If so, simultaneously turn on the first energy transmitting coil (11) and the second energy transmitting coil (12) for wireless charging. Otherwise, proceed to the next step. S8. If both the first charging position and the second charging position are unipolar coils, then only the first energy transmitting coil (11) is turned on, and the inspection robot at the second charging position is prompted to find the next charging position of the transmitting device; if both the first charging position and the second charging position are bipolar coils, then only the second energy transmitting coil (12) is turned on, and the inspection robot at the first charging position is prompted to find the next charging position of the transmitting device.

2. The double-sided multiplexed wireless charging coupling mechanism according to claim 1, characterized in that: The first energy emitting coil (11) and the second energy emitting coil (12) are both placed vertically and are of equal length and height. The second energy emitting coil (12) is formed by two energy emitting sub-coils connected in series, and the excitation currents of the two energy emitting sub-coils are in opposite directions.

3. The double-sided multiplexed wireless charging coupling mechanism according to claim 2, characterized in that: The first energy receiving coil (13) and the second energy receiving coil (14) are both placed vertically; the second energy receiving coil (14) is formed by two energy receiving sub-coils connected in series and distributed vertically; the induced currents of the two energy receiving sub-coils are in opposite directions.

4. The double-sided multiplexed wireless charging coupling mechanism according to claim 3, characterized in that: The length and height of the first energy transmitting coil (11) are greater than or equal to the length and height of the first energy receiving coil (13); the length and height of the second energy transmitting coil (12) are greater than or equal to the length and height of the second energy receiving coil (14).

5. The double-sided multiplexed wireless charging coupling mechanism according to claim 1, characterized in that: The first energy receiving coil (13), the second energy receiving coil (14), the first energy transmitting coil (11), and the second energy transmitting coil (12) are all wound with at least two turns of coil.

6. A dual-load wireless power transmission system, characterized in that, include: Primary-side power transmitting circuit, first secondary-side power receiving circuit, second secondary-side power receiving circuit; The primary-side power transmission circuit includes a power supply, a full-bridge inverter, a primary-side resonant compensation network, and a primary-side transmitting coil connected in sequence. The primary-side transmitting coil adopts the transmitting end device as described in any one of claims 1 to 5. The first secondary-side power receiving circuit includes a first secondary-side receiving coil, a first secondary-side resonant compensation network, a first rectifier filter circuit, and a first load connected in sequence. The first secondary-side receiving coil adopts the first receiving end device as described in any one of claims 1 to 5. The second secondary power receiving circuit includes a second secondary receiving coil, a second secondary resonant compensation network, a second rectifier filter circuit, and a second load connected in sequence. The second secondary receiving coil adopts the second receiving end device as described in any one of claims 1 to 5.

7. The dual-load wireless power transmission system according to claim 6, characterized in that: The primary-side resonance compensation network adopts the first LCC compensation network.

8. The dual-load wireless power transmission system according to claim 7, characterized in that: The first secondary-side resonance compensation network adopts the second LCC compensation network.

9. The dual-load wireless power transmission system according to claim 7, characterized in that: The second secondary-side resonance compensation network adopts a third LCC compensation network.

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