Electromagnetic Mechanical Absolute Coordinate Positioning Device and Its Usage Method

Abstract

The present application relates to an electromagnetic mechanical absolute coordinate positioning device, belonging to the technical field of positioning devices, and includes a main controller, a frame plate and a moving member. A plurality of antenna frames are equidistantly distributed along the length direction of the frame plate, and all the antenna frames are electrically connected to the main controller. A plurality of absolute coordinates corresponding to the antenna frames one by one are stored in the main controller. The moving member is slidably arranged along the length direction of the frame plate, and the end of the moving member is located above the antenna frame and sends electromagnetic energy to the antenna frame. The antenna frame is used to receive the electromagnetic energy and generate a corresponding energy signal. A coordinate calculation formula for calculating the position of the moving member using the energy signal and the absolute coordinate is stored in the main controller. Since each antenna frame has a corresponding absolute coordinate, the moving member can determine its position according to the nearby antenna frames after each movement, and it is not necessary to reset the moving member every time the entire positioning device is restarted, which is more convenient to use.

Description

Technical Field

[0001] This application relates to the field of positioning devices, and more particularly to an electromagnetic mechanical absolute coordinate positioning device and its usage method. Background Art

[0002] With the rapid progress of information technology and the wide popularization of automation equipment in recent years, the positioning service carried on automation equipment has become an important auxiliary tool. Precise positioning technology can effectively improve the processing accuracy of automation equipment.

[0003] Currently, automation equipment generally uses optical scales for positioning. The movement of the processing platform in automation equipment is often composed of linear movements in multiple different axial directions. The positioning in each axial direction is achieved by configuring a corresponding optical scale. When the optical scale is actually used, a specific reference point for machining needs to be preset. After the optical scale is powered on, it moves together with the processing platform in the automation equipment. The optical scale measures the moving distance, and the relative coordinate of the current optical scale can be calculated by combining the reference point.

[0004] Regarding the above related technologies, the inventor believes that once the optical scale is not powered on and the processing platform in the automation equipment drives the optical scale to move, since the optical scale cannot work, the coordinate of the processing platform relative to the reference point cannot be obtained, and the positioning function in the entire automation equipment cannot work properly. Summary of the Invention

[0005] In order to provide a more reliable positioning function, this application provides an electromagnetic mechanical absolute coordinate positioning device and its usage method.

[0006] In a first aspect, an electromagnetic mechanical absolute coordinate positioning device provided by this application adopts the following technical solution:

[0007] An electromagnetic mechanical absolute coordinate positioning device includes a main controller, a frame plate, and a moving member. A plurality of antenna frames are equidistantly distributed along the length direction of the frame plate. All the antenna frames are electrically connected to the main controller. The main controller stores a plurality of absolute coordinates corresponding to the antenna frames one by one. The moving member is slidably arranged along the length direction of the frame plate, and the end of the moving member is located above the antenna frame and sends electromagnetic energy to the antenna frame. The antenna frame is used to receive the electromagnetic energy and generate a corresponding energy signal. The main controller stores a coordinate calculation formula for calculating the position of the moving member using the energy signal and the absolute coordinate.

[0008] By adopting the above technical solution, when the moving part sends electromagnetic energy to the antenna frame, the antenna frame close to the moving part can generate corresponding energy signals. Moreover, the closer the distance between the antenna frame and the moving part, the stronger the generated energy signal. By analyzing the intensity of the energy signal and positioning the absolute coordinates corresponding to the antenna frame, the current position of the moving part can be calculated. Since the moving direction of the moving part is single, after the moving part moves, the antenna frames that can generate energy signals do not disappear but change in position. The position of the moving part can be determined again through the newly generated energy signals and the corresponding absolute coordinates, thereby obtaining the moving distance of the moving part. Since each antenna frame has a corresponding absolute coordinate, the moving part can determine its position according to the nearby antenna frames after each movement. When restarting the entire positioning device each time, it is not necessary to reset the moving part, making it more convenient to use.

[0009] Optionally, the moving part is an electromagnetic coil induction head, and the main controller is further configured to charge the antenna frame.

[0010] By adopting the above technical solution, the moving part obtains energy through electromagnetic induction with the charging antenna frame, and when the antenna frame stops charging, the moving part releases electromagnetic energy externally, enabling the moving part to obtain energy replenishment without using wires, facilitating the movement of the moving part and not prone to failures.

[0011] Optionally, the main controller includes an operational amplifier and a processor;

[0012] The operational amplifier is configured to receive the energy signal transmitted by the antenna frame, amplify the energy signal, and then transmit it to the processor;

[0013] The processor is configured to periodically send a charging signal to charge the antenna frame, and during the charging interval, compare the strengths of the energy signals transmitted by the operational amplifier, select multiple energy signals with large strengths, determine the corresponding absolute coordinates, and then calculate the coordinates of the electromagnetic coil induction head according to the determined absolute coordinates and the coordinate calculation formula.

[0014] By adopting the above technical solution, considering that the moving part will continuously release energy after charging and the energy in the moving part will gradually decrease, in order to facilitate the processor to judge the strength of the energy received by the antenna frame, the operational amplifier is used to amplify the energy signal received by the antenna frame, so as to be able to extend the time for the moving part to release energy and slow down the charging frequency of the processor to the antenna frame.

[0015] Optionally, the main controller further includes a multi-task processor;

[0016] The multi-task processor is configured to receive the charging signal from the processor and select a corresponding antenna frame for charging according to the charging signal.

[0017] By adopting the above technical solution, with the help of a multi-task processor, the processor can select an antenna frame closer to the moving part for power supply, avoiding the magnetic field chaos caused by charging between antenna frames, improving the charging efficiency of the moving part, thereby shortening the charging time, and further increasing the duty cycle of the processor for monitoring the coordinate position of the moving part.

[0018] Optionally, a communication interface is provided on the processor, and the processor is connected to an external host through the communication interface.

[0019] By adopting the above technical solution, using the communication interface, the processor can establish a connection with the external host. With the help of the external host, the user can modify the programs and corresponding data in the processor to adapt to the use of different automation devices.

[0020] Optionally, the main controller further includes a switching switch, which is connected between the operational amplifier and the multi-task processor, and the switching switch is controlled by the processor. When the processor sends a charging signal, the switching switch cuts off the data transmission between the multi-task processor and the operational amplifier.

[0021] By adopting the above technical solution, during the charging process, the energy signal transmitted from the multi-task processor to the operational amplifier is cut off, preventing the charging signal from interfering with the energy signal, and avoiding the processor receiving an incorrect energy signal, which may lead to premature termination of charging or extension of the charging time.

[0022] Optionally, the main controller is installed on the frame board, and all antenna frames are on one side of the main controller.

[0023] By adopting the above technical solution, the main controller is integrally provided with the frame board, which is convenient for carrying and installing the main controller, and the installation position of the main controller can ensure that the distance between adjacent antenna frames is the same and will not be affected by the main control.

[0024] On the other hand, the embodiment of the present application discloses a usage method of an electromagnetic mechanical absolute coordinate positioning device, adopting the following technical solution:

[0025] A usage method of an electromagnetic mechanical absolute coordinate positioning device includes the following steps:

[0026] S1, installation preparation;

[0027] Fix the frame board, connect the electromagnetic coil induction head to the moving device to be positioned. The electromagnetic coil induction head is directly above the frame board, and the length direction of the frame board is consistent with the moving direction of the moving device to be positioned;

[0028] S2, charging stage;

[0029] The processor intermittently sends a charging signal to the multi-task processor, and the multi-task processor charges different antenna frames in turn. After a single charge, the multi-task processor receives the energy signal transmitted back by the antenna frame. The energy signal is amplified by an operational amplifier to become an energy value. The processor compares the received energy value with the pre-stored reference data. If the energy value is lower than the reference value, the processor continues to send a charging signal; if the energy value is not lower than the reference value, it enters the next stage;

[0030] S3. Positioning stage;

[0031] The processor obtains the energy values corresponding to all antenna frames, sorts all the energy values, selects the top three intensity energy values and the absolute coordinates corresponding to these energy values, and obtains the coordinate position of the electromagnetic coil induction head through these energy values, absolute coordinates and coordinate calculation formulas;

[0032] S4. Loop stage;

[0033] The processor obtains the energy values of the antenna frame corresponding to the maximum energy value and several antenna frames on both sides of the antenna frame. When the antenna frame corresponding to the maximum energy value changes, the maximum energy value and the corresponding antenna frame are re-determined and the coordinate position of the current electromagnetic coil induction head is calculated. At the same time, the range of the antenna frame for the multi-task processor to obtain the energy signal is adjusted; when a certain energy value among these energy values is lower than the reference value, the multi-task processor is controlled to charge the antenna frame corresponding to the current maximum energy value for a period of time.

[0034] Optionally, the coordinate calculation formula is , where , and are all energy values received by the processor, is the energy with the maximum intensity, , are respectively the energy values corresponding to the antenna frames adjacent to both sides of the antenna frame corresponding to is the absolute coordinate of the center point of the antenna frame corresponding to is the position where the electromagnetic coil induction head is projected onto the frame board.

[0035] In summary, the present application includes at least one of the following beneficial technical effects: By using the principle of electromagnetic induction, the antenna frame can feedback an energy signal representing the distance from the moving part, and then combined with the absolute coordinates corresponding to the antenna frame, the specific position of the moving part can be determined, and the positioning accuracy is more accurate and the positioning efficiency is high. Description of the Drawings

[0036] Figure 1 is the overall structural schematic diagram of the positioning device according to the embodiment of the present application.

[0037] Figure 2 is the system block diagram of the main controller according to an embodiment of the present application.

[0038] Figure 3 is the schematic diagram of the usage state according to an embodiment of the present application.

[0039] Figure 4 is the flowchart of the usage method according to an embodiment of the present application.

[0040] Explanation of reference numerals: 1, main controller; 11, multi-task processor; 12, operational amplifier; 13, processor; 131, communication interface; 14, change-over switch; 2, frame board; 3, antenna frame; 4, moving part; 5, workbench; 6, moving platform; 7, sliding seat; 8, fixture. Detailed implementation manners

[0041] The following further describes the present application in detail with reference to the Figures 1-4 accompanying drawings.

[0042] An embodiment of the present application discloses an electromagnetic mechanical absolute coordinate positioning device. Referring to Figure 1 , the electromagnetic mechanical absolute coordinate positioning device includes a main controller 1, a frame board 2 and a moving part 4. The frame board 2 is a long strip-shaped PCB board. The main controller 1 is installed on one side surface of the frame board 2 and is located at one end of the frame board 2. A plurality of antenna frames 3 are further arranged on the surface of the frame board 2 where the main controller 1 is installed. The plurality of antenna frames 3 are sequentially distributed along the length direction of the frame board 2, and the distance between adjacent antenna frames 3 is the same. In the embodiment of the present application, the distance between adjacent antenna frames 3 is 6 mm. The moving part 4 is an electromagnetic coil induction head, and the electromagnetic coil induction head is arranged close to the frame board 2. The central points of all the antenna frames 3 are on the same straight line, and the projection of the moving track of the electromagnetic coil induction head on the frame board 2 is also on this straight line.

[0043] The main controller 1 charges the antenna frame 3. During the process of the voltage change of the antenna frame 3, by using the principle of electromagnetic induction, the electromagnetic coil induction head also starts to charge. After the main controller 1 stops charging the antenna frame 3, the electromagnetic coil induction head discharges and emits electromagnetic waves outward. The antenna frame 3 close to the electromagnetic coil induction head receives the electromagnetic waves and sends an energy signal representing the strength of the electromagnetic waves to the main controller 1. The main controller 1 judges the position of the electromagnetic coil induction head relative to the frame board 2 according to the strength of the energy signal.

[0044] Referring to Figure 1 , Figure 2 , the main controller 1 includes a multi-task processor 11, an operational amplifier 12 and a processor 13.

[0045] The multi-task processor 11 has multiple sub-interfaces and a main interface. The multiple sub-interfaces correspond to the antenna frames 3 one by one, and the sub-interfaces are electrically connected to the corresponding antenna frames 3. The main interface is coupled to the input end of the operational amplifier 12. Each sub-interface corresponds to a number. When the multi-task processor 11 receives the energy signal transmitted by the antenna frame 3, it will add the number of the corresponding sub-interface to the energy signal for identification purposes.

[0046] The output end of the operational amplifier 12 is coupled to the input end of the processor 13. The output shaft of the processor 13 is coupled to the midpoint between the main interface of the multi-task processor 11 and the input end of the operational amplifier 12. The connection loop between the processor 13 and the multi-task processor 11 is a charging circuit, and the loop composed of the multi-task processor 11, the operational amplifier 12, and the processor 13 is an amplification circuit. A switching switch 14 is installed between the charging circuit and the amplification circuit. The switching switch 14 can be a single-pole double-throw switch or a relay with two contacts of different triggering methods. The function of the switching switch 14 is to only allow one of the charging circuit and the amplification circuit to be conductive at the same time, while the other circuit must be in an open state. The switching of the switching switch 14 is controlled by the processor 13. When charging the antenna frame 3 is required, the processor 13 outputs a charging signal. When the switching switch 14 receives the charging signal, the switching switch 14 cuts off the amplification circuit, and the charging signal is transmitted to the multi-task processor 11 through the charging circuit; conversely, the switching switch 14 disconnects the charging circuit, connects the amplification circuit, and the energy signal transmitted by the antenna frame 3 reaches the processor 13 after passing through the multi-task processor 11 and the operational amplifier 12.

[0047] After receiving the energy signal transmitted by the multi-task processor 11, the operational amplifier 12 amplifies the energy signal into an energy value and then transmits it to the processor 13. The difference in strength between the amplified energy values is more obvious, which is convenient for the processor 13 to compare the magnitudes of the energy values. In the embodiment of the present application, the resolution of the operational amplifier 12 is 2 to the 12th power, that is, 4096. Since the distance between adjacent antenna frames 3 is 6 mm, the accuracy of the actual position represented by the energy value provided by the operational amplifier 12 is 6 / 4096 mm.

[0048] The processor 13 stores multiple absolute coordinates, a coordinate calculation formula, and a reference value. The absolute coordinates correspond one by one to the numbers. When the processor 13 sends a charging signal to the multi-task processor 11, a number will be attached. When the multi-task processor 11 responds to the charging signal, it charges the antenna frame 3 corresponding to the number. When the processor 13 receives the energy value, the processor 13 can sort according to the strength of the energy value and compare the energy value with the reference value. A communication interface 131 is provided on the processor 13. The processor 13 establishes a connection with an external host through the communication interface 131, and the external host can modify parameters such as the absolute coordinates and reference value stored in the processor 13.

[0049] The processor 13 has two usage states. The first usage state is applied when the processor 13 is just turned on. The processor 13 intermittently sends charging signals to the multi-task processor 11. Each charging signal will be continuously sent for a period of time, and each charging signal carries a different number. During the intermittent period, the processor 13 receives the energy value fed back by the operational amplifier 12 and compares the energy value with the reference value. If the energy value is lower than the reference value, the processor 13 continues to send the next charging signal. If the energy value is not lower than the reference value, the processor 13 obtains the energy values corresponding to all the antenna frames 3, sorts all the energy values, selects the top three energy values and the absolute coordinates corresponding to these energy values, and obtains the coordinate position of the electromagnetic coil induction head through these energy values, absolute coordinates, and the coordinate calculation formula. Then the processor 13 enters the second usage state. In the second usage state, the processor 13 only obtains the energy values of the antenna frame 3 corresponding to the maximum energy value and several antenna frames 3 on both sides, and adjusts the antenna frames 3 for obtaining energy values in a timely manner when the antenna frame 3 corresponding to the maximum energy value changes. When a certain energy value among these energy values is lower than the reference value, the multi-task processor 11 is controlled to charge the antenna frame 3 corresponding to the maximum energy value for a period of time.

[0050] The absolute coordinates stored in the processor 13 represent the position of the center point of the corresponding antenna frame 3 on the frame board 2. Since the coordinates of different antenna frames 3 only differ in the length direction of the frame board 2, the actual absolute coordinate is only a value. And the specific value of the absolute coordinate is obtained by the external host setting the processor 13. Once the setting is completed, unless the processor 13 is reconnected to the external host and the external host makes a new setting, the absolute coordinate will not change. The conventional absolute coordinate setting is as follows: First, determine an origin, which can be the center point of the antenna frame 3 closest to the main controller 1 or the center point of the antenna frame 3 farthest from the main controller 1. Then, starting from the side close to the origin along the length direction of the frame board 2, each antenna frame 3 is assigned a unique absolute coordinate in turn, and the distance between the absolute coordinates of adjacent antenna frames 3 is the distance between adjacent antenna frames 3.

[0051] The coordinate calculation formula is , where , and are all the energy values received by the processor 13. The antenna frame corresponding to is the antenna frame 3 with the maximum energy emission intensity. The antenna frame 3 corresponding to is adjacent to the antenna frame 3 corresponding to and is on the side of the antenna frame 3 corresponding to far from the origin. The antenna frame 3 corresponding to is adjacent to the antenna frame 3 corresponding to and is on the side of the antenna frame 3 corresponding to close to the origin. is the absolute coordinate of the center point of the antenna frame 3 corresponding to . and . The above coordinate calculation formula is actually composed of two formulas. Before the processor 13 performs the calculation, it needs to first compare the magnitudes of and , and then select the corresponding formula for calculation. When is greater than , the coordinate calculation formula for the processor 13 to perform the calculation is . When is greater than , the coordinate calculation formula calculated by the processor 13 is . Of course, there is also the case where is equal to . At this time , that is, the electromagnetic coil induction head is directly above the center point of the antenna frame 3 corresponding to .

[0052] The movement on the automated equipment can be disassembled into multiple mutually perpendicular axial movements. Taking lathe machining as an example, see Figure 3, the lathe includes a workbench 5 and a moving platform 6 slidably connected to the workbench 5. The sliding direction of the moving platform 6 relative to the carriage 7 can be defined as the X-axis direction. A carriage 7 that moves in the Y-axis direction and a fixture 8 slidably connected to the carriage 7 in the Z-axis direction are provided on the moving platform 6. To position the movement of the fixture 8, three electromagnetic mechanical absolute coordinate positioning devices need to be set to position the single-axis movement distances of the X-axis, Y-axis, and Z-axis respectively. Taking the positioning of the movement distance in the X-axis direction as an example, the frame plate 2 is fixed to the workbench 5 by bolts, and the length direction of the frame plate 2 is the same as the X-axis direction. The electromagnetic coil induction head is directly above the central axis of the frame plate 2, and the end of the electromagnetic coil induction head for transmitting electromagnetic waves faces the surface of the frame plate 2. A fixed rod is connected to the electromagnetic coil induction head and is connected to the carriage 7 through the fixed rod. When the carriage 7 moves on the workbench 5 in the X-axis direction, the electromagnetic coil induction head will move along the length direction of the frame plate 2. After the movement of the electromagnetic coil induction head ends, the processor 13 calculates the coordinates of the electromagnetic coil induction head at this time, and combines the coordinates of the electromagnetic coil induction head recorded before the movement to obtain the movement distance of the electromagnetic coil induction head, that is, the movement distance of the moving platform 6.

[0053] The embodiment of the present application also discloses a usage method of an electromagnetic mechanical absolute coordinate positioning device, which is used to apply the above-mentioned electromagnetic mechanical absolute coordinate positioning device to an automated device. In the embodiment of the present application, the automated device takes a lathe as an example. Refer to Figure 4 , and it includes the following steps:

[0054] S1, installation stage

[0055] Fix the frame plate 2 to the workbench 5, fix the electromagnetic coil induction head to the moving platform 6, and the electromagnetic coil induction head is directly above the frame plate 2. The length direction of the frame plate 2 is consistent with the moving direction of the moving platform 6 relative to the workbench 5.

[0056] S2, charging stage

[0057] The processor 13 intermittently sends a charging signal to the multitask processor 11, and the numbers carried in each charging signal are different. Generally, the numbers are sequentially appended to the charging signal in ascending order. When there is a charging signal, the connection between the multitask processor 11 and the operational amplifier 12 is disconnected by the switch 14. The multitask processor 11 charges the corresponding antenna frame 3 according to the number in the charging signal. After the charging signal stops, the amplifying circuit conducts, the charging circuit is disconnected, and the multitask processor 11 receives the energy signal transmitted back by the antenna frame 3 again. The energy signal is amplified by the operational amplifier 12 to become an energy value, and the energy value is received by the processor 13 again. The processor 13 compares the received energy value with the pre-stored reference data. If the energy value is lower than the reference value, the processor 13 continues to send a charging signal. If the energy value is not lower than the reference value, it enters the next stage.

[0058] S3, positioning stage

[0059] The processor 13 obtains the energy values corresponding to all the antenna frames 3, sorts all the energy values, selects the top three strongest energy values and their corresponding absolute coordinates, and obtains the coordinate position of the electromagnetic coil induction head through these energy values, absolute coordinates and the coordinate calculation formula.

[0060] S4, loop stage

[0061] The processor 13 obtains the energy values of the antenna frame 3 corresponding to the maximum energy value and several antenna frames 3 on both sides of this antenna frame 3. When the antenna frame 3 corresponding to the maximum energy value changes, it indicates that the electromagnetic coil induction head has moved. At this time, the processor 13 re-determines the maximum energy value and the corresponding antenna frame 3, re-calculates the current coordinate position of the electromagnetic coil induction head, and adjusts the range of the antenna frame 3 for the multitask processor 11 to obtain the energy signal. When a certain energy value among these energy values is lower than the reference value, the multitask processor 11 is controlled to charge the antenna frame 3 corresponding to the current maximum energy value for a period of time. After the energy of the electromagnetic coil induction head is replenished, the processor 13 can continue to monitor the position of the electromagnetic coil induction head.

[0062] The above are all preferred embodiments of the present application, and do not limit the protection scope of the present application accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. An electromagnetic mechanical absolute coordinate positioning device, characterized in that: It includes a main controller (1), a frame board (2) and a moving part (4). A plurality of antenna frames (3) are equidistantly distributed along the length direction of the frame board (2). All the antenna frames (3) are electrically connected to the main controller (1). The main controller (1) stores a plurality of absolute coordinates corresponding to the antenna frames (3) one by one. The moving part (4) is slidably arranged along the length direction of the frame board (2), and the end of the moving part (4) is located above the antenna frame (3) and sends electromagnetic energy to the antenna frame (3). The antenna frame (3) is used to receive the electromagnetic energy and generate a corresponding energy signal. The main controller (1) stores a coordinate calculation formula for calculating the position of the moving part (4) using the energy signal and the absolute coordinate; the moving part (4) is an electromagnetic coil induction head, and the main controller (1) is also used to charge the antenna frame (3); The main controller (1) includes an operational amplifier (12) and a processor (13); The operational amplifier (12) is used to receive the energy signal transmitted by the antenna frame (3), and amplify the energy signal and then transmit it to the processor (13); The processor (13) is used to regularly send a charging signal to charge the antenna frame (3), and compare the strength of the energy signals transmitted by the operational amplifier (12) during the charging interval, select a plurality of energy signals with large strength and determine the corresponding absolute coordinates, and then calculate the coordinates of the electromagnetic coil induction head according to the determined absolute coordinates and the coordinate calculation formula; The main controller (1) further includes a multitask processor (11). The multitask processor (11) is used to receive the charging signal of the processor (13) and select a corresponding antenna frame (3) for charging according to the charging signal; The main controller (1) further includes a switching switch (14). The switching switch (14) is connected between the operational amplifier (12) and the multitask processor (11), and the switching switch (14) is controlled by the processor (13). When the processor (13) issues a charging signal, the switching switch (14) cuts off the data transmission between the multitask processor (11) and the operational amplifier (12).

2. The electromagnetic mechanical absolute coordinate positioning device according to claim 1, characterized in that: A communication interface (131) is provided on the processor (13). The processor (13) is connected to an external host through the communication interface (131).

3. The electromagnetic mechanical absolute coordinate positioning device according to claim 1, characterized in that: The main controller (1) is installed on the frame board (2), and all the antenna frames (3) are on one side of the main controller (1).

4. A method for using an electromagnetic mechanical absolute coordinate positioning device, characterized in that, It includes the following steps: S1, Installation preparation; Fix the frame board (2), connect the electromagnetic coil induction head to the mobile device to be positioned. The electromagnetic coil induction head is directly above the frame board (2), and the length direction of the frame board (2) is consistent with the moving direction of the mobile device to be positioned; S2, Charging stage; The processor (13) intermittently sends a charging signal to the multi-task processor (11), and the multi-task processor (11) charges different antenna frames (3) in sequence. After a single charge, the multi-task processor (11) receives the energy signal transmitted back by the antenna frame (3). The energy signal is amplified by the operational amplifier (12) to become an energy value. The processor (13) compares the received energy value with the pre-stored reference data. If the energy value is lower than the reference value, the processor (13) continues to send the charging signal; if the energy value is not lower than the reference value, it enters the next stage; S3. Positioning stage; The processor (13) obtains the energy values corresponding to all antenna frames (3), sorts all the energy values, selects the top three intensity energy values and the absolute coordinates corresponding to these energy values, and obtains the coordinate position of the electromagnetic coil induction head through these energy values, absolute coordinates and the coordinate calculation formula. The coordinate calculation formula is: ； Among them, , and are all energy values received by the processor (13), is the energy with the maximum intensity, , are respectively the energy values corresponding to the antenna frame (3) on the adjacent two sides of the antenna frame (3), is the absolute coordinates of the center point of the corresponding antenna frame (3), is the position where the electromagnetic coil induction head is projected onto the frame plate (2); S4. Loop stage; The processor (13) obtains the energy values of the antenna frame (3) corresponding to the maximum energy value and several antenna frames (3) on both sides of this antenna frame (3). When the antenna frame (3) corresponding to the maximum energy value changes, the maximum energy value and the corresponding antenna frame (3) are re-determined, and the coordinate position of the current electromagnetic coil induction head is calculated. At the same time, the range of the antenna frame (3) for the multi-task processor (11) to obtain the energy signal is adjusted; when a certain energy value among these energy values is lower than the reference value, the multi-task processor (11) is controlled to charge the antenna frame (3) corresponding to the current maximum energy value for a period of time.

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