A contactless wireless charging system for robotic astronauts

Abstract

The present invention discloses a contactless wireless charging system for a robot astronaut, comprising a transmitter and a receiver. The transmitter is mounted on a charging platform of a spacecraft, and the receiver is mounted on an energy pack of a space robot; a battery management module is arranged on the energy pack to be connected to the receiver. The transmitter and the receiver exchange information through carrier communication, the inverter module of the receiver converts the DC power supply of the spacecraft bus into AC power, and the transmitting coil and the receiving coil complete the wireless and contactless transmission of electric energy through electromagnetic induction. The receiver is equipped with a battery management module to achieve high-precision charging and discharging and balanced control to ensure that the battery operates in a safe domain. During the charging process, no metal is directly exposed to the space environment, and the risks of short circuit, arcing, and mechanical interface jamming are completely eliminated, meeting the requirements of safety, stability, and adaptability to the space environment, realizing unmanned and intelligent stop-and-go charging and charge-and-go, and effectively improving the work efficiency of the robot astronaut.

Description

Technical Field

[0001] The present invention relates to the technical field of robot wireless charging, and in particular to a contactless wireless charging system for a robot astronaut. Background Art

[0002] During the space station mission, astronauts need to stay in orbit for a long time and complete a series of tasks including spacecraft control, on-orbit scientific experiment operations, health protection, scientific demonstrations, etc. These tasks are complex, time-consuming, and labor-intensive. They place higher demands on the astronauts' physical and psychological qualities, and have a great impact on the work efficiency of the space station.

[0003] On spacecraft, robot astronauts are used to share simple manual operations with astronauts while in orbit, reducing their workload and improving their work efficiency. Robot astronauts are used to perform precise scientific experiments, which can overcome the operational difficulties caused by weightlessness, and can perform operations more accurately, thus completing operational tasks more effectively. Robot astronauts can stay outside the cabin for a long time, replacing astronauts to complete risky operations, improving astronauts' work efficiency and reducing safety risks.

[0004] The robot astronaut's position movement, joint movement, information collection and processing, and interaction operations cannot be separated from the power supply as energy support. As an energy storage device, the energy pack can free the robot astronaut from the constraints of cables, realize unmanned and intelligent stop and charge, and charge and go, effectively improving the work efficiency of the robot astronaut. Therefore, there is an urgent need for a charging technology that can effectively charge the energy pack and meet the safety, stability and adaptability to the space environment during the energy pack charging and transmission process. Summary of the invention

[0005] In view of this, the present invention provides a contactless wireless charging system for a robot astronaut, which can realize the wireless charging of the robot astronaut's energy pack, meet the safety, stability and adaptability to the space environment during the energy pack charging and transmission process, and realize unmanned and intelligent stop-and-charge and charge-and-go, effectively improving the work efficiency of the robot astronaut.

[0006] To achieve the above object, the technical solution of the present invention is:

[0007] A contactless wireless charging system for a robot astronaut includes a transmitting end and a receiving end;

[0008] In the transmitter,

[0009] The transmitting end control module collects the effective value of the inverter voltage of the inverter module and transmits it to the transmitting end carrier communication module; detects the phase of the AC voltage of the transmitting coil, combines the effective value of the rectifier voltage and the phase of the AC voltage of the transmitting coil, and sends an excitation signal to the inverter module.

[0010] The carrier communication module at the transmitting end modulates the modulated carrier at the transmitting end according to the effective value of the inverter voltage, and transmits it to the carrier communication module at the receiving end; the modulated carrier at the receiving end is demodulated to obtain the effective value of the rectified voltage.

[0011] The inverter module is connected to the spacecraft's DC power supply, converts the DC voltage into AC voltage according to the excitation signal, and transmits it to the transmitting coil.

[0012] The transmitting coil receives the AC voltage and transmits it to the receiving coil.

[0013] On the receiving end,

[0014] The receiving coil receives the AC voltage and transmits it to the rectifier module.

[0015] The receiving end control module detects the phase of the AC voltage of the receiving coil, combines the effective value of the inverter voltage and the phase of the AC voltage of the receiving coil, generates an excitation signal, and drives the rectifier module; collects the effective value of the rectifier voltage of the rectifier module and transmits it to the receiving end carrier communication module.

[0016] The carrier communication module at the receiving end demodulates the modulated carrier at the transmitting end to obtain the effective value of the inverter voltage, and transmits it to the control module at the receiving end; the modulated carrier at the receiving end is modulated according to the effective value of the rectified voltage, and transmitted to the carrier communication module at the transmitting end.

[0017] The rectifier module converts the AC voltage into a DC voltage according to the excitation signal and transmits it to the battery management module.

[0018] Furthermore, the inverter module adopts full-bridge inverter technology to complete voltage inversion; and the rectifier module adopts synchronous rectification technology to complete voltage rectification.

[0019] Furthermore, the energy pack also includes a battery pack connected to the battery management module; the battery pack includes at least one battery cell; the battery management module converts the DC voltage into a charging voltage of the energy pack to charge the energy pack, specifically in the following manner:

[0020] A dual-loop control circuit of a charging current loop and a voltage loop is set in the battery management module; when the battery pack voltage does not reach the charging voltage setting value, the charging current loop enters the working state, and the control circuit charges according to the set current value; after the battery pack reaches the charging voltage gear setting value, the voltage loop is in the working state, and the battery charging enters the constant voltage state.

[0021] Furthermore, in the battery management module, the charging current loop uses a BUCK step-down circuit to convert the DC voltage into a charging voltage for the battery pack.

[0022] Furthermore, the battery management module also includes a sampling and balancing circuit, which continuously samples the cell voltages of the battery cells in the battery pack; when the cell voltages are unbalanced, the balancing circuit is turned on to keep the cell voltages consistent.

[0023] Furthermore, the circuit settings of the inverter module and the rectifier module are exactly the same, both use the controller U1 to realize the transmission and reception switching, and use 4 MOSFETs to form a full-bridge topology to realize the inverter and rectification functions.

[0024] Furthermore, the method for the receiving end control module to drive the rectifier module is: the receiving end control module detects the AC voltage phase and the effective value of the inverter voltage of the receiving coil, generates a dual-channel complementary PWM high-frequency excitation signal, and drives the rectifier module to switch MOSFET according to the phase to achieve rectification.

[0025] The method of the transmitter control module driving the inverter module is as follows: the transmitter control module detects the AC voltage phase and the effective value of the rectified voltage of the transmitter coil, generates a dual-channel complementary PWM high-frequency excitation signal, and drives the inverter module to switch MOSFET according to the phase to achieve inversion.

[0026] Furthermore, a high-order compensation network is arranged in the receiving coil; the receiving coil and the transmitting coil are radial spiral coils wound with Litz wire, and adopt ferrite planar magnetic material.

[0027] Beneficial effects:

[0028] 1. The present invention proposes a contactless wireless charging system for robot astronauts, including a transmitter and a receiver. The transmitter is installed on the charging platform of the spacecraft, and the receiver is installed on the energy pack of the space robot; a battery management module is arranged on the energy pack to connect with the receiver, so as to realize the transmission of electric energy from the transmitter-receiver-energy pack. The transmitter and the receiver exchange the effective value of the voltage output by the rectifier module and the inverter module through carrier communication. The inverter module at the receiving end converts the DC power supply of the spacecraft bus into AC voltage, and the transmitting coil and the receiving coil generate an induced magnetic field through AC power, and the receiving coil generates AC power through electromagnetic induction, so as to complete the wireless and contactless transmission of electric energy. The receiving end is equipped with a battery management module to realize high-precision charging and discharging and balanced control, so as to ensure that the battery operates in a safe domain. Energy transmission between the spacecraft and the mobile robot does not require contact connection, and there is no problem of metal being directly exposed to the space environment, which completely eliminates the risks of short circuit, arcing, and mechanical interface jamming. At the same time, the system of the present invention can realize wireless charging of the robot astronaut's energy pack, meet the safety, stability and adaptability to the space environment during the energy pack charging and transmission process, and realize unmanned and intelligent stop-and-charge and charge-and-go, effectively improving the work efficiency of the robot astronaut.

[0029] 2. The present invention adopts wireless power transmission technology, in which the transmitting end and the receiving end have a certain angle and distance tolerance (centimeter level), which reduces the accuracy requirement for docking between the spacecraft and the mobile robot.

[0030] 3. In the design of the rectifier module and the inverter module, the present invention adopts synchronous rectification and full-bridge inversion respectively to improve transmission efficiency and reduce thermal control burden.

[0031] In the present invention, the energy includes a battery pack connected to a battery management module. A dual-loop control circuit of a charging current loop and a voltage loop of a BUCK step-down circuit structure is set in the battery management module to realize constant current-constant voltage charging of the battery pack. When the battery pack voltage does not reach the charging voltage setting value, the charging current loop enters the working state, and the control circuit charges according to the set current value; after the battery pack reaches the charging voltage gear setting value, the voltage loop is in the working state, and the battery charging enters the constant voltage state.

[0032] 4. In the present invention, the battery management module is also provided with a sampling and balancing circuit to continuously sample the cell voltage of the battery cell; when the cell voltage is unbalanced, the balancing circuit is turned on to keep the cell voltage consistent, thereby achieving the effect of balanced charging and improving the charging efficiency. The sampling and balancing circuit also has the function of rapid overcurrent, overvoltage, and overtemperature protection, ensuring the safe operation of the inverter module and the battery pack.

[0033] 5. Aiming at the special needs of spacecraft, in order to reduce weight and installation volume and improve transmission efficiency, the circuit design of the inverter module and the rectifier module are exactly the same. The present invention uses a full-bridge inverter and synchronous rectifier to share a main circuit, both use the controller U1 to realize the transceiver switching, and both use 4 MOSFETs to form a full-bridge topology to realize the inverter and rectifier functions, meeting the requirements of high-efficiency and high-reliability energy transmission.

[0034] 6. In the present invention, a high-order compensation network is used to compensate for the self-inductance of the loosely coupled transformer of the receiving coil, reduce device stress, achieve a zero phase angle characteristic of the secondary side, reduce reactive loss, and improve transmission efficiency.

[0035] 7. In the present invention, carrier communication is used to exchange status information. This method modulates the effective value of the voltage to be transmitted as the amplitude, which can realize the synchronous transmission of signals and energy, and solve the problem of large amount of transmission of various status information and high code rate during charging and discharging.

[0036] 8. The coil adopts radial spiral coil design. First, the tolerance of radial, axial, offset and deflection between the transmitting and receiving ends is improved within a limited space to obtain maximum space utilization; second, the coil is wound with Litz wire to reduce the skin effect of high-frequency current during transmission; third, ferrite planar magnetic material is used to constrain the magnetic field distribution and reduce electromagnetic radiation while meeting the mechanical environment of the spacecraft; at the same time, the system circuit is electromagnetically protected to prevent interference from interference sources. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a system structure diagram of the present invention.

[0038] Figure 2 This is the structural diagram of the transmitter control module.

[0039] Figure 3 This is the structural diagram of the inverter module and the rectifier module.

[0040] Figure 4 It is a structural diagram of the carrier communication module at the transmitting end and the carrier communication module at the receiving end.

[0041] Figure 5 This is the structural diagram of the transmitting coil and the receiving coil.

[0042] Figure 6 This is the structural diagram of the receiving end control module.

[0043] Figure 7 This is the structural diagram of the battery management module and battery pack. DETAILED DESCRIPTION

[0044] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0045] The present invention is applied to the charging process between the charging platform of a spacecraft and the energy pack of a space robot. The transmitting end is installed on the charging platform of the spacecraft, and the receiving end is installed on the energy pack of the space robot; a battery management module and a battery pack are arranged on the energy pack; the battery management module is connected to the receiving end, and the battery pack is connected to the battery management module.

[0046] like Figure 1 As shown, the present invention provides a contactless wireless charging system for a space robot, including a transmitting end and a receiving end; the transmitting end includes a transmitting end control module, a transmitting end carrier communication module, an inverter module and a transmitting coil; the receiving end includes a receiving end control module, a receiving end carrier communication module, a rectifier module and a receiving coil.

[0047] In the transmitter,

[0048] The transmitter control module collects the effective value of the voltage of the inverter module and transmits it to the transmitter carrier communication module; the transmitter control module detects the phase of the AC voltage of the transmitter coil and sends an excitation signal to the inverter module. The transmitter control module receives the effective value of the voltage of the rectifier module, and sends an excitation signal according to the effective value of the voltage of the inverter module and the phase of the AC voltage of the transmitter coil, adjusts the phase of the AC voltage at the next moment, and maintains a constant voltage charging mode.

[0049] The inverter module is connected to the spacecraft's DC power supply, and according to the excitation signal, it switches the MOSFET in phase, converts the DC voltage into AC voltage, and transmits it to the transmitting coil. The transmitting coil receives the AC voltage and transmits it to the receiving coil.

[0050] The transmitting-end carrier communication module receives the effective value of the voltage of the inverter module transmitted by the transmitting-end control module, modulates the modulated carrier of the transmitting end, and transmits it to the receiving-end carrier communication module through coupling of the transmitting coil and the receiving coil; the transmitting-end carrier communication module demodulates the modulated carrier of the receiving end to obtain the effective value of the voltage of the rectifier module, and transmits it to the transmitting-end carrier communication module.

[0051] On the receiving end,

[0052] The receiving coil receives the AC voltage and transmits it to the rectifier module;

[0053] The receiving end control module detects the phase of the AC voltage of the receiving coil, generates an excitation signal, and drives the rectifier module; the receiving end control module collects the DC voltage of the rectifier module and transmits it to the receiving end carrier communication module;

[0054] The receiving-end carrier communication module demodulates the modulated carrier of the transmitting-end to obtain the effective value of the voltage of the inverter module, and transmits it to the receiving-end control module; the receiving-end carrier communication module receives the effective value of the voltage of the rectifier module transmitted by the receiving-end control module, modulates the modulated carrier of the receiving-end, and transmits it to the transmitting-end carrier communication module after coupling between the receiving coil and the transmitting coil;

[0055] According to the excitation signal, the rectifier module switches the MOSFET in phase, converts the AC voltage into a DC voltage, and transmits it to the battery management module. The battery management module converts the DC voltage into the charging voltage of the energy pack and charges the energy pack. The battery management module is equipped with a charging current loop and a voltage loop dual-loop control circuit; when the battery pack voltage does not reach the charging voltage setting value, the charging current loop enters the working state, and the control circuit charges according to the set current value; after the battery pack reaches the charging voltage gear setting value, the voltage loop is in the working state, and the battery charging enters the constant voltage state. The battery management module also includes a sampling and balancing circuit, which continuously samples the cell voltage of the battery cell; when the cell voltage is unbalanced, the balancing circuit is turned on to keep the cell voltage consistent.

[0056] like Figure 4 As shown, the carrier communication modules at the receiving end and the transmitting end both have demodulation and modulation functions, and can realize synchronous rectification and inversion. Figure 4 The ASK amplitude shift keying mentioned in the specification is equivalent to the amplitude modulation in the analog signal, except that the binary digits are multiplied by the carrier signal. The ASK technology uses frequency and phase as constants and amplitude as a variable to transmit information bits through the amplitude of the carrier. In the present invention, the effective value of voltage is used as an enable and the voltage amplitude is used as a variable to transmit the effective value of voltage through the frequency modulated carrier. During demodulation, the demodulation circuit amplifies, filters, detects the envelope and shapes the received frequency modulated carrier to realize the demodulation of the frequency modulated carrier.

[0057] The transmitting coil and receiving coil in the present invention include two functions, one is to realize wireless power transmission, and the other is to realize carrier communication.

[0058] In terms of power transmission: the inverter module connects to the spacecraft's DC power supply and converts it into AC voltage to excite the transmitting coil; the transmitting coil transmits the AC voltage to the receiving coil, which receives the AC voltage and transmits it to the rectifier module; the rectifier module receives the AC voltage and converts it into DC voltage. The DC voltage is transmitted to the battery management module via the carrier communication module at the receiving end.

[0059] In terms of carrier communication: the control module at the transmitting end collects the charging voltage of the inverter module and transmits it to the carrier communication module at the transmitting end through the communication interface; the carrier communication module at the transmitting end uses amplitude keying to modulate the modulated carrier at the transmitting end, which is coupled with the transmitting coil and the receiving coil and transmitted to the carrier communication module at the receiving end to realize carrier communication between the transmitting end and the receiving end. Similarly, the control module at the receiving end collects the charging voltage of the rectifier module and transmits it to the carrier communication module at the receiving end through the communication interface; the carrier communication module at the receiving end uses amplitude keying to modulate the modulated carrier at the receiving end, which is coupled with the transmitting coil and the receiving coil and transmitted to the carrier communication module at the transmitting end to realize carrier communication between the receiving end and the transmitting end. The battery pack is charged with constant current and constant voltage through the dual-loop control circuit.

[0060] The system proposed by the present invention is described in detail below with reference to the accompanying drawings.

[0061] like Figure 2In one embodiment shown, the transmitter control module is the control center of the wireless energy transmitter, including a signal conditioning circuit, an analog switch circuit, an AD conversion circuit and a microcontroller. In this embodiment, the microcontroller adopts the minimum system of its application. After receiving the effective value of the voltage of the inverter module, it is digitized through the signal conditioning circuit, the analog switch circuit and the AD conversion circuit, and the microcontroller is used to generate an excitation signal to drive the inverter module, so that the inverter control module starts to convert and transfer the spacecraft bus power supply. At the same time, the transmitter control module also monitors the temperature signal and current size of the inverter module in real time to achieve safe charging.

[0062] like Figure 3 As shown, the inverter module and the rectifier module share the same hardware circuit, and the controller U1 is used to realize the transmission and reception switching. The full-bridge topology circuit composed of four MOSFETs (metal-oxide semiconductor field effect transistors, NMOS in this embodiment) is used to realize the inverter and rectifier functions. After the inverter module is driven, the high-frequency switch tube ( Figure 3 The diode in the middle works to invert the DC power supply formed after shunt regulation and excite the transmitting coil.

[0063] The specific structure of the transmitting coil and the receiving coil includes a polyimide cover plate, a Litz coil, a coil bracket, a ferrite core, an aluminum ring and an aluminum cover plate, and the installation method is as follows Figure 5 As shown. The transmitting end control module detects the AC voltage and its phase of the transmitting coil, thereby sending an excitation signal to drive the corresponding MOSFET to switch according to the specified phase, thereby achieving efficient inversion of the AC voltage. Similarly, the receiving end control module detects the AC voltage and its phase of the receiving coil, thereby sending an excitation signal to drive the corresponding MOSFET to switch according to the specified phase, thereby achieving efficient rectification of the AC voltage.

[0064] In the embodiment of the present invention, radial spiral coils are used to obtain the maximum space utilization; magnetic field oriented magnetic strips are designed to increase self-inductance, reduce the required operating frequency, and improve system efficiency. According to the specific engineering parameter requirements, the maximum diameter of the coil, the center distance of the spiral wire, the diameter of the spiral wire, the distance between the two coil disks, the total number of coil turns, etc. are designed. At the same time, a high-order compensation network ( Figure 1 The S / LCC compensation capacitor and inductor part in the receiving coil is used to compensate for the self-inductance of the loosely coupled transformer of the receiving coil, reduce device stress, achieve zero phase angle characteristics on the secondary side, reduce reactive loss, and improve transmission efficiency.

[0065] like Figure 6As shown, the receiving end control module is the control center of the wireless energy receiving end. It detects the AC voltage phase of the receiving coil and uses the excitation signal generated by the microcontroller to drive the rectifier module to switch the MOSFET according to the phase to achieve synchronous rectification. At the same time, the transmitting end control module detects the charging status of the battery pack in real time (connected by the battery management module), digitizes the status information of the rectifier module through the signal conditioning circuit, analog switch circuit and AD conversion circuit, and controls the receiving end carrier communication module to interact with the transmitting end control module. At the same time, the receiving end control module also monitors the temperature signal and current size of the rectifier module in real time to achieve safe charging.

[0066] like Figure 7 As shown, the battery management module uses the BUCK buck circuit topology to convert the DC voltage output by the rectifier module to provide charging power for the battery. A dual-loop control circuit of a charging current loop (BUCK buck circuit-battery pack) and a voltage loop (BUCK buck circuit-battery pack) is set in the battery management module. The battery management module also includes a sampling and balancing circuit, which continuously samples the cell voltage of the battery cell and sends it to the microcontroller, so as to keep the cell voltage consistent when the cell voltage is unbalanced. In the embodiment of the present invention, three battery cells are used. During operation, the sampling and balancing circuit continuously samples and transmits the cell voltage to the microcontroller, monitors the voltage state of the battery cell in real time, and which loop control circuit is used is selected according to the PWM signal of the microcontroller. When the battery pack voltage does not reach the charging voltage setting value, the charging current loop enters the working state, and the control circuit charges according to the set current value; after the battery pack reaches the charging voltage gear setting value, the voltage loop is in the working state, and the battery charging enters the constant voltage state. The charging current loop uses the BUCK buck circuit to convert the DC voltage into the charging voltage of the battery pack.

[0067] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A contactless wireless charging system for a robot astronaut, characterized in that: Includes a transmitter and a receiver; In the transmitter, The transmitting end control module collects the effective value of the inverter voltage of the inverter module and transmits it to the transmitting end carrier communication module; detects the phase of the AC voltage of the transmitting coil, combines the effective value of the rectifier voltage and the phase of the AC voltage of the transmitting coil, and sends an excitation signal to the inverter module; The carrier communication module at the transmitting end modulates the modulated carrier at the transmitting end according to the effective value of the inverter voltage, and transmits it to the carrier communication module at the receiving end; the modulated carrier at the receiving end is demodulated to obtain the effective value of the rectified voltage; the inverter module is connected to the DC power supply of the spacecraft, and converts the DC voltage into AC voltage according to the excitation signal, and transmits it to the transmitting coil; The transmitting coil receives the AC voltage and transmits it to the receiving coil; On the receiving end, The receiving coil receives the AC voltage and transmits it to the rectifier module; The receiving end control module detects the phase of the AC voltage of the receiving coil, combines the effective value of the inverter voltage and the phase of the AC voltage of the receiving coil, generates an excitation signal, and drives the rectifier module; collects the effective value of the rectifier voltage of the rectifier module and transmits it to the receiving end carrier communication module; The carrier communication module at the receiving end demodulates the modulated carrier at the transmitting end to obtain the effective value of the inverter voltage, and transmits it to the control module at the receiving end; the modulated carrier at the receiving end is modulated according to the effective value of the rectified voltage, and transmitted to the carrier communication module at the transmitting end; The rectifier module converts the AC voltage into a DC voltage according to the excitation signal and transmits it to the battery management module; The energy pack also includes a battery pack connected to the battery management module; the battery pack includes at least one battery cell; the battery management module converts the DC voltage into the charging voltage of the energy pack and charges the energy pack in the following specific manners: The battery management module is provided with a dual-loop control circuit of a charging current loop and a voltage loop; when the voltage of the battery pack does not reach the set value of the charging voltage, the charging current loop enters the working state, and the control circuit charges according to the set current value; after the battery pack reaches the set value of the charging voltage gear, the voltage loop is in the working state, and the battery charging enters the constant voltage state; The circuit settings of the inverter module and the rectifier module are exactly the same, and both use the controller U1 to realize the transmission and reception switching, and use 4 MOSFETs to form a full-bridge topology to realize the inverter and rectification functions; the method for the receiving end control module to drive the rectifier module is: the receiving end control module detects the AC voltage phase of the receiving coil and the effective value of the inverter voltage, generates a dual-channel complementary PWM high-frequency excitation signal, and drives the rectifier module to switch the MOSFET according to the phase to realize rectification; The method of the transmitter control module driving the inverter module is as follows: the transmitter control module detects the AC voltage phase and the effective value of the rectified voltage of the transmitter coil, generates a dual-channel complementary PWM high-frequency excitation signal, and drives the inverter module to switch MOSFET according to the phase to achieve inversion.

2. The system according to claim 1, characterized in that The inverter module uses full-bridge inverter technology to complete voltage inversion; the rectifier module uses synchronous rectification technology to complete voltage rectification.

3. The system according to claim 1, characterized in that In the battery management module, the charging current loop uses a BUCK step-down circuit to convert the DC voltage into the charging voltage of the battery pack.

4. The system according to claim 1 or 3, characterized in that: The battery management module also includes a sampling and balancing circuit, which continuously samples the cell voltages of the battery cells in the battery pack; when the cell voltages are unbalanced, the balancing circuit is turned on to keep the cell voltages consistent.

5. The system according to claim 1, wherein: A high-order compensation network is arranged in the receiving coil; the receiving coil and the transmitting coil are radial spiral coils wound with Litz wire, and adopt ferrite planar magnetic material.

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