Transmitting coil structure based on Halbach array and switching control circuit thereof

Abstract

The invention discloses a transmitting coil structure based on a Halbach array and a switching control circuit thereof, which are applied to a dynamic wireless charging system of an unmanned aerial vehicle. When the unmanned aerial vehicle travels in the charging channel, the relative displacement between the transmitting coil and the receiving coil can cause the change of the coupling coefficient between the coils, and the charging of the unmanned aerial vehicle is unstable, so that the device has a relatively high anti-offset characteristic, the change of the coupling coefficient can be weakened, and the charging stability of the unmanned aerial vehicle is improved. And the cooperative control method is utilized to reduce the mutual influence between the stacked coils, so that the unmanned aerial vehicle can be stably charged in the driving process. And secondly, the characteristics of the Halbach array are reasonably utilized, the magnetic field intensity of the receiving coil side can be enhanced by adopting the coil arrangement mode of the Halbach array, meanwhile, the leakage magnetic flux of the transmitting coil is reduced, and the energy transfer efficiency of the dynamic wireless charging system is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of wireless charging coil design, and more specifically, to a transmitting coil structure based on a Helbeck array and its switching control circuit. Background Technology

[0002] In recent years, with the rapid development of drone technology, its application in logistics transportation, inspection and monitoring, emergency rescue and other fields has become increasingly widespread, and the dynamic wireless charging technology of drones has attracted the attention of many scholars.

[0003] However, the current dynamic wireless charging technology for drones is still very limited. It can only be implemented in specific charging routes and has not yet been applied in practice. Moreover, changes in the relative position of the coil during charging can cause fluctuations in the coupling coefficient, which can significantly reduce charging efficiency. One major pain point is the poor anti-offset performance of traditional wireless charging coils.

[0004] In addition, traditional wireless charging coil structures are mostly single-layer planar, which have limited coverage and weak magnetic field strength. Although stacked coils can enhance the magnetic field strength to some extent, they still cannot meet the dual requirements of high efficiency and stability in dynamic charging.

[0005] Therefore, how to design a transmitting coil with strong anti-offset performance for dynamic wireless charging of drones, and how to achieve stable and efficient charging of drones during flight, are key issues that urgently need to be solved by those skilled in the art. Summary of the Invention

[0006] To address the above technical problems, this invention provides a transmitting coil structure based on a Hellbeck array and proposes a corresponding switching control circuit, enabling the UAV to charge stably and efficiently during flight. The structure includes: a first square inductor fault-tolerant coil L1, a second square inductor fault-tolerant coil L2, a first square inductor coil l1, a second square inductor coil l2, a third square inductor coil l3, a fourth square inductor coil l4, a fifth square inductor coil l5, a sixth square inductor coil l6, a seventh square inductor coil l7, an eighth square inductor coil l8, a ninth square inductor coil l9, and a tenth square inductor coil l1. 10 Eleventh square inductor coil 11 12th square inductor coil 12 First switch S1, second switch S2, third switch S3, fourth switch S4, fifth switch S5, sixth switch S6, seventh switch S7, eighth switch S8, ninth switch S9, tenth switch S 10 AC power supply AC1, AC power supply AC2, receiving coil L, load R, module 1 voltage sensor, module 2 position sensor, module 3 transmitting coil switching system, module 4 excitation coil switching system, and module 5 main control circuit; The square inductor fault-tolerant coil includes m inductor fault-tolerant sub-coils, which are arranged from the inside out in an alternating winding direction. The number m of the inductor fault-tolerant sub-coils satisfies: m≥3; The transmitting coil is divided into three layers from top to bottom in space: the fifth square inductor coil l5 and the sixth square inductor coil l6 are in the first layer; the first square fault-tolerant inductor coil L1, the second square fault-tolerant inductor coil L2, the first square inductor coil l1, the second square inductor coil l2, the ninth square inductor coil l9, and the tenth square inductor coil l1 are in the first layer. 10 In the second layer; third square inductor l3, fourth square inductor l4, seventh square inductor l7, eighth square inductor l8, eleventh square inductor l 11 12th square inductor coil 12 On the third floor; The fifth square inductor coil l5 covers the rear half of the first square inductor coil l1 and the front half of the ninth square inductor coil l9; the sixth square inductor coil l6 covers the rear half of the second square inductor coil l2 and the tenth square inductor coil l9. 10 The first half; The first square inductor fault-tolerant coil L1 is located between the first square inductor l1 and the second square inductor l2; the second square inductor fault-tolerant coil L2 is located between the ninth square inductor l9 and the tenth square inductor l1. 10 In the middle; The third square inductor l3 is perpendicular to the center of the first square inductor l1 and the first square fault-tolerant inductor L1, directly below it; the fourth square inductor l4 is perpendicular to the center of the first square fault-tolerant inductor L1 and the second square inductor l2, directly below it; the eleventh square inductor l... 11 Directly below the middle of the ninth square inductor coil l9 and the second square fault-tolerant inductor coil L2; the twelfth square inductor coil l 12 Perpendicular to the second square inductor fault-tolerant coil L2 and the tenth square inductor l 10 Directly below the center; the seventh square inductor l7 covers the third square inductor l3 and the eleventh square inductor l 11 In the middle; the eighth square inductor l8 covers the fourth square inductor l4 and the twelfth square inductor l 12 In the middle; The second end of the first switch S1 is connected to the first end of the third switch S3; The second end of the third switch S3 is connected to the first end of the first square inductor fault-tolerant coil L1; The first end of the fourth switch S4 is connected to the first end of the first switch S1 and the second end of the second switch S2. The second end of the fourth switch S4 is connected to the second end of the first square inductor fault-tolerant coil L1 and the first end of the second square inductor fault-tolerant coil L2. The second end of the second square inductor fault-tolerant coil L2 is connected to the first end of the second switch S2; The positive and negative terminals of the AC power supply AC1 are connected to the second terminal of the first switch S1 and the first terminal of the second switch S2. The second end of the fifth switch S5 is connected to the first end of the eighth switch S8; The second end of the eighth switch S8 is connected to the first end of the first square inductor coil l1; The second end of the first square inductor l1 is connected to the first end of the second square inductor l2; The second end of the second square inductor l2 is connected to the first end of the third square inductor l3; The second end of the third square inductor l3 is connected to the first end of the fourth square inductor l4; The first end of the ninth switch S9 is connected to the first end of the fifth switch S5 and the second end of the sixth switch S6. The second end of the ninth switch S9 is connected to the second end of the fourth square inductor l4 and the first end of the fifth square inductor l5. The second end of the fifth square inductor coil l5 is connected to the first end of the sixth square inductor coil l6; The second end of the sixth square inductor coil l6 is connected to the first end of the seventh square inductor coil l7; The second end of the seventh square inductor coil l7 is connected to the first end of the eighth square inductor coil l8; The tenth switch S 10 The first end is connected to the first end of the sixth switch S6 and the second end of the seventh switch S7; The tenth switch S 10 The second end is connected to the second end of the eighth square inductor l8 and the first end of the ninth square inductor l9; The second end of the ninth square inductor l9 is connected to the tenth square inductor l 10 The first end is connected; The tenth square inductor coil l 10 The second end is connected to the eleventh square inductor l 11 The first end is connected; The eleventh square inductor coil l 11 The second end is connected to the twelfth square inductor coil l12 The first end is connected; The twelfth square inductor coil l 12 The second end is connected to the first end of the seventh switch S7; The positive and negative terminals of the AC power supply AC2 are connected to the second terminal of the fifth switch S5 and the first terminal of the seventh switch S7. The first end of the load R is connected to the first end of the receiving coil L; The second end of the load R is connected to the second end of the receiving coil L; The voltage sensor in module 1 is connected in parallel across the load to collect the load voltage value in real time and feed the voltage value back to the main control circuit of module 5. The position sensor input terminal of module 2 is connected to the first end of the receiving coil, and the output terminal is connected to the input terminal of the main control circuit of module 5, which is used to collect the position information of the receiving coil in real time. The transmitting coil switching system of module 3 consists of four switches, which are connected in series and parallel with the corresponding inductor fault-tolerant coils; The excitation coil switching system of module 4 consists of six switches, which are connected in series and parallel with the corresponding inductor coils. The main control circuit of module 5 is connected to the output terminal of the voltage sensor of module 1, the output terminal of the position sensor of module 2, the input terminal of the transmitting coil switching system of module 3, and the input terminal of the excitation coil switching system of module 4.

[0007] As can be seen from the above technical solutions, the implementation of the present invention has the following benefits: Compared with traditional wireless charging coils, the present invention discloses a transmitting coil structure based on a Hellbeck array and its switching control circuit. By combining fault-tolerant coils and the stacking method of the Hellbeck array, it not only eliminates the offset sensitivity, but also improves the basic coupling strength and suppresses the leakage magnetic field on the back of the coil. This enables the transmitting coil to maintain high-efficiency output even under a wide range of lateral offset conditions. Through a cooperative control method, it fills the energy gap and improves the stability and efficiency of charging the UAV during flight. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following is a brief introduction to the drawings used in the prior art and embodiments. The following drawings are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This is an overall schematic diagram of a transmitting coil structure based on a Hellbeck array and its switching control circuit according to the present invention. Figure 2This is a three-dimensional structural schematic diagram of a transmitting coil structure based on a Hellbeck array according to the present invention; Figure 3 A schematic diagram illustrating a method for describing an erroneous inductor coil provided by the present invention; Figure 4 This is a schematic diagram of a transmitting coil switching control circuit based on a Hellbeck array according to the present invention. Figure 5 This is a circuit diagram of the transmitting coil switching control circuit based on a Hellbeck array in the first operating mode of the present invention. Figure 6 This is a circuit diagram of the transmitting coil switching control circuit based on a Hellbeck array of the present invention in the second working mode; Figure 7 This is a circuit diagram of the transmitting coil switching control circuit based on a Hellbeck array in the third operating mode of the present invention. Figure 8 The present invention provides a transmitting coil structure based on a Hellbeck array, showing the operation of each coil in three working modes; Figure 9 A flowchart of a transmitting coil structure control method based on a Hellbeck array provided by the present invention.

[0010] Wherein: L1 is the first square inductor with fault tolerance, L2 is the second square inductor with fault tolerance, l1 is the first square inductor, l2 is the second square inductor, l3 is the third square inductor, l4 is the fourth square inductor, l5 is the fifth square inductor, l6 is the sixth square inductor, l7 is the seventh square inductor, l8 is the eighth square inductor, l9 is the ninth square inductor, l 10 For the tenth square inductor coil, l 11 For the eleventh square inductor coil, l 12 The twelfth square inductor coil, S1 is the first switch, S2 is the second switch, S3 is the third switch, S4 is the fourth switch, S5 is the fifth switch, S6 is the sixth switch, S7 is the seventh switch, S8 is the eighth switch, S9 is the ninth switch, S 10 The system consists of the tenth switch, AC1 (AC power supply), AC2 (AC power supply), L (receiving coil), R (load), module 1 (voltage sensor), module 2 (position sensor), module 3 (transmitting coil switching system), module 4 (excitation coil switching system), and module 5 (main control circuit). Detailed Implementation

[0011] In the description of this invention, it should be noted that the terms "middle," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate directions or positional relationships based on the directions or positions shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0012] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 embodiments of the present invention, and not all embodiments. 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.

[0013] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0014] All the square inductor fault-tolerant coils mentioned above have the same parameters.

[0015] The square inductor fault-tolerant coil is divided into several sub-coils n, and the number of turns of each sub-coil can be adjusted independently.

[0016] Assuming that a current I0=sin(ωt) is passed through all the square inductor fault-tolerant coils, since the winding directions of each sub-coil in the square inductor fault-tolerant coil are interleaved, according to the principle of mutual inductance superposition, the mutual inductance changes of different sub-coils are opposite to each other when the receiving coil is deflected, and the contribution of the mutual inductance changes to the total mutual inductance cancels each other out in sign, thus realizing that the total mutual inductance remains approximately constant when the receiving coil is deflected, that is, it has anti-deflection characteristics.

[0017] According to the Newman formula, the mutual inductance expression between each sub-coil and the receiving coil can be derived:

[0018] in, μ 0 is the permeability of free space. C i For the first i Sub-coil wire path, C Rs For the receiving coil wire path,dl i For the first i Sub-coil element vector, dl R For the receiving coil line element vector, r i For the first i The coordinate position vector of the sub-coil element in space. r R This is the coordinate position vector of the receiving coil element in space.

[0019] When the receiving coil is along x The directional offset is Δ x At that time, the first i The instantaneous mutual inductance between the sub-coil and the receiving coil is denoted as M i (Δ x Then the total mutual inductance of the system is:

[0020] in, M total (Δ x The total mutual inductance of the system as a whole is 0. s i ∈{-1,+1} is the first i The sign of the current direction of each sub-coil. N i For the first i Number of turns of each sub-coil M i (Δ x ) is the first i The sub-coil and the receiving coil are offset by Δ x Mutual attraction at the time.

[0021] Assuming the reference position is the center of the square inductor's fault-tolerant coil, then the receiving coil will shift by Δ relative to the reference position. x At that time, M total (Δ x ) in Δ x= Perform a Taylor expansion at point 0, retaining the second-order terms:

[0022] in, M' total (0), M'' total (0) represents the total mutual inductance in Δ x= 0 places about x The first and second derivatives.

[0023] because

[0024]

[0025] in, M' i (0), M' i (0) are respectively the first i Sub-coil mutual inductance about x The first and second derivatives in Δ x= The value at 0.

[0026] By selecting { s i}and{ N i} makes M' total (0) ≈ 0 and M'' total (0) ≈ 0, so that the total mutual inductance between the receiving coil and the transmitting coil remains approximately unchanged during the movement of the receiving coil, thus achieving good anti-offset characteristics.

[0027] However, while the fault-tolerant coil structure can achieve good anti-offset characteristics, its transmission efficiency is not high and it is difficult to meet the requirements of high-efficiency wireless power transmission at the same time. Since the Hellbeck array achieves a single-sided magnetic field distribution by superimposing and enhancing the magnetic field on one side of the array and canceling the magnetic field on the other side of the array through spatially ordered magnetization direction or equivalent current phase, this invention further uses the Hellbeck array to improve the magnetic field strength, thereby improving the wireless power transmission efficiency.

[0028] The magnetization vector of the Helbeck array rotates periodically in space, and its spatial magnetic field expression is:

[0029] in, M 0 represents magnetization. k is the space wavenumber.

[0030] Substituting into the magnetic potential equation, we can obtain the expression for the spatial distribution of the magnetic field:

[0031]

[0032] Among them, the exponent term e +kz It reflects the exponential increase or decrease of the magnetic field in space.

[0033] In this invention, the center coil is a square inductor fault-tolerant coil as the main transmitting coil, and the other four coils are square inductor coils. By using a specific winding direction, the equivalent magnetic moments of adjacent coils differ by about 90° when energized, thereby forming a Hellbeck array to enhance the magnetic field of the transmitting coil.

[0034] Specifically, the expression for the enhanced side magnetic field is:

[0035] in, B H The magnetic field strength added to the stacking of the Hellbeck array, B C The original magnetic field strength of the coil, k H ≈ e kd ≈ 2.7.

[0036] Reverse magnetic field:

[0037] Therefore, stacked coils based on the Hellbeck array have:

[0038] in, B total ( r ) for stacked coils in position The total magnetic field, B H ( r () is the enhanced magnetic field generated by the Hellbeck array. B i ( r ) is the first i The magnetic field generated by the fault-tolerant coil of the inductor.

[0039] The corresponding total mutual inductance is:

[0040] in, M H (Δ x The receiving coil of the Hellbeck array is offset by Δ x Enhanced mutual intuition contribution; Assuming the reference position is the center of the square inductor's fault-tolerant coil, then the receiving coil will shift by Δ relative to the reference position. x At that time, M total1 (Δ x ) in Δ x= Perform a Taylor expansion at point 0, retaining the second-order terms:

[0041] Based on the Hellbeck array, design the number of turns and current of a square inductor with fault tolerance to satisfy the constraints:

[0042]

[0043]

[0044] Specifically: First, fix the current direction of the fault-tolerant inductor to be interleaved, construct a constrained optimization problem, and solve the number of turns vector by weighted Tikhonov regularized least squares method. Specifically, construct the regularization matrix:

[0045] Where R=diag(r) i ) represents the weight of the resistance of a single-turn coil. λ The regularization coefficient is . μ These are the weighting coefficients. I Let S be the driving electric vector of the fault-tolerant sub-coil and denote the sign matrix as S = diag(s) i ); The problem can be written as a closed-form problem involving weighted Tikhonov minimization and its solution:

[0046] Where matrix A is the mutual inductance sampling matrix, W is the weight matrix, and b is the expected mutual inductance response vector; because n i =s i w i Therefore there is n * =Sw * ; Therefore, the turns matrix of a square inductor with fault tolerance can be written as follows:

[0047] The first one can be obtained Number of turns of each sub-coil:

[0048] Since the efficiency formula for wireless power transmission is:

[0049] in, k 0 represents the coupling coefficient. Q 1 and Q 2 represents the quality coefficients of the transmitting coil and the receiving coil, respectively; Because of the coupling coefficient k Since the mutual inductance between 0 and coils is positively correlated, stacked coils based on the Hellbeck array enhance the magnetic field strength on one side of the coil, thereby increasing the mutual inductance between the transmitting and receiving coils and improving wireless power transfer efficiency.

[0050] Based on this, the first fault-tolerant coil of the central inductor was designed. i Number of turns of the fault-tolerant sub-coil of an inductor n i This ensures that the changes in mutual inductance when the receiving coil is offset are opposite to each other, and the contributions of the mutual inductance changes to the total mutual inductance cancel each other out in sign, thereby achieving an approximately constant total mutual inductance when the receiving coil is offset, thus realizing the anti-offset characteristic.

[0051] The transmitting coils in this invention can be divided into three groups, and each group of transmitting coils has a Helbeck array structure, specifically: The first group includes: a first square inductor with fault tolerance L1, a first square inductor l1, a second square inductor l2, a third square inductor l3, and a fourth square inductor l4; The second group includes: the first square inductor fault-tolerant coil L1, the second square inductor fault-tolerant coil L2, the fifth square inductor coil l5, the sixth square inductor coil l6, the seventh square inductor coil l7, and the eighth square inductor coil l8; The third group includes: the second square inductor fault-tolerant coil L2, the ninth square inductor coil l9, and the tenth square inductor coil l1. 10 Eleventh square inductor coil 11 12th square inductor coil 12 ; It should be noted that, in the embodiments of this invention, the transmitting coil can be divided into three operating modes according to the on and off states of each switch. The operating conditions of each coil under the three operating modes are as follows: Figure 8 Please refer to the details. Figure 5 , Figure 6 and Figure 7 , Figure 5 , Figure 6 and Figure 7 The dashed lines represent the non-working portion and can be considered non-existent. The working principle of the coil cooperative control circuit of this invention can be described as follows: When switch S1 is off, S2 is on, S3 is on, S4 is on, S5 is off, S6 is on, S7 is on, S8 is on, and S9 is on. 10 When shut down, operating mode 1 is as follows: Figure 5 As shown: The first square inductor fault-tolerant coil L1, the second square inductor l2, the third square inductor l3, and the fourth square inductor l4 are energized and charge the receiving coil L. The second square inductor fault-tolerant coil L2, the fifth square inductor l5, the sixth square inductor l6, the seventh square inductor l7, and the eighth square inductor l8 are in the open state; Ninth square inductor l9, tenth square inductor l 10 Eleventh square inductor coil 11 12th square inductor coil 12 It is currently disconnected.

[0052] When S1 is off, S2 is off, S3 is on, S4 is off, S5 is on, S6 is off, S7 is on, S8 is off, and S9 is on, S... 10 When turned on, operating mode 2 is as follows Figure 6 As shown: The first square inductor l1, the second square inductor l2, the third square inductor l3, and the fourth square inductor l4 are in the off state; The first square inductor fault-tolerant coil L1, the second square inductor fault-tolerant coil L2, the fifth square inductor coil L5, the sixth square inductor coil L6, the seventh square inductor coil L7, and the eighth square inductor coil L8 are energized and charge the receiving coil L. Ninth square inductor l9, tenth square inductor l 10 Eleventh square inductor coil 11 12th square inductor coil 12 It is currently disconnected.

[0053] When switch S1 is on, S2 is off, S3 is off, S4 is on, S5 is on, S6 is on, S7 is off, S8 is off, and S9 is off, S... 10 When turned on, operating mode 2 is as follows Figure 7 As shown: The first square inductor fault-tolerant coil L1, the second square inductor l2, the third square inductor l3, and the fourth square inductor l4 are in the open state; The fifth square inductor l5, the sixth square inductor l6, the seventh square inductor l7, and the eighth square inductor l8 are in the off state; Second square inductor fault-tolerant coil L1, ninth square inductor coil l9, tenth square inductor coil l 10 Eleventh square inductor coil 11 12th square inductor coil 12 It is in an energized state, charging the receiving coil L.

[0054] To mitigate the problem of reduced current in each inductor coil due to simultaneous activation of multiple coils, the wireless charging system of this invention introduces a voltage feedback loop and a position recognition feedback loop in the closed-loop control. This allows for the detection of voltage status and coil position, and the appropriate energization of different parts of the transmitting coil during the movement of the receiving coil, thereby maintaining a stable output voltage.

[0055] Specific control methods such as Figure 9 As shown: Module 1 voltage sensor includes: Hall effect sensor used to acquire load-side voltage values; Specifically, the Hall voltage sensor feeds back the voltage value V0 collected on the load side to the main control circuit of module 5 for difference and comparison.

[0056] Module 2 position sensor includes: An infrared sensor used to collect position information of the receiving coil L; Specifically, the infrared sensor feeds back the collected location information to the main control circuit of module 5 for identification.

[0057] Module 3, the transmit coil switching system, includes: It receives the switching digital signal from the main control circuit and changes the on / off state of the corresponding switch, thereby changing the working state of each inductor fault-tolerant coil.

[0058] Module 4, the transmit coil switching system, includes: It receives digital switching signals from the main control circuit and changes the on / off state of the corresponding switches, thereby changing the operating state of each inductor coil.

[0059] Module 5 main control circuit includes: The Hall voltage sensor in module 1 acquires the output voltage V0 and the desired output reference voltage V. ref Take the difference, and then compare the absolute value of the difference with the reference voltage V of the desired output. ref Compare one-tenth of the value; if the absolute value of the difference is greater than the expected output reference voltage V... ref If one-tenth of the value is reached, the next set of switches will be turned on. The position information collected by the position sensor in module 2 is identified. If it exceeds the range of the previous set of coils, the previous set of coils is turned off. The digital signal for switching is transmitted to the transmitting coil switching system of module 3 to control the energizing state of each inductor fault-tolerant coil, thereby keeping the output voltage stable.

[0060] The digital signal for switching is transmitted to the excitation coil switching system of module 4 to control the energizing state of each inductor coil, thereby keeping the output voltage stable.

[0061] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, alterations, or equivalent structural changes made to the above embodiments based on the technical essence of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A transmitting coil structure based on a Hellbeck array, characterized in that, include: First square inductor L1, second square inductor L2, first square inductor l1, second square inductor l2, third square inductor l3, fourth square inductor l4, fifth square inductor l5, sixth square inductor l6, seventh square inductor l7, eighth square inductor l8, ninth square inductor l9, tenth square inductor l1 10 Eleventh square inductor coil 11 12th square inductor coil 12 First switch S1, second switch S2, third switch S3, fourth switch S4, fifth switch S5, sixth switch S6, seventh switch S7, eighth switch S8, ninth switch S9, tenth switch S 10 AC power supply AC1, AC power supply AC2, receiving coil L, load R, module 1 voltage sensor, module 2 position sensor, module 3 transmitting coil switching system, module 4 excitation coil switching system, and module 5 main control circuit.

2. The transmitting coil structure based on a Hellbeck array according to claim 1, characterized in that, The square inductor fault-tolerant coil includes m inductor fault-tolerant sub-coils, which are arranged from the inside out in an alternating winding direction. The number m of the inductor fault-tolerant sub-coils satisfies: m≥3.

3. The transmitting coil structure based on a Hellbeck array according to claim 1, characterized in that, The coils are arranged in three layers from top to bottom in space: the fifth square inductor coil l5 and the sixth square inductor coil l6 are in the first layer; the first square fault-tolerant inductor coil L1, the second square fault-tolerant inductor coil L2, the first square inductor coil l1, the second square inductor coil l2, the ninth square inductor coil l9, and the tenth square inductor coil l1 are in the first layer. 10 In the second layer; third square inductor l3, fourth square inductor l4, seventh square inductor l7, eighth square inductor l8, eleventh square inductor l 11 12th square inductor coil 12 On the third floor; The fifth square inductor coil l5 covers the rear half of the first square inductor coil l1 and the front half of the ninth square inductor coil l9; the sixth square inductor coil l6 covers the rear half of the second square inductor coil l2 and the tenth square inductor coil l9. 10 The first half of the way; the first square inductor fault-tolerant coil L1 is between the first square inductor l1 and the second square inductor l2; the second square inductor fault-tolerant coil L2 is between the ninth square inductor l9 and the tenth square inductor l1 10 The middle of the first square inductor l3; the third square inductor l3 is perpendicular to the middle of the first square inductor l1 and the first square inductor fault-tolerant coil L1, directly below; the fourth square inductor l4 is perpendicular to the middle of the first square inductor fault-tolerant coil L1 and the second square inductor l2, directly below; the eleventh square inductor l... 11 Directly below the middle of the ninth square inductor coil l9 and the second square fault-tolerant inductor coil L2; the twelfth square inductor coil l 12 Perpendicular to the second square inductor fault-tolerant coil L2 and the tenth square inductor l 10 Directly below the center; the seventh square inductor l7 covers the third square inductor l3 and the eleventh square inductor l 11 In the middle; the eighth square inductor l8 covers the fourth square inductor l4 and the twelfth square inductor l 12 In the middle.

4. A switching control circuit based on a Hellbeck array transmitting coil structure, the circuit being used to execute the transmitting coil structure of the Hellbeck array as described in any one of claims 1-3, characterized in that, It includes switch control circuit 1 and switch control circuit 2; specifically: The switch control circuit 1 includes: AC power supply AC1, first square inductor fault-tolerant coil L1, second square inductor fault-tolerant coil L2, first switch S1, second switch S2, third switch S3, and fourth switch S4; The switch control circuit 2 includes: an AC power supply AC2, a first square inductor l1, a second square inductor l2, a third square inductor l3, a fourth square inductor l4, a fifth square inductor l5, a sixth square inductor l6, a seventh square inductor l7, an eighth square inductor l8, a ninth square inductor l9, and a tenth square inductor l1 10 Eleventh square inductor coil 11 12th square inductor coil 12 Switch S5 (5th), Switch S6 (6th), Switch S7 (7th), Switch S8 (8th), Switch S9 (9th), Switch S10 (10th) 10 .

5. The switching control circuit based on a Hellbeck array transmitting coil structure according to claim 4, characterized in that, The transmitting coil structure can be divided into three groups, each of which is a Heilbeck array, specifically: The first group includes: a first square inductor with fault tolerance L1, a first square inductor l1, a second square inductor l2, a third square inductor l3, and a fourth square inductor l4; The second group includes: the first square inductor fault-tolerant coil L1, the second square inductor fault-tolerant coil L2, the fifth square inductor coil l5, the sixth square inductor coil l6, the seventh square inductor coil l7, and the eighth square inductor coil l8; The third group includes: the second square inductor fault-tolerant coil L2, the ninth square inductor coil l9, and the tenth square inductor coil l1. 10 Eleventh square inductor coil 11 12th square inductor coil 12 ; The inductors in the same group are simultaneously controlled by switch control circuit 1 and switch control circuit 2. Inductors from different groups are connected in series and parallel via switches.

6. The switching control circuit based on a Hellbeck array transmitting coil structure according to claim 4, characterized in that, During the movement of the receiving coil L, it can track changes in load voltage and the position of the receiving coil, and control the operating mode of the transmitting coil to achieve stable charging of the receiving coil L during movement. It includes module 1 (voltage sensor), module 2 (position sensor), module 3 (transmitting coil switching system), module 4 (excitation coil switching system), and module 5 (main control circuit), wherein: The voltage sensor, i.e., the input terminal of module 1, is connected in parallel with the load and is used to collect the voltage value across the load R in real time. The collected voltage value of the load R is then output to the main control circuit for comparison. The position sensor, i.e., the input end of module 2, is connected to the first end of the receiving coil L, and is used to collect the position information of the receiving coil L and output the collected position information to the main control circuit for identification. The transmitting coil switching system, i.e., the input terminal of module 3 is connected to the output terminal of the main control circuit, and is used to receive the switching switching signal of the switching control circuit 1 and execute the corresponding switching control. The excitation coil switching system, i.e., the input terminal of module 4 is connected to the output terminal of the main control circuit, and is used to receive the switching switching signal of the switching control circuit 2 and execute the corresponding switching control. The main control circuit, namely module 5, has its first input terminal connected to the output terminal of the voltage sensor and its second input terminal connected to the output terminal of the position sensor. It is used to acquire the real-time voltage value of the load R and the position information of the receiving coil L, generate digital signals for switching, and control the transmitting coil switching system and the excitation coil switching system to keep the output voltage stable.

7. The switching control circuit based on a Hellbeck array transmitting coil structure according to claim 4, characterized in that: The voltage sensor in module 1 collects the voltage value across the load R in real time and feeds the voltage value back to the main control circuit of module 5 in real time. The position sensor in module 2 collects and receives the position information of the receiving coil L in real time, and feeds the position information back to the main control circuit of module 5 in real time. The main control circuit of module 5 receives the output voltage V0 collected by the voltage acquisition unit of module 1 and the desired output reference voltage V. ref Take the difference, and then compare the absolute value of the difference with the reference voltage V of the desired output. ref Compare one-tenth of the value; if the absolute value of the difference is greater than the expected output reference voltage V... ref If one-tenth of the position is reached, the next set of coils will be turned on. At the same time, the position information collected by the position sensor of module 2 will be received and identified. If the position exceeds the range of the previous set of coils, the previous set of coils will be turned off, and the digital signal of the switch will be output to the transmitting coil switching system and the excitation coil switching system. The transmitting coil switching system of module 3 and the excitation coil switching system of module 4 receive the switching digital signal output by the main control circuit of module 5, and control the conduction and cutoff of the corresponding switches to switch the different working modes of the transmitting coil, thereby keeping the output voltage stable.

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