Wireless digital-electric integrated interconnection system for intelligent warehouse maintenance

Abstract

The invention belongs to the technical field of equipment maintenance in an intelligent warehouse, and particularly relates to a wireless digital-electric integrated interconnection system for intelligent warehouse maintenance, which comprises control terminal equipment, an equipment box assembly and a robot, and is characterized in that the control terminal equipment is electrically connected with a robot transmitting end and a control terminal networking module; a robot receiving end matched with the robot transmitting end is arranged on the robot; the robot is further provided with a robot networking module and an equipment box transmitting end. The equipment box assembly comprises to-be-maintained equipment and an equipment box receiving end, and the equipment box transmitting end is matched with the equipment box receiving end to achieve wireless power supply to the equipment box assembly and wireless data interaction between the robot and the equipment box assembly. The device can be maintained without opening the box, electric arcs, electric sparks, voltage impact and the like cannot be generated in the maintenance process, the anti-explosion grade of the special warehouse can be remarkably improved, and the safety of the device is improved; in addition, the maintenance efficiency of the warehouse is improved through robot networking cooperation.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of intelligent warehouse equipment maintenance, and particularly relates to a wireless electronic integration interconnection system for intelligent warehouse maintenance. BACKGROUND

[0002] In some special warehouses, a large number of flammable and explosive equipment is stored, and these equipment needs to be powered on for detection and maintenance regularly to confirm whether the working state and working parameters are normal. These equipment is usually placed in boxes to maintain a closed environment to avoid the influence of the external environment and prevent static electricity from occurring. However, in order to maintain these equipment, warehouse maintenance personnel need to open each box, connect the connector, monitor the state, disconnect the connector, and close the box, which requires a lot of manpower and material resources, and the power-on process is prone to produce electric sparks, which reduces the explosion-proof coefficient of the equipment.

[0003] With the rapid development of artificial intelligence technology, there are more and more types of humanoid robots, more and more powerful functions, higher and higher levels of intelligence, and lower and lower prices. The development of artificial intelligence technology provides technical support for the intelligent construction of special warehouses. Based on humanoid robots and wideband wireless ad hoc network technology, the robots can work wirelessly in cooperation, which can theoretically replace warehouse maintenance personnel to maintain the equipment. However, due to the large weight of the equipment and the variety of the equipment, it is difficult for the robot to completely align the connector when maintaining the equipment through the wired connector, and the process of plugging and unplugging the connector requires too high a requirement for the robot, resulting in high development and procurement costs of the robot, which cannot be widely used in special warehouses.

[0004] In recent years, magnetic coupling resonance wireless power transmission technology and near-field wireless data transmission technology have developed rapidly, and have been widely used in mobile phones, logistics robots, and internal power supplies of cars. Near-field wireless electronic integration technology is developing towards industrial robots, high-power charging of cars, underwater robots, and other fields. Near-field wireless electronic integration transmission technology provides a solution for wireless energy supply of robots, which can realize autonomous charging of robots and significantly improve the working efficiency of robots. SUMMARY

[0005] To solve the above technical problems, the application provides a wireless electronic integration interconnection system for intelligent warehouse maintenance.

[0006] The object of the application is achieved by the following technical solutions. The application provides a wireless electronic integrated interconnection system for intelligent warehouse maintenance, comprising a control terminal device, an equipment box assembly and a robot, wherein the control terminal device is electrically connected with a robot transmitting end and a control terminal networking module, the control terminal networking module realizes wireless communication with the robot, the robot is provided with a robot receiving end matched with the robot transmitting end to realize wireless charging of the robot by the robot transmitting end; the robot is further provided with a robot networking module for realizing wireless communication with other robots and the control terminal device, and an equipment box transmitting end electrically connected with the robot; the equipment box assembly comprises a device to be maintained and an equipment box receiving end electrically connected with the device to be maintained and matched with the equipment box transmitting end, the equipment box transmitting end realizes wireless power supply of the equipment box assembly and wireless data interaction between the robot and the equipment box assembly by cooperating with the equipment box receiving end.

[0007] Further, the control terminal networking module and the robot networking module adopt an SDR wireless ad hoc networking module.

[0008] Further, the SDR wireless ad hoc networking module is connected with a power supply circuit of the robot or the control terminal device through a cable to realize power supply of the SDR wireless ad hoc networking module by the robot or the control terminal device, the SDR wireless ad hoc networking module comprises an external data protocol conversion module for data interaction with a master control unit of the robot or the control terminal device, an Ethernet data protocol module for data interaction with the external data protocol conversion module, an FPGA master control module for data interaction with the Ethernet data protocol module, a radio frequency chip and its peripheral circuit for data interaction with the FPGA master control module, and a radio frequency antenna for data interaction with the radio frequency chip and its peripheral circuit, the SDR wireless ad hoc networking modules realize long-distance wireless data interaction through the radio frequency antennas, and the FPGA master control module is connected with a radio frequency power amplifier transceiver switching interface.

[0009] Further, at the transmitting end of the SDR wireless ad hoc network module, the binary information stream of data input is formed into an encoded bit stream through Turbo coding, is QAM modulated on each subchannel, inserts the pilot signal and virtual carrier embedded in the data input signal, is processed through serial-parallel conversion, adjusts the subcarrier sequence according to the protocol requirements, then is completed OFDM modulation through IFFT, adds a cyclic prefix, adds a window to reduce leakage, and is converted through parallel-serial conversion, controls the power peak-to-average ratio of the signal to be below 6dB through a peak-to-average ratio reduction algorithm, and is then converted into an analog signal for transmission; at the receiving end of the SDR wireless ad hoc network module, the analog signal output by the radio frequency receiver is first sampled and quantized by the ADC module to form a digital signal, and then the signal is transformed into a baseband signal through digital down-conversion of the ADC module. The frame detection module of timing synchronization and carrier synchronization completes the OFDM signal frame detection function, uses the training symbol for frequency offset estimation, symbol synchronization and channel estimation, and is converted through parallel-serial conversion, uses FFT to complete the demodulation of the OFDM signal, then is processed through a channel equalization algorithm, and is processed through parallel-serial conversion, and is formed into a binary bit stream after QAM demapping on each channel, and is sent to the subsequent Turbo channel decoding module to recover the original information bit stream and realize data output.

[0010] Further, the circuit of the robot transmitting end includes a rectification and filtering module for receiving alternating current and converting the alternating current into direct current, an auxiliary power supply module for receiving direct current and supplying power to the main control module, a main control module for outputting a high-frequency control signal, a high-frequency inverter module for receiving the high-frequency control signal and converting the direct current into high-frequency alternating current, a resonance module for receiving the high-frequency alternating current and converting the output waveform into an approximate sine wave, and a power transmitting coil connected with the resonance module and realizing wireless power output. The circuit of the robot transmitting end further includes an NFC data interaction module connected with the main control module and a data transmitting coil connected with the NFC data interaction module.

[0011] Further, the circuit of the robot receiving end includes a power receiving coil for receiving wireless power and converting it into high-frequency alternating current, a resonance module for making the high-frequency alternating current enter a resonance state, a rectification and filtering module for converting the high-frequency alternating current in the resonance state into high-voltage direct current, an auxiliary power supply module for converting the high-voltage direct current and supplying power to the main control module and the NFC data interaction module, a main control module for outputting a control signal, and a DC-DC module for receiving the control signal and converting the high-voltage direct current into a charging direct current voltage of a battery pack in the robot. The circuit of the robot receiving end further includes an NFC data interaction module connected with the main control module and a data receiving coil connected with the NFC data interaction module.

[0012] Further, the circuit of the equipment box transmitting end comprises an auxiliary power module for receiving input direct current and supplying power to the master control module and the millimeter wave data module, an EMI filtering module for filtering the input direct current, a master control module for outputting control signals, a high-frequency inverter module for receiving the filtered direct current and converting the direct current into high-frequency alternating current under the control of the master control module, a resonance module for receiving the high-frequency alternating current and processing, and a power transmitting coil connected with the resonance module and used for outputting wireless electric energy; the circuit of the equipment box transmitting end further comprises a millimeter wave data module for interacting with the robot data through a data protocol conversion module and a millimeter wave antenna array connected with the millimeter wave data module.

[0013] Further, the high-frequency inverter module, the resonance module and the power transmitting coil are in heat conduction connection with the heat sink, the heat sink is in heat conduction connection with the shell of the equipment box transmitting end, the shell of the equipment box transmitting end is provided with a grid-shaped heat dissipation structure, and the power transmitting coil and the millimeter wave antenna array are surrounded by a magnetic attraction alignment structure.

[0014] Further, the circuit of the equipment box receiving end comprises a power receiving coil and a resonance module for receiving wireless electric energy and converting the high-frequency electromagnetic field into high-frequency alternating current, a rectification filtering module for converting the high-frequency alternating current into direct current, an auxiliary power module for receiving the direct current and supplying power to the millimeter wave data module, and a DC-DC module for converting the direct current into direct current required by the equipment to be maintained; the circuit of the equipment box receiving end further comprises a millimeter wave antenna array for receiving and sending wireless signals, and a millimeter wave data module connected with the millimeter wave antenna array and interacting with the data of the equipment to be maintained through a data protocol conversion module.

[0015] Further, the rectification filtering module and the DC-DC module are in heat conduction connection with the heat sink, the heat sink is in heat conduction connection with the shell of the equipment box receiving end, the shell of the equipment box receiving end is provided with a grid-shaped heat dissipation structure, and the power receiving coil and the millimeter wave antenna array are surrounded by a magnetic attraction alignment structure.

[0016] Compared with the prior art, the present application has the following advantages:

[0017] The present application improves the design of the equipment box in the special warehouse based on the wireless data and power integrated transmission technology, and can realize the maintenance of the equipment without opening the box, that is, the robot holds the wireless data and power integrated transmitting end component close to the wireless data and power integrated receiving end component on the equipment box, so that the state monitoring and data transmission of the equipment box can be realized, and the robot networking collaborative work significantly improves the maintenance efficiency of the warehouse. In addition, the wireless data and power integrated components (receiving end and transmitting end) adopt single-end sealing design, and no arc, spark and voltage impact are generated during the maintenance process, which can significantly improve the explosion-proof level of the special warehouse and improve the safety of the equipment, and finally provides a wireless data and power integrated interconnection scheme for the construction of intelligent, unmanned, high-efficiency and high-explosion-proof level warehouse.

[0018] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the purpose, features and advantages of the present invention more obvious and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0019] Figure 1 This is a schematic diagram illustrating the application of traditional connectors in warehouse equipment maintenance.

[0020] Figure 2 This is a schematic diagram of an embodiment of a wireless digital-electrical integrated interconnection system for intelligent warehouse maintenance according to the present invention;

[0021] Figure 3 This is an overall block diagram of an embodiment of a wireless digital-electrical integrated interconnection system for intelligent warehouse maintenance according to the present invention;

[0022] Figure 4 for Figure 3 Circuit functional block diagram of the robot's launcher;

[0023] Figure 5 for Figure 3 Circuit functional block diagram of the receiver end of the robot;

[0024] Figure 6 for Figure 3 Functional block diagram of the baseband circuit in the SDR wireless self-organizing network module;

[0025] Figure 7 for Figure 3 Functional block diagram of OFDM-based communication system software in the SDR wireless ad hoc network module;

[0026] Figure 8 for Figure 3 Circuit functional block diagram of the transmitter end of the equipment box;

[0027] Figure 9 for Figure 3 Circuit functional block diagram of the receiving end of the equipment box;

[0028] Figure 10 This is a schematic diagram illustrating an application of an embodiment of the wireless digital-electrical integrated interconnection system for intelligent warehouse maintenance according to the present invention;

[0029] Figure 11 This is a schematic diagram illustrating the test results of millimeter-wave data transmission and wireless power transmission in an embodiment of a wireless digital-electrical integrated interconnection system for intelligent warehouse maintenance according to the present invention. Detailed Implementation

[0030] 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.

[0031] An embodiment of the present invention provides a wireless digital-electrical integrated interconnection system for intelligent warehouse maintenance, such as... Figures 2 to 11 As shown. The system includes a control terminal and its peripheral components, a robot and its peripheral components, and an equipment box assembly. The control terminal and its peripheral components include a control terminal device, a robot transmitter, and a control terminal SDR self-organizing network module. The robot transmitter includes a robot wireless digital-electric integrated transmitter, a 200W wireless power transmitter, and an NFC data transmitter. The robot and its peripheral components adopt a split structure, mainly including the robot, the robot SDR self-organizing network module, the robot receiver, the equipment box transmitter, and the robot structural shell. The equipment box transmitter includes a transmitter controller (located within the equipment wireless digital-electric integrated transmitter) and a transmitter module (including a 600W wireless power transmitter and a 60GHz millimeter-wave data transmitter). The robot receiver includes a receiver module (including a 200W wireless power receiver and an NFC data receiver) and a receiver controller (located within the robot wireless digital-electric integrated receiver). The equipment box assembly includes the equipment to be maintained inside the equipment box, the equipment box receiver, and the equipment box structural shell. The equipment box receiver includes an equipment box wireless digital-electric integrated receiver, a 600W wireless power receiver, and a 60GHz millimeter-wave data receiver.

[0032] During the use of this system, such as Figure 2 , Figure 3As shown, data transmission between the robot transmitter and receiver is achieved through an NFC module (including an NFC data transmitter and an NFC data receiver). The receiver controller sends the collected battery pack voltage and current information from within the robot to the robot's wireless digital-electrical integrated transmitter via the NFC module. This is used to control the on / off state of the power circuit and adjust the output power of the 200W wireless power transmitter. Both the robot SDR self-organizing network module and the control terminal SDR self-organizing network module of this invention employ SDR wireless self-organizing network modules. The SDR wireless self-organizing network module is an independent external structure, including an external antenna and control circuitry. The SDR wireless self-organizing network module connects to the robot or control terminal device via a connector. The robot or control terminal provides power to the SDR wireless self-organizing network module and achieves information exchange between robot clusters and between the robot and the control terminal through wireless networking. The equipment box assembly of this invention adopts an integrated structure, including an equipment box shell, an internal device to be maintained within the equipment box shell, an equipment box receiver, and an equipment box transmitter matched with the equipment box receiver in the robot and its peripheral components. Data transmission between the equipment box transmitter and the equipment box receiver is achieved through a 60GHz millimeter-wave module (including a 60GHz millimeter-wave data transmitter and a 60GHz millimeter-wave data receiver). The equipment box receiver sends the status self-test parameters of the internal device to be maintained to the equipment box transmitter, which then sends this data to the control terminal device through OFDM-based communication system software (set within the SDR wireless self-organizing network module). In addition, the equipment box transmitter can also wirelessly send data packets given by the control terminal device to the equipment box receiver, which stores the data packets in the main control circuit of the equipment box wireless digital integrated receiver. The equipment box transmitter supplies power to the equipment box receiver through a 600W wireless power transmitter and a 600W wireless power receiver. Both the robot's structural shell and the equipment box's structural shell are made of metallic and non-metallic materials, and the structural shell serves to provide support and fixation.

[0033] The circuit functions of the robot transmitter are as follows: Figure 4As shown, the controller (located in the robot's wireless digital integrated transmitter) and the transmitting coil module (located inside the 200W wireless power transmitter or NFC data transmitter) of the robot transmitter circuit adopt a split structure. The controller is located inside the robot transmitter, and the transmitting coil module is located on the outer wall of the robot transmitter. The robot transmitter circuit input power is 220V AC mains power, and the robot transmitter circuit is connected to a 220V socket via a plug. The robot transmitter circuit includes a rectifier and filter module, a high-frequency inverter module, a main control module, an auxiliary power supply module, an NFC data interaction module (including an NFC reader / writer board and a TTL data protocol module), a resonant module, and a transmitting coil module (including a power transmitting coil and a data transmitting coil). The robot transmitter circuit first rectifies and filters the input 220V AC power, converting it into 198V DC power. Then, the auxiliary power module converts the 198V DC power into 12V and 3.3V DC power to supply the control and drive chips of the main control module. The main control module outputs a high-frequency control signal. This high-frequency control signal acts on the high-frequency inverter module, converting the DC power back into high-frequency AC power. To achieve soft switching and reduce power loss, an LCC resonant module is used to convert the output waveform into an approximate sine wave. The resonant module is connected to the power transmission coil module to establish a high-frequency electromagnetic field, enabling wireless power output. During this 220V AC power to wireless power conversion process, the NFC data interaction module facilitates the exchange of charging parameters between the robot transmitter and receiver, and assists in their alignment. The NFC data interaction module interacts with the main control module through the TTL data protocol module, and is connected to the data transmission coil, enabling data interaction with the robot receiver.

[0034] The circuit functions of the robot receiver are as follows: Figure 5As shown, the robot receiver circuit's controller (located in the robot's wireless data integrated receiver) and receiver coil module (located inside the 200W wireless power receiver or NFC data receiver) adopt a split structure. The receiver coil module is installed on the outer surface of the robot's back, while the controller is installed inside the robot to replenish the robot's battery pack. The robot receiver circuit includes a receiver coil module (including a power receiving coil and a data receiving coil), a resonant module, a rectification and filtering module, an auxiliary power supply module, a main control module, a DC-DC module, and an NFC data interaction module (including an NFC reader / writer board and a TTL data protocol module). The robot receiver's circuitry first picks up electromagnetic waves through a power receiving coil module, converting them into high-frequency alternating current (AC). A resonant module then brings the AC into a resonant state, reducing power loss. A rectifier and filter module converts the resonant AC into high-voltage direct current (DC). An auxiliary power module converts the DC into 12V and 3.3V voltages to power the main control module. Under the control of the main control module, a DC-DC module converts the DC into the charging DC voltage for the robot's battery pack, providing energy replenishment. During this wireless power conversion to charging DC voltage, an NFC data interaction module facilitates the exchange of charging parameters between the robot transmitter and receiver, aiding in their alignment. Specifically, when the robot receiver's charging parameters malfunction, the module sends an error message to the transmitter, which automatically initiates an emergency power-off operation to prevent damage to the receiver. The NFC data interaction module interacts with the main control module via a TTL data protocol module and is connected to a data receiving coil, enabling data exchange with the robot transmitter. The auxiliary power module powers the NFC reader / writer board.

[0035] like Figure 6The diagram shows the baseband circuit functionality of the SDR wireless ad hoc network module. The SDR module employs a Software-Defined Radio (SDR) architecture. The physical layer waveform is based on OFDM modulation, effectively avoiding the frequency-selective fading problem inherent in wireless communication within the enclosed metal space of a warehouse. A random contention-based channel access protocol is used at the MAC layer, enabling multi-node wireless networking. The SDR module connects to the auxiliary power circuit of the corresponding robot or warehouse control terminal via cable. The robot or control terminal powers the corresponding SDR module, which then facilitates data transmission between robots and between robots and the control terminal. All network communication nodes are architecturally identical. The SDR module uses a dual-MIMO mechanism with a transmit power of 3*1W. The hardware of the SDR module includes baseband and radio frequency (RF) circuits. The baseband circuit handles baseband data signal processing, including Ethernet signal interface processing, data encryption / decryption, encoding / decoding, and modulation / demodulation. The radio frequency (RF) circuit mainly includes a transmitting circuit and a receiving circuit. The transmitting circuit filters and amplifies the transmitted signal, while the receiving circuit amplifies and filters the received signal. The baseband circuit adopts a software-defined radio architecture based on an FPGA main control module, an RF chip, and its peripheral circuits, offering good scalability and flexibility. The robot's main control unit or the control terminal in the warehouse interacts with the FPGA main control module of the SDR wireless self-organizing network module through an external data protocol conversion module and an Ethernet data protocol module. The FPGA main control module is connected to the RF chip and its peripheral circuits, which in turn are connected to multiple RF antennas to transmit and receive signals, thereby enabling data transmission between robots and between robots and the control terminal. The FPGA main control module is connected to the RF power amplifier transceiver switching interface, which controls the FPGA main control module. The SDR wireless self-organizing network module has an external power interface, which connects to the auxiliary power supply circuit of the robot or the control terminal in the warehouse, providing power to the FPGA main control module, the RF chip, and its peripheral circuits.

[0036] The baseband circuit is mainly used for sampling, demodulating, decoding, and outputting radio frequency (RF) signals. It is used for framing, encoding, and modulating transmitted signals, outputting RF modulated signals, and injecting transceiver parameters. Network data from the baseband interface (i.e., data from the robot's main control unit or warehouse control terminal) is sent to the FPGA main control module for framing, encoding, and modulation. It then enters the RF chip for digital-to-analog conversion, forming an RF analog modulated signal, which is sent to the RF channel section (located in the RF chip's peripheral circuitry) and transmitted by the RF antenna. RF signals from the RF interface (i.e., signals received by the RF antenna) are converted from analog to digital by the RF chip to obtain baseband digital signals, which are then processed by the FPGA main control module for demodulation, decoding, and decryption, outputting network signals to the robot's main control unit or warehouse control terminal. The RF chip's peripheral circuitry includes a transmit path, a receive path, an RF switch circuit, and a power supply circuit. Its internal filter is designed for the 1300-1500MHz frequency band, with an actual operating frequency band of 1437MHz.

[0037] The physical layer waveform of the SDR wireless ad hoc network module adopts Orthogonal Frequency Division Multiplexing (OFDM) technology. OFDM technology converts high-speed data signals into parallel low-speed sub-data streams through serial-to-parallel conversion, which are then carried on each subcarrier for transmission (implemented via an IFFT module). Because the subcarriers are mutually orthogonal and closely arranged, inter-carrier interference is avoided, and it has higher spectral efficiency than traditional frequency division multiplexing systems. This process can be implemented using inverse Fast Fourier Transform. Since the signal bandwidth on each sub-channel is much smaller than the channel's coherence bandwidth, it can be considered a flat-fading channel, simplifying the implementation complexity of the receiver equalizer. The functions of the communication system software within the OFDM-based SDR wireless ad hoc network module are as follows: Figure 7 As shown.

[0038] At the transmitter of the SDR wireless ad hoc network module, the binary data input stream is Turbo encoded into an encoded bit stream. This bit stream is then QAM modulated on each sub-channel, and pilot signals and virtual carriers embedded in the data input signal are inserted. After serial-to-parallel conversion, the subcarrier order is adjusted according to protocol requirements. OFDM modulation is then completed through IFFT, adding a cyclic prefix (CP), windowing to reduce leakage, and parallel-to-serial conversion. The peak-to-average power ratio (PAPR) is then controlled below 6dB using a PPR reduction algorithm. A cyclic prefix is ​​added to provide some multipath resistance, and training symbols are added to form a complete OFDM frame, which is then converted into an analog signal for transmission. At the receiver of the SDR wireless ad hoc network module, the analog signal output from the RF receiver is first sampled and quantized by an ADC module to form a digital signal. This digital down-conversion by the ADC module then converts the signal into a baseband signal. The frame detection module, which performs timing and carrier synchronization, completes the OFDM signal frame detection function. It uses training symbols for frequency offset estimation, symbol synchronization, and channel estimation, and performs parallel-to-serial conversion. It then uses FFT to demodulate the OFDM signal, followed by channel equalization processing and parallel-to-serial conversion. After QAM demapping on each channel, a binary bitstream is formed and fed into the subsequent Turbo channel decoding module to recover the original information bitstream, thus achieving data output.

[0039] Equipment box transmitter circuit such as Figure 8As shown, its controller (located in the wireless digital integrated transmitter of the equipment box) and transmitter module (located in the 600W wireless power transmitter or 60GHz millimeter-wave data transmitter) adopt an integrated structure. The circuit of the equipment box transmitter is connected to the robot via cables. Its input power is DC power, and data interaction uses protocols such as RS422. The equipment box transmitter includes an EMI filter module, a high-frequency inverter module, a main control module, an auxiliary power supply module, a millimeter-wave data module, a resonant module, a power transmission coil, a millimeter-wave antenna array, a heat dissipation structure, and a magnetic alignment structure. The circuit of the equipment box transmitter first converts the input DC power into 12V and 3.3V DC power through the auxiliary power supply module to provide power to the main control module. The EMI filter module filters the DC power of the equipment box transmitter circuit. Then, under the control of the main control module, the high-frequency inverter module converts the input DC power into high-frequency AC power. The high-frequency AC power first passes through the LCC resonant module and then outputs a high-frequency electromagnetic field through the power transmission coil. During this process of converting DC power into a high-frequency electromagnetic field, the millimeter-wave data module realizes full-duplex data transmission between the equipment box transmitter and receiver. The auxiliary power module supplies power to the millimeter-wave data module, which communicates with the robot via a data protocol conversion module. The millimeter-wave data module connects to the millimeter-wave antenna array, enabling information exchange between the equipment box's transmitter and receiver. Since the equipment box's wireless power transmission components (including a 600W wireless power transmitter and a 600W wireless power receiver) generate a significant amount of heat (600W), a vapor chamber (heat dissipation structure) is used to conduct heat from the circuit board to the equipment box transmitter's outer shell to prevent heat buildup. A grid-like heat dissipation structure is also installed on the equipment box transmitter's outer shell to ensure that the transmitter circuitry is not damaged by overheating. The high-frequency inverter module, resonant module, and power transmission coil are thermally connected to the vapor chamber. Furthermore, to improve the alignment accuracy between the equipment box transmitter and receiver, strong magnets are placed around both the transmitter module (including the power transmission coil and millimeter-wave antenna array) and the receiver module (including the power receiving coil and millimeter-wave antenna array). When the two are close together, they automatically attract and align, reducing the robot's operational complexity.

[0040] Equipment box receiver circuit as follows Figure 9As shown, its controller (located within the wireless digital receiver in the equipment box) and receiver module (located within the 600W wireless power receiver or 60GHz millimeter-wave data receiver) adopt an integrated structure. The circuit of the equipment box receiver is connected to the equipment to be maintained inside the equipment box via cables. The equipment box receiver outputs power to provide the DC power required for equipment maintenance. Data interaction between the equipment box receiver and the equipment to be maintained uses protocols such as RS422. The equipment box receiver includes a receiver module (including a power receiving coil and a millimeter-wave antenna array), a resonant module, a rectifier and filter module, an auxiliary power supply module, a millimeter-wave data module, a DC-DC module, a heat dissipation structure, and a magnetic alignment structure. The power receiving coil and resonant module convert high-frequency electromagnetic fields into high-frequency alternating current (AC), which is then converted into direct current (DC) by a rectifier and filter module. A DC-DC module without an MCU converts the DC current into the DC voltage required by the internal circuitry of the device under maintenance. This DC-DC module has overvoltage and overcurrent protection to ensure the electrical safety of the device. An auxiliary power supply module converts the rectified DC current into 3.3V DC to power the millimeter-wave data module. The millimeter-wave data module interacts with the device under maintenance via a data protocol conversion module. During this wireless power-to-DC conversion process, the millimeter-wave data module transmits the device's status self-test data to the equipment box transmitter and transmits data commands from the equipment box transmitter to the main control unit of the device under maintenance. The heat dissipation structure and magnetic alignment structure are basically the same as those of the equipment box transmitter. The rectifier and filter module, the DC-DC module, and the heat spreader are thermally connected. The heat spreader contacts the outer shell of the equipment box receiver for heat dissipation. A grid-like heat dissipation structure is set on the outer surface of the equipment box receiver shell. A magnetic alignment structure surrounds the power receiving coil and the millimeter-wave antenna array.

[0041] To reduce the cost and weight of the robot's wireless digital-electronic integrated components (including the robot transmitter and receiver), the controller and transmitting coil of the robot transmitter and the receiving coil of the robot receiver all use plastic housings. The controller circuit of the robot receiver is not housinged and is directly installed and fixed inside the robot. The robot SDR self-organizing network module uses a metal housing to shield against external electromagnetic interference, and the RF antenna is externally mounted through a connector to improve the wireless transmission distance. The wave-transmitting surface of the equipment box wireless digital-electronic integrated components (including the equipment box transmitter and receiver) uses a plastic housing, while the rest uses a metal housing to ensure the structural strength and anti-interference capability of the component. Typical application forms of wireless digital-electronic integrated interconnection systems for intelligent warehouse maintenance include... Figure 10As shown, the control terminal for the maintenance and operation of the intelligent warehouse is equipped with a control terminal device (including a maintenance computer), an SDR self-organizing network module (including the control terminal SDR self-organizing network module), and a robot wireless charging component (including the robot transmitter). The robot is equipped with an SDR self-organizing network module (including the robot SDR self-organizing network module) and an equipment box wireless digital-electrical integration component (including the equipment box transmitter). The equipment maintained in the warehouse includes the equipment to be maintained, its equipment box, and the equipment box wireless digital-electrical integration component (including the equipment box receiver).

[0042] To reduce the weight of the robot's receiver, the wireless power transmission power is designed to be 200W. The robot carries a battery with a capacity of approximately 1kWh, requiring about 5 hours to charge. To meet the needs of long-distance self-organizing network collaboration, the robot's wireless self-organizing network module adopts a "software-defined radio" architecture, supporting multi-hop relay and dynamic encryption, automatically selecting the optimal route, and exhibiting strong anti-interference capabilities. Considering the scale of the special warehouse, the transmit power of a single RF antenna in the robot's wireless self-organizing network module is designed to be 1W, with a total power of 3*1W for the three RF antennas. The maximum transmission distance is designed to be 2km, the maximum number of robot nodes is designed to be 64, and the data transmission rate is designed to not exceed 5Mbps. To accommodate the power requirements for power-on maintenance of most equipment, the wireless power transmission power of the equipment box is designed to be 600W. Wireless data transmission of the equipment box is achieved based on a small-volume 60GHz millimeter-wave module, with a transmission distance designed to not exceed 30mm and a data transmission rate designed to not exceed 10Mbps.

[0043] Based on the wireless digital-electric integrated interconnection system described above, a prototype was built for testing. First, the interference between the millimeter-wave module (including a millimeter-wave data module and a millimeter-wave data antenna) and the wireless power transmission module (including a power transmitting coil and a power receiving coil) was tested. The millimeter-wave module and the wireless power transmission module were placed side-by-side with a 0mm distance between them; the millimeter-wave module still transmitted data normally. Since the data protocol used during the test was RS422, the data transmission rate was set to 16Mbps. The millimeter-wave module operated continuously for more than two hours with a bit error rate of 0. Next, the power output of the robot's wireless digital-electric integrated components (including the robot transmitter and robot receiver) was tested. Its output voltage was 41V and its output power was 220W, meeting the expected specifications. Finally, the input and output power of the equipment box's wireless digital-electric integrated transmission components (including the equipment box transmitter and equipment box receiver) were tested. The input voltage was 71V and the input power was 686W; the output voltage was 23.6V and the output power was 620.9W. Its power transmission efficiency exceeded 85%, meeting the expected specifications. Some test scenarios, such as Figure 11 As shown, the test results are as follows.

[0044] 1) Key technical specifications of robot wireless digital integration components:

[0045] a. Rated input voltage for wireless power: AC 220V;

[0046] b. Output voltage: 40~60V adjustable;

[0047] c. Wireless transmission distance (between housings): 5-15mm

[0048] d. The allowable offset distance in the X and Y directions when the robot transmitter and receiver are docked: not exceeding ±10mm;

[0049] e. Rated wireless power transmission capacity: 200W;

[0050] f. Wireless data transmission rate: ≤106kbps;

[0051] g. Data protocols: RS422, RS232, RS485, etc.;

[0052] h. Bit error rate: ≤10;

[0053] i. Operating temperature: -40℃~55℃;

[0054] 2) Main technical specifications of the SDR wireless self-organizing network module:

[0055] a. Network data transmission rate: ≤5Mbps;

[0056] b. Network antenna transmit power: 3*1W;

[0057] c. Network node size: ≤64 nodes;

[0058] d. Network transmission distance: ≤2km;

[0059] e. Single unit power consumption: ≤20W;

[0060] f. Network topology: Star or chain self-organizing network;

[0061] g. Bit error rate: ≤10;

[0062] h. Operating temperature: -40℃~55℃;

[0063] 3) Key technical specifications of the wireless digital integration components for the equipment box:

[0064] a. Wireless transmission distance (between housings): 0–15 mm;

[0065] b. Permissible X and Y offset distances when the robot docks with the equipment box: not exceeding ±10mm;

[0066] c. Rated wireless power: 600W;

[0067] d. Input voltage: 48~100V adjustable;

[0068] e. Output voltage: Adjustable from 20 to 100V;

[0069] f. Power transmission efficiency: ≥85%;

[0070] g. Wireless data transmission rate: ≤16Mbps;

[0071] h. Data error rate: ≤10;

[0072] i. Operating temperature: -40℃~55℃;

[0073] To construct unmanned, intelligent warehouses, achieve regular equipment maintenance, and improve equipment explosion-proof ratings, near-field wireless data transmission technology and wireless networking technology are adopted to enable wireless charging of robots, software-defined radio networking collaboration among robots, and wireless data transmission within equipment containers. By employing a wireless charging interconnection solution for robots, unmanned autonomous operation of the special warehouse can be achieved. After the robots replenish their power, they can perform equipment maintenance according to predetermined procedures. The wireless networking collaboration solution for robots enables data sharing and coordination among robot clusters, allowing for rapid and precise maintenance of massive amounts of equipment in the warehouse. The wireless data transmission solution for equipment containers significantly reduces maintenance difficulty and workload, enabling rapid maintenance of equipment without opening the container, in conjunction with robots. Furthermore, the non-contact transmission of the equipment container's transmitting and receiving components avoids the generation of electric arcs and sparks, improving the equipment's explosion-proof rating.

[0074] The advantages of this invention are summarized as follows:

[0075] 1. Based on robot and wireless power transmission technology, the robot's autonomous power supply is realized, which significantly improves the robot's intelligence level and provides technical support for the unmanned maintenance of special warehouses; in addition, the use of non-contact charging can avoid the problems of connector wear and low mating positioning accuracy.

[0076] 2. Based on SDR self-organizing network technology, data interconnection between equipment boxes, robots, and control terminals is realized, as well as wireless collaboration between robots. The robot group can cooperate with each other to achieve rapid maintenance of a large number of equipment boxes.

[0077] 3. The wireless digital transmission component developed based on the equipment box significantly reduces the maintenance workload and difficulty of the equipment. The transmitter and receiver can achieve contactless power supply and wireless data transmission, and can cooperate with robots to truly realize unmanned maintenance of special warehouses.

[0078] 4. The non-contact equipment maintenance method is characterized by its low likelihood of generating electric arcs, electric sparks, and voltage surges, which can significantly improve the explosion-proof rating of the equipment and promote the construction of intelligent, safe, unmanned, and automated warehouses.

[0079] 5. The innovative application of near-field millimeter-wave modules enables full-duplex data transmission between the transmitter and receiver of the equipment box. The millimeter-wave modules have a very low bit error rate and small size, which promotes the miniaturization design of the wireless digital integrated transmission components of the equipment box.

[0080] In other embodiments, the SDR wireless self-organizing network module can also be replaced with other types of networking modules (including control terminal networking modules and robot networking modules).

[0081] In other embodiments, the robot wireless digital power integrated transmitter, 200W wireless power transmitter, and NFC data transmitter of the robot transmitter can be replaced with other forms of wireless charging devices. Correspondingly, a matching wireless charging device is set on the robot to realize wireless charging of the robot by the robot transmitter.

[0082] In other embodiments, the equipment box wireless digital-electric integrated transmitter, 600W wireless power transmitter, and 60GHz millimeter-wave data transmitter in the equipment box transmitter can be replaced with other forms of digital-electric wireless transmission devices capable of wirelessly transmitting power and data. The equipment box is equipped with corresponding digital-electric wireless transmission devices to enable the equipment box transmitter to charge the equipment box components and to interact with the equipment box components.

[0083] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A wireless electronic integrated interconnection system for intelligent warehouse maintenance, comprising a control terminal device, an equipment box assembly, a robot, characterized in that: The control terminal device is electrically connected with a robot transmitting end and a control terminal networking module, the control terminal networking module realizes wireless communication with the robot, a robot receiving end matched with the robot transmitting end is arranged on the robot to realize wireless charging of the robot by the robot transmitting end; a robot networking module for realizing wireless communication with other robots and the control terminal device and an equipment box transmitting end electrically connected with the robot are further arranged on the robot; the equipment box assembly comprises a device to be maintained, an equipment box receiving end electrically connected with the device to be maintained and matched with the equipment box transmitting end, the equipment box transmitting end realizes wireless power supply for the equipment box assembly by cooperating with the equipment box receiving end and wireless data interaction between the robot and the equipment box assembly.

2. The wireless IED interconnection system oriented to intelligent warehouse maintenance according to claim 1, characterized in that: The control terminal networking module and the robot networking module adopt an SDR wireless ad hoc networking module.

3. The wireless IED interconnection system oriented to intelligent warehouse maintenance according to claim 2, characterized in that: The SDR wireless ad hoc networking module is connected with the power supply circuit of the robot or the control terminal device through a cable to realize power supply of the SDR wireless ad hoc networking module by the robot or the control terminal device, the SDR wireless ad hoc networking module comprises an external data protocol conversion module for data interaction with the master control unit of the robot or the control terminal device, an Ethernet data protocol module for data interaction with the external data protocol conversion module, an FPGA master control module for data interaction with the Ethernet data protocol module, a radio frequency chip and its peripheral circuit for data interaction with the FPGA master control module, and a radio frequency antenna for data interaction with the radio frequency chip and its peripheral circuit, the SDR wireless ad hoc networking modules realize long-distance wireless data interaction through the radio frequency antennas, and the FPGA master control module is connected with a radio frequency power amplifier transceiver switching interface.

4. The wireless integrated interconnect system for intelligent warehouse maintenance of claim 2, wherein: At the transmitting end of the SDR wireless ad hoc networking module, a binary information stream of data input is formed into an encoded bit stream through Turbo coding, is QAM-modulated on each subchannel, is inserted into a pilot signal and a virtual carrier embedded in a data input signal, is processed through serial-parallel conversion, is adjusted in subcarrier order according to a protocol requirement, is completed OFDM modulation through IFFT, addition of a cyclic prefix, windowing for reduction of leakage, and parallel-serial conversion, is controlled in power peak-to-average ratio to be below 6dB through a peak-to-average ratio reduction algorithm, and is converted into an analog signal for transmission; at the receiving end of the SDR wireless ad hoc networking module, an analog signal output by a radio frequency receiver is first sampled and quantized through an ADC module to form a digital signal, and then the signal is transformed into a baseband signal through digital down-conversion of the ADC module. A frame detection module for timing synchronization and carrier synchronization completes OFDM signal frame detection function, frequency offset estimation, symbol synchronization and channel estimation are performed using training symbols, parallel-serial conversion is performed, OFDM signal demodulation is completed using FFT, then processing is performed through a channel equalization algorithm, parallel-serial conversion processing is performed, a binary bit stream is formed after QAM demapping on each channel, and the binary bit stream is sent to a subsequent Turbo channel decoding module to recover the original information bit stream, thereby realizing data output.

5. A wireless digital interconnection system for intelligent warehouse maintenance according to claim 1, characterized in that: The circuit of the robot transmitting end comprises a rectification filter module for receiving alternating current and converting the alternating current into direct current, an auxiliary power supply module for receiving the direct current and supplying power to a master control module, the master control module for outputting a high-frequency control signal, a high-frequency inverter module for receiving the high-frequency control signal and converting the direct current into high-frequency alternating current, a resonance module for receiving the high-frequency alternating current and converting an output waveform into an approximate sine wave, and an electric energy transmitting coil connected with the resonance module and realizing wireless electric energy output; the circuit of the robot transmitting end further comprises an NFC data interaction module connected with the master control module and a data transmitting coil connected with the NFC data interaction module.

6. The wireless integrated interconnect system for intelligent warehouse maintenance of claim 1, wherein: The circuit of the robot receiving end comprises an electric energy receiving coil for receiving wireless electric energy and converting the wireless electric energy into high-frequency alternating current, a resonance module for making the high-frequency alternating current enter a resonance state, a rectification filter module for converting the high-frequency alternating current in the resonance state into high-voltage direct current, an auxiliary power supply module for converting the high-voltage direct current and supplying power to a master control module and an NFC data interaction module, the master control module for outputting a control signal, and a DC-DC module for receiving the control signal and converting the high-voltage direct current into charging direct current voltage of a battery pack in the robot; the circuit of the robot receiving end further comprises an NFC data interaction module connected with the master control module and a data receiving coil connected with the NFC data interaction module.

7. The wireless integrated interconnect system for intelligent warehouse maintenance of claim 1, wherein: The circuit of the equipment box transmitting end comprises an auxiliary power supply module for receiving input direct current and supplying power to a master control module and a millimeter wave data module, an EMI filter module for filtering the input direct current, the master control module for outputting a control signal, a high-frequency inverter module for receiving the filtered direct current and converting the direct current into high-frequency alternating current under the control of the master control module, a resonance module for receiving and processing the high-frequency alternating current, and an electric energy transmitting coil connected with the resonance module and used for outputting wireless electric energy; the circuit of the equipment box transmitting end further comprises a millimeter wave data module for interacting with the robot through a data protocol conversion module and a millimeter wave antenna array connected with the millimeter wave data module.

8. The wireless integrated interconnect system for intelligent warehouse maintenance of claim 7, wherein: The high-frequency inverter module, the resonance module, and the electric energy transmitting coil are in heat-conducting connection with the vapor chamber, the vapor chamber is in heat-conducting connection with the shell of the equipment box transmitting end, the shell of the equipment box transmitting end is provided with a grid-shaped heat dissipation structure, and the electric energy transmitting coil and the millimeter wave antenna array are surrounded by a magnetic attraction alignment structure.

9. The wireless integrated interconnect system for intelligent warehouse maintenance of claim 1, wherein: The circuit of the equipment box receiving end comprises an electric energy receiving coil and a resonance module for receiving wireless electric energy and converting a high-frequency electromagnetic field into high-frequency alternating current, a rectification filter module for converting the high-frequency alternating current into direct current, an auxiliary power supply module for receiving the direct current and supplying power to a millimeter wave data module, and a DC-DC module for converting the direct current into direct current required by a device to be maintained; the circuit of the equipment box receiving end further comprises a millimeter wave antenna array for receiving and sending wireless signals and a millimeter wave data module connected with the millimeter wave antenna array and interacting with the device to be maintained through a data protocol conversion module.

10. The wireless integrated interconnect system for intelligent warehouse maintenance of claim 9, wherein: The rectification and filtering module and the DC-DC module are in heat conduction connection with the vapor chamber. The vapor chamber is in heat conduction connection with the shell of the equipment box receiving end, the shell of the equipment box receiving end is provided with a grid-shaped heat dissipation structure, and a magnetic attraction alignment structure is arranged around the electric energy receiving coil and the millimeter wave antenna array.

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