Hot-line work robot wireless charging coupling structure and optimization method thereof

Abstract

The invention discloses a wireless charging coupling structure of a hot-line work robot and an optimization method of the wireless charging coupling structure. The wireless charging coupling structure comprises a transmitting end and a receiving end which are complementarily coupled, the transmitting end comprises a transmitting end magnetizer, a transmitting end square coil arranged on the transmitting end magnetizer, and a #-shaped solenoid coil surrounding the peripheries of the transmitting end magnetizer and the transmitting end square coil; the receiving end comprises a receiving end magnetizer and a receiving end square coil arranged on the receiving end magnetizer, and the transmitting end square coil and the receiving end square coil are oppositely arranged; the well-shaped solenoid coil is an S coil, the transmitting end square coil is a Q coil, the transmitting end forms an SQ-shaped coil, the receiving end square coil is a Q coil, the receiving end forms a Q-shaped coil, and the wireless charging coupling structure is an SQ / Q-shaped coil. The problems that an existing hot-line work robot is single in power supply means and poor in power supply reliability in the working process can be solved, and core technical support is provided for long-time continuous and safe work of the hot-line work robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of radio technology, in particular to a wireless charging coupling structure for live-line work robots and an optimization method thereof. BACKGROUND

[0002] Traditional live-line workers have a large amount of labor, a high risk coefficient, poor working conditions, and personal injury accidents occur from time to time, and the operation efficiency is low. The scheme of using a live-line work robot to perform live-line work can solve the problems of high pressure, high risk and large amount of labor in the working environment of the operation personnel. The existing live-line work robots still face key power supply reliability bottlenecks in actual application, which seriously restricts their operation continuity and running stability. At present, the mainstream live-line work robots on the market mainly adopt battery power supply or wired charging two power supply modes, both of which have obvious defects: for the battery power supply mode, the operation endurance of the robot is limited by the battery capacity, the single operation time is short, and the battery needs to be replaced manually after completing a certain amount of work, which not only consumes time and effort, but also easily causes safety risks due to improper operation in the process of frequent battery replacement, and also interrupts the operation process, greatly reducing the overall operation efficiency; for the wired charging mode, although it can solve the endurance problem to a certain extent, in the high-voltage live-line work environment, the existence of the charging cable is easy to cause safety hazards such as short circuit and electric leakage, and the dragging of the cable will limit the operation range and movement flexibility of the robot, which cannot adapt to complex and variable work scenes. The limitations of the above power supply modes make it difficult for the existing live-line work robots to realize long-time continuous operation, and the power supply reliability cannot be effectively guaranteed, which seriously affects their application effect and promotion value in complex live-line work scenes.

[0003] Wireless power transmission technology, as an emerging technology that can realize energy transmission without physical contact, provides an ideal technical path for solving the power supply problem of live-line work robots with its safety, convenience and contactless characteristics. By adopting a wireless charging scheme, the charging cable can be completely abandoned, and the safety hazards of wired charging in a high-voltage environment can be fundamentally eliminated, and there is no need for frequent manual battery replacement, which is expected to realize the coordinated connection of robot operation and charging and guarantee the operation continuity.

[0004] However, the transmission efficiency and stability of the wireless power transmission system are highly dependent on the performance of the coil wireless charging coupling structure, and during actual operation, the live working robot inevitably has X / Y axis direction offset and buffeting phenomenon due to mechanical vibration, wind interference, operation posture adjustment and other factors, resulting in a decrease in coil coupling coefficient, and thus a significant reduction in transmission efficiency or even transmission interruption, which cannot meet the stringent requirements of live working on power supply stability. Therefore, designing a wireless charging coupling structure with good anti-offset characteristics and stable transmission efficiency, combined with an efficient system optimization method, has become the key to solving the power supply bottleneck of existing live working robots. SUMMARY

[0005] In view of the above problems, the present application provides a live working robot wireless charging coupling structure and an optimization method thereof, which optimizes the coil coupling coefficient and load resistance through an artificial intelligence algorithm, designs a wireless charging coupling structure suitable for various working conditions by combining finite element simulation technology, realizes good anti-offset characteristics and stable transmission efficiency in the X / Y axis direction, and thus solves the problems of single power supply means and poor power supply reliability during the operation of the existing live working robot, providing core technical support for the long-term continuous and safe operation of the live working robot.

[0006] To achieve the above purpose, the technical scheme adopted by the present application is as follows: In a first aspect, the present application provides a live working robot wireless charging coupling structure, which comprises a complementary coupling transmitting end and a receiving end, the transmitting end comprises a transmitting end magnetic conductor, a transmitting end square coil arranged on the transmitting end magnetic conductor, and a well-shaped solenoid coil surrounding the outer periphery of the transmitting end magnetic conductor and the transmitting end square coil, the well-shaped solenoid coil comprises a first horizontal coil and a second horizontal coil horizontally surrounding the outer periphery of the transmitting end magnetic conductor and the transmitting end square coil, and a first vertical coil and a second vertical coil vertically surrounding the outer periphery of the transmitting end magnetic conductor and the transmitting end square coil; the receiving end comprises a receiving end magnetic conductor and a receiving end square coil arranged on the receiving end magnetic conductor, the transmitting end square coil and the receiving end square coil are arranged opposite to each other; the well-shaped solenoid coil is an S coil, the transmitting end square coil is a Q coil, the transmitting end forms an SQ-shaped coil, the receiving end square coil is a Q coil, and the receiving end forms a Q-shaped coil, the wireless charging coupling structure is an SQ / Q-shaped coil.

[0007] In one embodiment of the present invention, the SQ-shaped coil of the transmitting end is formed by winding a square coil and a well-shaped solenoid coil in series. The square coil forms the bottom layer and side conduction path and increases the magnetic field of the transmitting end through the magnetic conductor of the transmitting end. The well-shaped solenoid coil is wound close to the inner area of ​​the square coil of the transmitting end to form a magnetic field enhancement structure of the transmitting end. There is an air gap between the square coil of the transmitting end and the well-shaped solenoid coil. There is an air gap between the square coil of the transmitting end and the magnetic conductor of the transmitting end.

[0008] In one embodiment of the present invention, the receiving end square coil forms a receiving side conduction path and increases the receiving end magnetic field through the receiving end magnetic conductor; there is an air gap between the receiving end square coil and the receiving end magnetic conductor.

[0009] In one embodiment of the present invention, the transmitting square coil, the well-shaped solenoid coil, and the receiving square coil are all wound with high-frequency Litz wire; the number of turns of the transmitting square coil, the well-shaped solenoid coil, and the receiving square coil can be optimized and adjusted according to the finite element simulation results to determine the optimal number of turns.

[0010] In one embodiment of the present invention, the specific winding method of the SQ-shaped coil of the transmitting end is as follows: using the transmitting end magnetic conductor as a base, the transmitting end square coil is wound starting from the periphery of the transmitting end magnetic conductor. When the number of turns of the transmitting end square coil meets the set requirements, the end wire of the transmitting end square coil is extended and connected in series to the beginning of the well-shaped solenoid coil. The beginning of the well-shaped solenoid coil is selected as the first transverse coil. The end wire of the transmitting end square coil is connected in series to the beginning of the first transverse coil. The end of the first transverse coil is connected to the beginning of the second transverse coil. The end of the second transverse coil is connected to the beginning of the first longitudinal coil. The end of the first longitudinal coil is connected to the beginning of the second longitudinal coil. Finally, it is wound tightly in the form of a solenoid within the inner area enclosed by the transmitting end square coil, forming a complete current conduction circuit together with the transmitting end square coil, so that the transmitting end SQ-shaped coil is wound with a single wire. The transmitting end magnetic conductor is placed at the bottom of the transmitting end square coil, and together with the transmitting end square coil and the well-shaped solenoid coil, forms an integral transmitting coil structure.

[0011] Secondly, the present invention provides an optimization method for a wireless charging coupling structure of a live-line working robot, which utilizes the aforementioned wireless charging coupling structure and includes the following steps: A mathematical model of the wireless charging system is established, and the parameter to be optimized is the coupling coefficient. k and load resistance R L Define a loss function with the goal of maximizing transmission efficiency; Based on the SGD algorithm, the coupling coefficient is analyzed.k and load resistance R L Iterative optimization is performed by collecting system state data in real time to calculate gradients, dynamically updating parameters and applying constraints until the convergence condition is met. Based on the coupling coefficient k The optimization results were further adjusted to achieve the optimal turns ratio of the transmitting coil and the receiving coil, thus realizing efficient wireless charging of the live-line working robot.

[0012] In one embodiment of the present invention, the transmission efficiency formula of the mathematical model of the wireless charging system is:

[0013] in L 1. L 2 represents the coil inductance at the transmitting and receiving ends, respectively. ω The operating angular frequency, R 1. R 2 represents the coil resistance at the transmitting and receiving ends, respectively. k The coupling coefficient is... R L For load resistance; The loss function is defined as:

[0014] in This is the actual output voltage. U ref For reference output voltage, λ 1 represents the voltage stability weighting coefficient. λ 2 is the regularization coefficient.

[0015] In one embodiment of the present invention, the method further includes: parameter initialization: setting the initial value of the coupling coefficient to... k 0. The initial value of the load resistance is R L0 The learning rate is α The maximum number of iterations is T max and the convergence threshold is ; Entering the SGD iteration process, in In each iteration, the current state data of the system is collected, and the loss function value is calculated. L t = L ( k t , R Lt Solve for the loss function with respect to the coupling coefficients respectively. k and load resistance RL a gradient of the coupling coefficient, wherein the gradient of the coupling coefficient is a gradient of the load resistance ; According to the SGD update rule, the coupling coefficient and the load resistance are updated, and the update formula is as follows:

[0016]

[0017] The updated parameters are constrained to ensure that the updated parameters are within a preset range; the parameters meet the conditions: the coupling coefficient k min ≤ k t+1 ≤ k max , and the load resistance R Lmin ≤ R L(t+1) ≤ R Lmax ; In the iteration process, if the number of iterations reaches T max or the loss function change reaches , the iteration is stopped, and the final optimized parameters are output.

[0018] In an embodiment of the present application, further comprising: first setting the wireless charging system operating frequency, the transmitting end magnetic conductor, the receiving end magnetic conductor specifications and the transmitting end square coil and the receiving end square coil specifications, and setting the square coil turns N1 and the well-shaped spiral coil turns N2, initializing the square coil turns N1=0, the turns N2 of the well-shaped solenoid coil=0, setting the initial coupling coefficient k , the initial load resistance R L , then setting the constraint conditions 0.1≤ k t+1 ≤0.3 and 5Ω≤ R L(t+1) ≤50Ω, based on the SGD algorithm iteration calculation, judging whether L t+1 - L t |<ε is established, wherein ε is a preset threshold, if it is established, the optimal coupling coefficient k under the constraint condition is obtained, if it is not established, the learning rate α and the number of iterations T are changed and the iteration calculation based on the SGD algorithm is performed again; the optimal coupling coefficient kAfterwards, the well-shaped solenoid coil N2 is adjusted according to the finite element simulation result to meet the constraint condition, and then the mutual inductance fluctuation rate is judged again δ M =|(M-M0) / M0|*100% reaches the expectation, wherein M0 is the mutual inductance value without offset, M is the mutual inductance value in the offset state, if yes, the SQ / Q-shaped coupling structure anti-offset parameter design result is obtained, if no, the number of turns N2 is adjusted again and the finite element simulation result is adjusted again until δ M the expectation is reached.

[0019] In an embodiment of the present application, further comprising: adjusting the optimal number of turns combination of the transmitting end coil and the receiving end coil of the wireless charging coupling structure according to the optimal coupling coefficient k obtained by optimization, and performing finite element simulation on the X / Y distance offset of the transmitting end coil and the receiving end coil, when the simulation result meets the anti-offset parameter requirement of the live-line work robot wireless charging system target, that is, the system works in the optimal state.

[0020] The present application has the following beneficial effects: The present application provides a live-line work robot wireless charging coupling structure and an optimization method thereof, proposes an SQ / Q-shaped coil wireless charging coupling structure, through the design of the combination structure of the transmitting end bottom layer square coil and the well-shaped solenoid coil, the anti-offset ability of the system in the X / Y axis is significantly improved, the live-line work robot charging may encounter the jitter and coil misalignment in different charging environments, and the high coupling coefficient and efficiency can be maintained when the coil is offset to a certain extent. The SGD algorithm is introduced to dynamically optimize the coupling coefficient and the load resistance, which can adapt to the live-line work robot load fluctuation and position change in real time, solves the poor adaptability problem of the traditional static optimization method, and significantly improves the wireless charging efficiency. The output voltage stability term and the regularization term are introduced in the loss function, which ensures the stability of the output voltage while ensuring high efficiency, avoids the damage of voltage fluctuation to the robot battery, and improves the charging safety. The present application calculates the gradient by collecting system state data in real time, dynamically updates the parameters and applies the constraint, obtains the optimal coupling coefficient, improves the optimal number of turns design of the SQ / Q-shaped coil according to the finite element simulation, so as to realize the optimal coupling coefficient in the physical layer, obtain better anti-X / Y axis offset effect, and solve the requirement of the live-line work robot on the wireless charging anti-offset in different working environments. The present application can meet the demand of the live-line work robot for continuous power supply during the working process, prolong the endurance time of the live-line work robot, and ensure the continuity of the live-line work. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. Obviously, the drawings described below only show some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of the drawings.

[0022] Figure 1 is a top view of a wireless charging coupling structure in an embodiment of the present application.

[0023] Figure 2 is a bottom view of a wireless charging coupling structure in an embodiment of the present application.

[0024] Figure 3 is a side view of a wireless charging coupling structure in an embodiment of the present application.

[0025] Figure 4 is a flowchart of an algorithm based on the present application.

[0026] Figure 5 is a flowchart of an optimization method of a wireless charging coupling structure of the present application.

[0027] Figure 6 is a curve graph of mutual inductance fluctuation rate under X-axis offset in different coil structures (Q / Q shape, S / Q shape, SQ / Q shape) in one simulation example of the present application.

[0028] Figure 7 is a curve graph of total mutual inductance at different Y-axis offsets when the number of turns of the S coil in the structure shown in Figure 6 is different in one simulation example of the present application.

[0029] Figure 8 is a curve graph of total mutual inductance at different Y-axis offsets when the number of turns of the S coil in the structure shown in Figure 6 is different in one simulation example of the present application. DETAILED DESCRIPTION

[0030] The embodiments of the technical solutions of the present application will be described in detail below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, and therefore only serve as examples, and cannot limit the protection scope of the present application.

[0031] Unless otherwise defined, all technical and scientific terms used in the present application have the same meanings as those commonly understood by those skilled in the art to which the present application belongs; the terms used in the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application; the terms "include" and "have" and any variations thereof in the specification and claims of the present application and the above description of drawings are intended to cover non-exclusive inclusion.

[0032] In the description of the embodiments of the present application, the technical terms "first", "second" and the like are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0033] In the present application, the phrase "embodiments" means that the specific features, structures or properties described in conjunction with the embodiments can be included in at least some embodiments of the present application. The appearance of this phrase at various places in the specification does not necessarily mean the same embodiment, nor is it an independent or alternative embodiment to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in the present application can be combined with other embodiments.

[0034] Please refer to Figure 1 , Figure 2 and Figure 3 The present application provides a live working robot wireless charging coupling structure, comprising a complementary coupling transmitting end and a receiving end, the transmitting end comprises a transmitting end magnetic conductor 11, a transmitting end square coil 12 arranged on the transmitting end magnetic conductor 11, and a well-shaped solenoid coil surrounding the outer periphery of the transmitting end magnetic conductor 11 and the transmitting end square coil 12, the well-shaped solenoid coil comprises a first transverse coil 13 and a second transverse coil 14 transversely surrounding the outer periphery of the transmitting end magnetic conductor 11 and the transmitting end square coil 12, and a first longitudinal coil 15 and a second longitudinal coil 16 longitudinally surrounding the outer periphery of the transmitting end magnetic conductor 11 and the transmitting end square coil 12; the receiving end comprises a receiving end magnetic conductor 21 and a receiving end square coil 22 arranged on the receiving end magnetic conductor 21, the transmitting end square coil 12 and the receiving end square coil 22 are arranged opposite to each other; the well-shaped solenoid coil is an S coil, the transmitting end square coil 12 is a Q coil, the transmitting end forms an SQ-shaped coil, the receiving end square coil 22 is a Q coil, and the receiving end forms a Q-shaped coil, the wireless charging coupling structure is an SQ / Q-shaped coil.

[0035] In the present embodiment, the transmitting end of the wireless charging coupling structure is composed of two groups of transverse coils and two groups of longitudinal coils by well-shaped solenoid coil, and is wound on the outer periphery of the transmitting end magnetic conductor 11 and the transmitting end square coil 12, the receiving end is a square coil, the receiving end and the transmitting end both have a magnetic conductor to enhance the magnetic field, and the coils are all wound by Litz wire, and the above-mentioned coils are all whole coils wound by multiple turns.

[0036] In some embodiments, the SQ-shaped coil of the transmitting end is formed by a transmitting end square coil 12 and a well-shaped solenoid coil wound in series, the transmitting end square coil 12 forms a bottom layer and a side conduction path and increases the transmitting end magnetic field through a transmitting end magnetic conductor 11; the well-shaped solenoid coil is wound close to the inner side area of the transmitting end square coil 12 to form a transmitting end magnetic field enhancement structure; the transmitting end square coil 12 and the well-shaped solenoid coil have an air gap therebetween; the transmitting end square coil 12 and the transmitting end magnetic conductor 11 have an air gap therebetween.

[0037] Optionally, the transmitting end square coil 12 and the well-shaped solenoid coil are both wound by 0.1*400 strands of high-frequency litz wire, the side length of the transmitting end square coil 12 is 300 mm, and the number of turns is 15-20 turns; the number of turns of the well-shaped solenoid coil is 5-8 turns; the side length of the transmitting end magnetic conductor 11 is 300 mm, and the thickness is 1.5 mm; the air gap between the transmitting end square coil 12 and the well-shaped solenoid coil is 0.1 mm, and the air gap between the transmitting end square coil 12 and the transmitting end magnetic conductor 11 is 0.1 mm. Among them, the number of turns of the transmitting end square coil 12 and the well-shaped solenoid coil can be optimized and adjusted according to the finite element simulation results to determine the optimal number of turns.

[0038] In some embodiments, the receiving end square coil 22 forms a receiving side conduction path and increases the receiving end magnetic field through a receiving end magnetic conductor 21; the receiving end square coil 22 and the receiving end magnetic conductor 21 have an air gap therebetween. Among them, the number of turns of the receiving end square coil 22 can be optimized and adjusted according to the finite element simulation results to determine the optimal number of turns.

[0039] Optionally, the receiving end square coil 22 is wound by 0.1*400 strands of high-frequency litz wire, the side length of the receiving end square coil 22 is 300 mm, and the number of turns is 15-20 turns; the side length of the receiving end magnetic conductor 21 is 300 mm, and the thickness is 1.5 mm; the air gap between the receiving end square coil 22 and the receiving end magnetic conductor 21 is 0.1 mm.

[0040] In some embodiments, the specific winding method of the SQ-shaped coil of the transmitting end is as follows: taking the transmitting end magnetic conductor 11 as a base, the transmitting end square coil 12 is wound from the periphery of the transmitting end magnetic conductor 11, when the number of turns of the transmitting end square coil 12 meets the set requirement, the end wire of the transmitting end square coil 12 is extended and connected in series to the head end of the well-shaped solenoid coil, the well-shaped solenoid coil is divided into two groups of transverse coils and two groups of longitudinal coils, there is no fixed requirement for the winding sequence of the same direction coils, the head section of the well-shaped solenoid coil is selected as the first transverse coil 13, the end wire of the transmitting end square coil 12 is connected in series to the head end of the first transverse coil 13, and the tail end of the first transverse coil 13 is connected to the head end of the second transverse coil 14; the two groups of longitudinal coils of the well-shaped solenoid coil are further wound, the tail end of the second transverse coil 14 is connected to the head end of the first longitudinal coil 15, the tail end of the first longitudinal coil 15 is connected to the head end of the second longitudinal coil 16, and finally the well-shaped solenoid coil is tightly wound in the form of a solenoid in the inside area surrounded by the transmitting end square coil 12, and the transmitting end square coil 12 and the well-shaped solenoid coil together constitute a complete current conduction loop, so that the SQ-shaped coil of the transmitting end is completely wound by a single Litz wire, thereby avoiding cross coupling and strengthening the magnetic field transmission form; the transmitting end magnetic conductor 11 is arranged at the bottom of the transmitting end square coil 12, and is used for optimizing the magnetic field distribution and improving the wireless charging efficiency, and cooperates with the transmitting end square coil 12 and the well-shaped solenoid coil to form an overall transmitting coil structure.

[0041] The application further provides a live working robot, which comprises a vehicle-mounted power supply, a rectifier module, an inverter module, a compensation network, a wireless charging coupling structure, a charging control loop and a live working robot battery.

[0042] In some embodiments, the vehicle-mounted power supply is powered by an insulated aerial platform truck generator, the rectifier module, the inverter module and the compensation network are integrated on a PCB and connected to the transmitting end of the wireless charging coupling structure, the PCB and the transmitting end of the wireless charging coupling structure are arranged in the hydraulic control of the insulated boom side of the insulated aerial platform truck; the receiving end of the wireless charging coupling structure is connected to the live working robot battery through the charging control loop, and the receiving end of the wireless charging coupling structure is arranged in the box body of the live working robot.

[0043] The charging control circuit can adaptively adjust the electric energy parameters according to the actual situation of the output electric energy of the insulated aerial crane vehicle on-board power supply and the electric energy demand of the transmitting end and the receiving end, so as to optimize the electric energy transmission efficiency and ensure the adaptive charging of the robot battery. Specifically, the charging control circuit has a multi-parameter sensing and adaptive adjustment function, which can collect the output voltage, current and other electric energy parameters of the insulated aerial crane vehicle on-board power supply in real time, and monitor the working state parameters of the transmitting end and the receiving end. Based on the above monitoring data, the charging control circuit dynamically adjusts the electric energy transmission parameters through the built-in algorithm, so as to realize the optimization of the electric energy transmission efficiency, ensure that the charging voltage, current and other parameters output to the robot battery pack are adapted to the charging characteristics of the battery pack, and guarantee the safety and reliability of the charging process.

[0044] In addition, the application also provides an optimization method of the live-line working robot wireless charging coupling structure, which uses the live-line working robot wireless charging coupling structure, and comprises the following steps: A mathematical model of the wireless charging system is established, and the parameters to be optimized are the coupling coefficient k and the load resistance R L A loss function is defined with the maximum transmission efficiency as the target. The coupling coefficient k and the load resistance R L are iteratively optimized based on the SGD (stochastic gradient descent) algorithm, the gradient is calculated by collecting system state data in real time, the parameters are dynamically updated and constraints are applied until the convergence condition is met. The optimal number of turns of the transmitting end coil and the receiving end coil is further adjusted according to the optimization result of the coupling coefficient k , so as to realize efficient wireless charging of the live-line working robot.

[0045] In some embodiments, the wireless charging system adopts LCC-S type topology compensation, and the transmission efficiency formula of the mathematical model is:

[0046] Wherein L 1, L 2 are the inductances of the transmitting end coil and the receiving end coil respectively, ω is the operating angular frequency, R 1, R 2 are the resistances of the transmitting end coil and the receiving end coil respectively, k is the coupling coefficient, R L is the load resistance.

[0047] The loss function is defined as:

[0048] wherein V is the actual output voltage, U ref V is the reference output voltage, λ 1 is a voltage stabilization weight coefficient, λ 2 is a regularization coefficient.

[0049] In the specific implementation process, first, parameter initialization is performed: the initial value of the coupling coefficient is set to k 0, the initial value of the load resistance is set to R L0 , the learning rate is α , the maximum number of iterations is T max , and the convergence threshold is ; Further, the SGD iteration process is entered, in which, in the th iteration, the current state data of the system is collected, the loss function value L t = L ( k t , R Lt ) is calculated; then, the gradients of the loss function with respect to the coupling coefficient k and the load resistance R L are solved, wherein the gradient with respect to the coupling coefficient is , and the gradient with respect to the load resistance is .

[0050] According to the SGD update rule, the parameters of the coupling coefficient and the load resistance are updated, and the update formula is as follows:

[0051]

[0052] After the parameter update, the constraint processing is required to be performed on the parameters to ensure that the updated parameters are within the preset feasible range. Specifically, the parameters satisfy the conditions that the coupling coefficient k min ≤ k t+1 ≤ k max , and the load resistance R Lmin ≤ R L(t+1) ≤ R Lmax .

[0053] In the iteration process, if the number of iterations reaches T maxor the loss function change reaches Then the iteration is stopped, and the final optimization parameter is output.

[0054] First, the working frequency of the wireless charging system, the specifications of the transmitting end magnetic conductor and the receiving end magnetic conductor, and the specifications of the transmitting end square coil and the receiving end square coil are set, and the number of turns N1 of the square coil and the number of turns N2 of the well-shaped solenoid coil are set, and then the number of turns N1 of the square coil is initialized to 0, the number of turns N2 of the well-shaped solenoid coil is initialized to 0, and the initial coupling coefficient k , the initial load resistance R L is set, and then the constraint conditions 0.1≤ k t+1 ≤0.3 and 5Ω≤ R L(t+1) ≤50Ω are set, after iterative calculation based on the SGD algorithm, it is judged whether L t+1 - L t |ε is established, where ε is a preset threshold, if it is established, the optimal coupling coefficient under the constraint condition is obtained k *, if it is not established, the learning rate α and the number of iterations T are changed, and the iterative calculation based on the SGD algorithm is performed again; after the optimal coupling coefficient k is obtained, the number of turns N2 of the well-shaped solenoid coil is adjusted according to the finite element simulation result to meet the constraint condition, and it is judged whether the mutual inductance fluctuation rate δ M =|(M-M0) / M0|×100% reaches the expectation, where M0 is the mutual inductance value when there is no offset, M is the mutual inductance value in the offset state, if it reaches, the SQ / Q-shaped coupling structure anti-offset parameter design result is obtained, if it does not reach, the number of turns N2 is adjusted again and adjusted again according to the finite element simulation result until δ M the expectation is reached.

[0055] According to the optimal coupling coefficient k obtained by optimization *, the optimal combination of the number of turns of the transmitting end coil and the receiving end coil of the wireless charging coupling structure is adjusted, and the X / Y distance offset of the transmitting end coil and the receiving end coil is simulated by finite element, when the simulation result meets the anti-offset parameter requirement of the wireless charging system target of the live-line working robot, the system can work in the optimal state.

[0056] In order to illustrate that the wireless charging coupling structure of the SQ / Q-shaped coil of the present application has better anti-X / Y axial offset performance, the present application is described as follows.

[0057] Specifically, the transmitting end magnetic conductor 11 and the receiving end magnetic conductor 21 are both selected to be ferrite, and the specifications of the transmitting end magnetic conductor 11 and the receiving end magnetic conductor 21 are both 30cm*30cm*1.5mm. The specifications of the transmitting end square coil 12 and the receiving end square coil 22 are both 30cm*30cm*4mm, and the number of turns after being tightly wound is 15 turns. The SGD algorithm is used to optimize the coupling coefficient and the load, and the initial value of the coupling coefficient is set to k 0∈[0.1, 0.3], the initial value of the load resistance is R L0 ∈[1Ω, 30Ω], the learning rate is α ∈[0.001, 0.05], the maximum number of iterations is T max =30 and the convergence threshold is =10 -6 , further iteration calculation is performed, when the iteration termination condition is met, the iteration is stopped, and the optimal coupling k *=0.22, the optimal load resistance R L* =10Ω. The number of turns of the S coil is selected as the optimization item, and the mutual inductance fluctuation rate is defined, where M0 is the mutual inductance value without offset, and M is the mutual inductance value in the offset state. The smaller M , the more gentle the mutual inductance changes with the offset, and the better the anti-offset characteristic of the system. If the mutual inductance fluctuation rate M ≤ 30% reaches the expected standard, otherwise the number of turns of the solenoid coil will be adjusted again.

[0058] Please refer to Figure 4 , which shows the mutual inductance fluctuation rate comparison curve when the X-axis offset is from-80mm to 80mm when the transmission distance is 10mm. The three kinds of wireless charging coupling structures are only based on the transformation of the transmitting end, and the receiving end is not changed. When the transmitting end only includes the transmitting end magnetic conductor 11 and the transmitting end square coil 12, when the offset reaches 80mm, the mutual inductance fluctuation rate M is about 0.325; when the transmitting end only includes the transmitting end magnetic conductor 11 and the well-shaped solenoid coil, when the offset reaches 80mm, the mutual inductance fluctuation rate M is about 0.277; when the transmitting end is the coupling structure designed by the application, when the offset reaches 80mm, the mutual inductance fluctuation rate M is about 0.218, which gets the lowest mutual inductance fluctuation rate, and subsequent optimization design is carried out for the structure.

[0059] Please refer to Figure 5As shown in FIG. 6, the total mutual inductance curve at different X-axis offset positions is given when the number of turns of the well-shaped solenoid coil is different. When the transmission distance of the transmitting coil and the receiving coil is 10 cm, although a larger mutual inductance value can be obtained when the number of turns is 5 and 6, the mutual inductance fluctuation is large, and the X-axis mutual inductance fluctuation is large when the offset is from -80 mm to 80 mm. As the number of turns of the well-shaped solenoid coil increases, because the well-shaped solenoid coil generates a magnetic field direction opposite to the transmitting square coil 12, the total mutual inductance decreases, but the result of obtaining a small X-axis mutual inductance fluctuation when the offset is from -80 mm to 80 mm is obtained, and the mutual inductance fluctuation δ M is about 0.197. Therefore, the transmitting coil and the receiving coil have good anti-Y-axis offset performance in a small range of offset.

[0060] Please refer to Figure 6 As shown in FIG. 7, the total mutual inductance curve at different Y-axis offset positions is given when the number of turns of the well-shaped solenoid coil is different. When the transmission distance of the transmitting coil and the receiving coil is 10 cm, although a larger mutual inductance value can be obtained when the number of turns is 5 and 6, the mutual inductance fluctuation is large, and the Y-axis mutual inductance fluctuation is large when the offset is from -80 mm to 80 mm. As the number of turns of the well-shaped solenoid coil increases, because the well-shaped solenoid coil generates a magnetic field direction opposite to the transmitting square coil 12, the total mutual inductance decreases, but the result of obtaining a small Y-axis mutual inductance fluctuation when the offset is from -80 mm to 80 mm is obtained, and the mutual inductance fluctuation δ M is about 0.178. Therefore, the transmitting coil and the receiving coil have good anti-Y-axis offset performance in a small range of offset.

[0061] It is particularly pointed out that in the case of considering the extreme case of X-axis and Y-axis offset of 80 mm at the same time, the mutual inductance fluctuation δ M is about 0.42, which indicates that the wireless charging coupling structure can still maintain good anti-offset characteristics in the case of X / Y common offset after being optimized and designed.

[0062] In summary, the application provides a wireless charging coupling structure of a live-line robot and an optimization method thereof, proposes an SQ / Q-shaped coil wireless charging coupling structure, and through the design of the combination structure of the bottom layer square coil and the well-shaped solenoid coil of the transmitting end, the anti-offset capability of the system in the X / Y axis is significantly improved, the jitter and coil misalignment that the live-line robot charging may encounter in different charging environments can be coped with, and it is ensured that a higher coupling coefficient and efficiency can be maintained when the coil is offset to a certain extent. The SGD algorithm is introduced to dynamically optimize the coupling coefficient and load resistance, which can adapt to the load fluctuation and position change of the live-line robot in real time, solve the poor adaptability problem of the traditional static optimization method, and significantly improve the wireless charging efficiency. The output voltage stability term and the regularization term are introduced in the loss function, which ensures the stability of the output voltage while ensuring high efficiency, avoids the damage of voltage fluctuation to the robot battery, and improves the charging safety. The application calculates the gradient by real-time acquisition of system state data, dynamically updates the parameters and applies constraints to obtain the optimal coupling coefficient, improves the optimal number of turns of the SQ / Q-shaped coil according to the finite element simulation, so as to realize the optimal coupling coefficient at the physical level and obtain better anti-X / Y axis offset effect, and solve the requirement of the live-line robot for wireless charging anti-offset in different working environments. The application can meet the demand of the live-line robot for continuous power supply during the working process, prolong the endurance time of the live-line robot, and ensure the continuity of the live-line work.

[0063] Although the application has been described with reference to the preferred embodiments, various modifications can be made to the application and equivalents thereof without departing from the scope of the application. In particular, the technical features mentioned in each embodiment can be combined in any manner as long as there is no structural conflict. The application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A wireless charging coupling structure for a live-line working robot, characterized in that, The system includes a complementary coupled transmitter and receiver. The transmitter includes a transmitter magnetic conductor, a transmitter square coil disposed on the transmitter magnetic conductor, and a well-shaped solenoid coil surrounding the transmitter magnetic conductor and the transmitter square coil. The well-shaped solenoid coil includes a first transverse coil and a second transverse coil that laterally surround the transmitter magnetic conductor and the transmitter square coil, and a first longitudinal coil and a second longitudinal coil that longitudinally surround the transmitter magnetic conductor and the transmitter square coil. The receiver includes a receiver magnetic conductor and a receiver square coil disposed on the receiver magnetic conductor. The transmitter square coil and the receiver square coil are arranged opposite to each other. The well-shaped solenoid coil is an S-coil, the transmitter square coil is a Q-coil, the transmitter forms an SQ-shaped coil, the receiver square coil is a Q-coil, the receiver forms a Q-shaped coil, and the wireless charging coupling structure is an SQ / Q-shaped coil.

2. The wireless charging coupling structure for a live-line working robot according to claim 1, characterized in that, The SQ-shaped coil of the transmitting end is formed by winding a square coil and a well-shaped solenoid coil in series. The square coil forms the bottom layer and side conduction path and increases the magnetic field of the transmitting end through the magnetic conductor of the transmitting end. The well-shaped solenoid coil is wound close to the inner area of ​​the square coil of the transmitting end to form a magnetic field enhancement structure of the transmitting end. There is an air gap between the square coil of the transmitting end and the well-shaped solenoid coil. There is also an air gap between the square coil of the transmitting end and the magnetic conductor of the transmitting end.

3. The wireless charging coupling structure for a live-line working robot according to claim 1, characterized in that, The square coil at the receiving end forms a conduction path on the receiving side and increases the magnetic field at the receiving end through the magnetic conductor at the receiving end; there is an air gap between the square coil at the receiving end and the magnetic conductor at the receiving end.

4. The wireless charging coupling structure for a live-line working robot according to claim 1, characterized in that, The transmitting square coil, the well-shaped solenoid coil, and the receiving square coil are all wound with high-frequency Litz wire; the number of turns of the transmitting square coil, the well-shaped solenoid coil, and the receiving square coil can be optimized and adjusted according to the finite element simulation results to determine the optimal number of turns.

5. The wireless charging coupling structure for a live-line working robot according to claim 2, characterized in that, The specific winding method of the SQ-shaped coil of the transmitting end is as follows: using the transmitting end magnetic conductor as a base, the transmitting end square coil is wound starting from the periphery of the transmitting end magnetic conductor. When the number of turns of the transmitting end square coil meets the set requirements, the end wire of the transmitting end square coil is extended and connected in series to the beginning of the well-shaped solenoid coil. The beginning of the well-shaped solenoid coil is selected as the first transverse coil. The end wire of the transmitting end square coil is connected in series to the beginning of the first transverse coil. The end of the first transverse coil is connected to the beginning of the second transverse coil. The end of the second transverse coil is connected to the beginning of the first longitudinal coil. The end of the first longitudinal coil is connected to the beginning of the second longitudinal coil. Finally, it is wound tightly in the form of a solenoid within the area enclosed by the transmitting end square coil, forming a complete current conduction circuit together with the transmitting end square coil, so that the transmitting end SQ-shaped coil is wound with a single wire. The transmitting end magnetic conductor is placed at the bottom of the transmitting end square coil, and together with the transmitting end square coil and the well-shaped solenoid coil, forms an integral transmitting coil structure.

6. An optimization method for the wireless charging coupling structure of a live-line working robot, characterized in that, The wireless charging coupling structure for a live-line working robot according to any one of claims 1-5 includes the following steps: A mathematical model of the wireless charging system is established, and the parameter to be optimized is the coupling coefficient. k and load resistance R L Define a loss function with the goal of maximizing transmission efficiency; Based on the SGD algorithm, the coupling coefficient is analyzed. k and load resistance R L Iterative optimization is performed by collecting system state data in real time to calculate gradients, dynamically updating parameters and applying constraints until the convergence condition is met. Based on the coupling coefficient k The optimization results were further adjusted to achieve the optimal turns ratio of the transmitting coil and the receiving coil, thus realizing efficient wireless charging of the live-line working robot.

7. The optimization method for the wireless charging coupling structure of a live-line working robot according to claim 6, characterized in that, The transmission efficiency formula of the mathematical model of the wireless charging system is: in L 1. L 2 represents the coil inductance at the transmitting and receiving ends, respectively. ω The operating angular frequency, R 1. R 2 represents the coil resistance at the transmitting and receiving ends, respectively. k The coupling coefficient is... R L For load resistance; The loss function is defined as: in This is the actual output voltage. U ref For reference output voltage, λ 1 represents the voltage stability weighting coefficient. λ 2 is the regularization coefficient.

8. The optimization method for the wireless charging coupling structure of a live-line working robot according to claim 7, characterized in that, It also includes: parameter initialization: setting the initial value of the coupling coefficient. k 0. The initial value of the load resistance is R L0 The learning rate is α The maximum number of iterations is T max and the convergence threshold is ; Entering the SGD iteration process, in In each iteration, the current state data of the system is collected, and the loss function value is calculated. L t = L ( k t , R Lt Solve for the loss function with respect to the coupling coefficients respectively. k and load resistance R L The gradient of , where the gradient with respect to the coupling coefficient is . The gradient with respect to the load resistance is ; According to the SGD update rules, the coupling coefficient and load resistance are updated using the following formulas: The updated parameters are constrained to ensure they remain within a preset range; the parameters must satisfy the following condition: coupling coefficient. k min ≤ k t+1 ≤ k max load resistance R Lmin ≤ R L(t+1) ≤ R Lmax ; During the iteration process, if the number of iterations reaches... T max Or the change in the loss function reaches If the iteration stops, the final optimized parameters are output.

9. The optimization method for the wireless charging coupling structure of a live-line working robot according to claim 8, characterized in that, Also includes: First, set the operating frequency of the wireless charging system, the specifications of the transmitting and receiving magnetic conductors, and the specifications of the transmitting and receiving square coils. Then, set the number of turns N1 for the square coil and the number of turns N2 for the well-shaped solenoid coil. Next, initialize the number of turns N1 for the square coil to 0 and the number of turns N2 for the well-shaped solenoid coil to 0, and set the initial coupling coefficient. k Initial load resistance R L Next, set the constraint 0.1≤ k t+1 ≤0.3 and 5Ω≤ R L(t+1) ≤50Ω, based on iterative calculation using the SGD algorithm, determine | L t+1 - L t The condition is determined by checking if |<ε holds true, where ε is a preset threshold. If true, the optimal coupling coefficient under the constraint conditions is obtained. k * If this is not true, then change the learning rate. α The iteration count T is then used to perform iterative calculations again based on the SGD algorithm to obtain the optimal coupling coefficient. k Finally, based on the finite element simulation results, the well-shaped solenoid coil N2 is adjusted to meet the constraint conditions, and then the mutual inductance fluctuation rate is determined. δ M =|(M-M0) / M0|×100% Whether the expected result is achieved, where M0 is the mutual inductance value without offset, and M is the mutual inductance value under offset conditions. If the result is achieved, the design result of the offset resistance parameter of the SQ / Q-shaped coupling structure is obtained. If the result is not achieved, the number of turns N2 is readjusted and adjusted again according to the finite element simulation results until the result is achieved. δ M The expected outcome has been achieved.

10. The optimization method for the wireless charging coupling structure of a live-line working robot according to claim 9, characterized in that, Also includes: Based on the optimal coupling coefficient obtained through optimization k * Adjust the optimal combination of turns of the transmitting coil and the receiving coil of the wireless charging coupling structure, and perform finite element simulation on the X / Y distance offset of the transmitting coil and the receiving coil. When the simulation results meet the anti-offset parameter requirements of the target of the wireless charging system for live-line working robot, the system is considered to be operating in the optimal state.

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