A door and window equipment dynamic power compensation system and method based on a service robot

Abstract

The application relates to the technical field of wireless power transmission and discloses a door and window equipment dynamic power supply system and method based on a service robot, which comprises a mobile power supply robot, a metal door and window frame body and door and window resident equipment. The mobile power supply robot establishes a capacitive coupling with the metal door and window frame body through a capacitive injection probe and utilizes the metal door and window frame body as a single-line surface wave transmission medium. The robot performs a space scanning movement along the extension direction of the frame body, a central control mechanism determines an optimal injection position according to a real-time detected voltage reflection coefficient, and controls a radio frequency mechanism to inject energy. The door and window resident equipment picks up surface wave energy through a distributed receiving coupler and converts the surface wave energy into direct current. The application solves the wiring difficulty problem of the door and window equipment, realizes dynamic impedance matching of a non-standard transmission line through physical movement, and guarantees the stability of energy transmission.

Description

Technical Field

[0001] This invention relates to the field of wireless power transmission technology, specifically to a dynamic power replenishment system and method for door and window equipment based on a service robot. Background Technology

[0002] With the development of building intelligence technology, modern door and window systems have gradually integrated electric window openers, smart locks, and various environmental monitoring sensors. The stable power supply of these stationary devices is the foundation for realizing intelligent doors and windows.

[0003] Currently, power supply for door and window devices mainly relies on physical cables or built-in batteries. Using physical cables presents significant challenges in existing building renovations, requiring slotting and drilling into walls or window / door frames for wiring. This not only disrupts the original decor and structural integrity but may also affect the airtightness and insulation performance of doors and windows, resulting in long construction periods and high costs. While battery power avoids wiring, its limited capacity restricts the device's battery life, necessitating periodic replacement or charging.

[0004] While existing wireless power transmission technologies can achieve short-range wireless power supply, they typically require the transmitter and receiver to maintain a fixed close alignment, and the transmitter itself still needs to be connected to the power source via cable, failing to fundamentally solve the wiring problem for power access. Although metal door and window frames themselves have conductive properties and can theoretically serve as a transmission medium, the high-frequency impedance characteristics of metal door and window frames are uncertain due to differences in the size, surface coating material, and installation environment of different building doors and windows. Fixed matching circuits are difficult to adapt to this variation, resulting in low energy transmission efficiency. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a dynamic power supply system and method for door and window equipment based on service robots. This system solves the problems of cumbersome power supply wiring for door and window equipment, difficulty in impedance matching for non-standard frames, low transmission efficiency, potential hazards of contact power supply, and transmission instability caused by environmental disturbances.

[0006] The first aspect of the present invention provides a dynamic power replenishment system for door and window equipment based on a service robot. The system includes a mobile power replenishment robot, a metal door and window frame, and a door and window dwelling device.

[0007] The mobile power replenishment robot includes a mobile chassis module, a capacitive injection probe mechanism, and a radio frequency energy synthesis and detection mechanism. The capacitive injection probe mechanism establishes non-conductive physical contact with the surface of the metal door / window frame, forming a capacitive coupling circuit. The radio frequency energy synthesis and detection mechanism generates a radio frequency excitation signal and injects it into the metal door / window frame through the capacitive injection probe mechanism.

[0008] The metal door and window frame includes a metal substrate and an insulating dielectric layer covering the surface of the metal substrate. The insulating dielectric layer is used to constrain the electromagnetic wave propagation mode, so that the injected radio frequency excitation signal is transmitted along the surface of the metal door and window frame in the form of electromagnetic surface waves.

[0009] The door and window dwelling device is installed on the metal door and window frame and includes a distributed receiving coupler and an energy conversion management unit. The distributed receiving coupler is used to pick up the energy of the electromagnetic surface wave from the surface of the metal door and window frame, and the energy conversion management unit is used to convert the picked-up energy into DC power.

[0010] The capacitive injection probe mechanism includes a linear telescopic drive module, a flexible compliant connection assembly, and an end-coupled electrode head. The linear telescopic drive module is used to drive the end-coupled electrode head to press against the metal door / window frame. The flexible compliant connection assembly is connected between the linear telescopic drive module and the end-coupled electrode head to absorb radial displacement fluctuations and maintain constant contact pressure.

[0011] The end coupling electrode head includes, from the inside out, a rigid metal backplate, a conductive buffer layer, and a high dielectric constant insulating film. The high dielectric constant insulating film is directly attached to the insulating dielectric layer on the surface of the metal door and window frame, and together with the metal substrate of the metal door and window frame, it constitutes an equivalent injection capacitor.

[0012] The mobile chassis module is an omnidirectional mobile chassis used to drive the mobile power replenishment robot to perform linear displacement along the bottom extension direction of the metal door and window frame. The mobile power replenishment robot also includes a central control mechanism, which is used to establish a one-dimensional linear coordinate system based on the distance of the linear displacement and control the mobile chassis module to perform spatial scanning motion to change the injection position of the radio frequency excitation signal.

[0013] The radio frequency energy synthesis and detection mechanism includes a signal generation module, a final-stage power amplification module, and a directional coupling detection module connected in series. The signal generation module is used to generate a sinusoidal carrier signal; the final-stage power amplification module is used to convert DC power energy into radio frequency energy. The directional coupling detection module is used to detect the incident wave detection voltage and the reflected wave detection voltage at the injection port in real time. The central control unit calculates the voltage reflection coefficient based on the incident wave detection voltage and the reflected wave detection voltage, and constructs a mapping relationship between the injection position and the impedance matching degree based on the voltage reflection coefficient.

[0014] The central control unit is used to perform spatial scanning optimization: The radio frequency energy synthesis and detection mechanism is controlled to operate in a low-power test mode, and the mobile power replenishment robot is controlled to perform a linear scanning motion along the metal door and window frame, simultaneously collecting the position coordinate sequence and the corresponding voltage reflection coefficient amplitude sequence to construct a mapping table; The voltage reflection coefficient amplitude sequence is smoothed to identify global minimum points and determine the coarse target location. The mobile power replenishment robot is controlled to move to the coarse target position, and then switched to fine step mode to perform local extremum optimization. The direction of movement is adjusted by judging the trend of the change of voltage reflection coefficient before and after the small displacement until the gradient of the change of voltage reflection coefficient with position meets the preset convergence condition, and the optimal injection position is determined. The mobile charging robot is controlled to perform mechanical locking at the optimal injection position, and the radio frequency energy synthesis and detection mechanism is controlled to switch to high power transmission mode.

[0015] The central control unit is also configured to execute a dynamic disturbance closed-loop maintenance strategy: In the high-power transmission mode, the time rate of change of the voltage reflection coefficient is calculated; When the time change rate or the magnitude of the voltage reflection coefficient is in the slow drift range, the mobile power replenishment robot is controlled to perform micro-stepping iterative movement to track the optimal injection position; When the time change rate or the magnitude of the voltage reflection coefficient exceeds a preset safety threshold, the radio frequency energy synthesis and detection mechanism is controlled to cut off the power output.

[0016] The distributed receiver coupler includes a flexible dielectric substrate and receiver coupling electrodes laid along the extension direction of the metal door and window frame, as well as an impedance transformation and resonant network. The impedance transformation and resonant network includes a series compensation inductor, which is used to cancel the capacitive reactance of the equivalent coupling capacitance between the receiver coupling electrodes and the metal door and window frame, so that the receiver port generates series resonance at the operating frequency.

[0017] The energy conversion management unit includes a multi-stage voltage doubler rectifier circuit and a DC-DC converter with maximum power point tracking function; the DC-DC converter is used to change the equivalent load impedance at the back end of the multi-stage voltage doubler rectifier circuit by adjusting the duty cycle, so that the real part of the load impedance referred to the radio frequency side matches the real part of the output impedance of the metal door and window frame at the receiving end.

[0018] A second aspect of the present invention provides a method for dynamic power replenishment of door and window equipment based on a service robot, comprising the following steps: The mobile power replenishment robot responds to scheduling instructions or power replenishment requests and moves to the area where the metal door and window frame is located. The central control mechanism controls the capacitive injection probe mechanism to extend and fit against the insulating dielectric layer on the surface of the metal door and window frame to establish an initial signal injection channel; The radio frequency energy synthesis and detection mechanism outputs a low-power test carrier signal, and the central control mechanism controls the mobile power replenishment robot to perform linear scanning motion along the metal door and window frame, while simultaneously collecting the voltage reflection coefficient at different positions. The central control unit analyzes the distribution characteristics of the voltage reflection coefficient as a function of position, determines the optimal injection position corresponding to the antinode of the standing wave or the minimum point of the voltage reflection coefficient, and controls the mobile power replenishment robot to lock at the optimal injection position. The central control unit controls the radio frequency energy synthesis and detection mechanism to switch to high power transmission mode, and injects electrical energy into the metal door and window frame through the capacitive injection probe mechanism. The energy is transmitted to the door and window dwelling device in the form of electromagnetic surface waves. The radio frequency energy synthesis and detection mechanism continuously monitors the port reflection parameters. If the impedance characteristics of the metal door and window frame drift, the central control mechanism controls the mobile power replenishment robot to correct its position, or stops power output when the voltage reflection coefficient exceeds the threshold.

[0019] This invention provides a dynamic power replenishment system and method for door and window equipment based on a service robot. It has the following beneficial effects: 1. This invention utilizes the metal substrate of the metal door and window frame itself and the surface insulating dielectric layer to form a single-line surface wave transmission channel, directly supplying power to the stationary devices distributed on the door and window; without drilling and wiring or destructive modification to the existing building doors and windows, energy transmission is achieved using the existing structure, solving the problems of difficult power supply and high battery maintenance costs in the intelligent transformation of traditional doors and windows, and is especially suitable for existing building scenarios where it is impossible to lay physical cables.

[0020] 2. This invention solves the problem of impedance matching difficulties in non-standard transmission lines by using a spatial scanning optimization mechanism of a mobile power replenishment robot. Due to the differences in the geometric dimensions and surface coating thickness of metal door and window frames, the input impedance has randomness and position dependence. By controlling the robot to move on the frame surface and monitoring the reflection coefficient in real time, the system can physically locate the optimal injection point in the standing wave distribution, thereby achieving rapid injection of radio frequency energy without relying on complex adjustable matching circuits.

[0021] 3. This invention employs a non-conductive contact capacitive injection method and a dynamic closed-loop maintenance strategy to ensure the safety and stability of energy transmission. The flexible and compliant capacitive injection probe avoids the risk of electrical sparks caused by direct contact between metal contacts or mechanical damage to the coating of door and window surfaces. At the same time, the dynamic disturbance closed-loop maintenance strategy can automatically correct the injection position through micro-step iteration when impedance drift is caused by changes in environmental parameters, ensuring transmission efficiency during long-term power replenishment. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall architecture of a dynamic power replenishment system for door and window equipment based on a service robot, according to the present invention. Figure 2 This is a flowchart illustrating the dynamic power replenishment method for door and window equipment based on a service robot, as described in this invention.

[0023] Among them, 100 is a mobile power replenishment robot; 110 is a mobile chassis module; 120 is a capacitive injection probe mechanism; 130 is a radio frequency energy synthesis and detection mechanism; 140 is a central control mechanism; 200 is a metal door and window frame; 210 is a metal substrate; 220 is an insulating dielectric layer; 300 is a door and window dwelling device; 310 is a distributed receiving coupler; and 320 is an energy conversion management unit. Detailed Implementation

[0024] The technical solutions in 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.

[0025] See attached document Figure 1 The present invention provides a dynamic power replenishment system for door and window equipment based on a service robot. The system mainly includes a mobile power replenishment robot 100, a metal door and window frame 200, and a door and window dwelling device 300.

[0026] The mobile power replenishment robot 100 serves as the energy injection end of the system and is equipped with a mobile chassis module 110. The mobile chassis module 110 is configured to support the main structure of the mobile power replenishment robot 100 and can drive the robot to move on the ground plane, particularly enabling precise linear displacement along the bottom extension direction of the metal door / window frame 200. The mobile power replenishment robot 100 also includes a capacitive injection probe mechanism 120, which is located on the side or top of the robot's body. This mechanism has mechanical extension or attitude adjustment functions and is used to establish non-conductive physical contact with the surface of the metal door / window frame 200 during power replenishment operations.

[0027] The mobile power replenishment robot 100 integrates a radio frequency (RF) energy synthesis and detection mechanism 130. The RF energy synthesis and detection mechanism 130 is electrically connected to a capacitive injection probe mechanism 120, used to generate excitation signals in the high-frequency or very high-frequency bands and transmit these signals to the capacitive injection probe mechanism 120. Simultaneously, the RF energy synthesis and detection mechanism 130 also includes a reflection parameter detection circuit for real-time detection of the voltage reflection coefficient or voltage standing wave ratio at the injection port. The mobile power replenishment robot 100 also includes a central control mechanism 140, which is communicatively connected to the mobile chassis module 110, the capacitive injection probe mechanism 120, and the RF energy synthesis and detection mechanism 130, respectively, for overall control of the actions of each module, execution of spatial scanning optimization algorithms, and power transmission management strategies.

[0028] The metal door / window frame 200 serves as a single-line surface wave transmission medium connecting the mobile power replenishment robot 100 and the door / window dwelling device 300. Structurally, the metal door / window frame 200 includes a metal substrate 210 and an insulating dielectric layer 220 covering the surface of the metal substrate 210. The metal substrate 210 constitutes the waveguide core for surface wave transmission, and the insulating dielectric layer 220 is used to constrain the propagation mode of electromagnetic waves. When the capacitive injection probe mechanism 120 is attached to the insulating dielectric layer 220, a capacitive coupling circuit is formed between the mobile power replenishment robot 100 and the metal door / window frame 200, exciting electromagnetic surface waves propagating along the surface of the metal door / window frame 200.

[0029] A door / window dwelling device 300 is installed in a high position on the metal door / window frame 200, serving as the system's energy receiving load. The door / window dwelling device 300 includes a distributed receiver coupler 310 and an energy conversion management unit 320. The distributed receiver coupler 310 is attached to the surface of the metal door / window frame 200 and configured to pick up surface wave energy flowing through that area. The energy conversion management unit 320 is electrically connected to the distributed receiver coupler 310 and is used to rectify, filter, and regulate the received high-frequency radio frequency energy, converting it into DC power for storage in a local battery cell.

[0030] See attached document Figure 2 This invention provides a method for dynamic power replenishment of door and window equipment based on service robots, comprising the following steps: S100, the mobile power replenishment robot 100 responds to the scheduling command or the power replenishment request sent by the door and window dwelling device 300, and the central control unit 140 controls the mobile chassis module 110 to perform navigation path planning and drive the mobile power replenishment robot 100 to the area where the metal door and window frame 200 is located. S200, after the mobile power replenishment robot 100 arrives at the target area, the central control mechanism 140 controls the capacitive injection probe mechanism 120 to extend, so that the capacitive injection probe mechanism 120 fits against the surface of the insulating dielectric layer 220 at the bottom of the metal door and window frame 200 to establish an initial signal injection channel. S300, the radio frequency energy synthesis and detection mechanism 130 outputs a low-power test carrier signal, and the central control mechanism 140 controls the mobile chassis module 110 to drive the mobile charging robot 100 to maintain the capacitive injection probe mechanism 120 in contact with the metal door and window frame 200, and to perform a horizontal linear scanning motion along the bottom edge of the metal door and window frame 200; during the scanning motion, the radio frequency energy synthesis and detection mechanism 130 collects the voltage reflection coefficient amplitude data corresponding to the current position at a preset sampling frequency, and transmits the correspondence between the position coordinates and the reflection data to the central control mechanism 140; S400, the central control unit 140 analyzes the position voltage reflection coefficient dataset, identifies the standing wave distribution characteristics of the transmission line of the metal door and window frame 200, and calculates the optimal injection position coordinates corresponding to the standing wave antinode or the minimum value of the voltage reflection coefficient; the mobile chassis module 110 adjusts the position of the mobile power replenishment robot 100 according to the calculation results, so that it stops and locks in the optimal injection position. S500, after completing position locking and impedance matching, the radio frequency energy synthesis and detection mechanism 130 switches to high power transmission mode and injects electrical energy into the metal door and window frame 200 through the capacitive injection probe mechanism 120. The energy is transmitted along the surface of the metal door and window frame 200 and is finally captured and converted into DC power by the distributed receiver coupler 310 of the door and window dwelling device 300. S600, the radio frequency energy synthesis and detection mechanism 130 continuously monitors the port reflection parameters. If the impedance characteristics of the metal door and window frame 200 drift, the central control mechanism 140 controls the mobile chassis module 110 to perform position correction, or controls the radio frequency energy synthesis and detection mechanism 130 to stop power output when the voltage reflection coefficient exceeds the threshold.

[0031] The mobile chassis module 110 serves as the motion support platform for the mobile power replenishment robot 100. It is configured to achieve omnidirectional movement or lateral translation with zero turning radius to meet the requirements for linear scanning parallel to the wall in narrow door and window areas.

[0032] The mobile chassis module 110 includes a chassis support, a drive wheel assembly, a motor drive unit, and a motion attitude detection unit. In a specific implementation, the drive wheel assembly adopts a Mecanum wheel or orthogonal omnidirectional wheel layout. This wheel configuration allows the mobile power supply robot 100 to generate lateral translational motion along the bottom extension direction of the metal door / window frame 200 by adjusting the synthesis of the rotational speed vectors of each wheel while keeping its frontal orientation constant. This extension direction is defined as the X-axis direction in the local navigation coordinate system of the mobile power supply robot 100. This motion characteristic ensures that the relative angle between the capacitive injection probe mechanism 120 and the surface of the metal door / window frame 200 remains constant during scanning.

[0033] The motor drive unit receives pulse width modulation signals from the central control unit 140 and performs independent closed-loop speed control on each hub motor. The motion attitude detection unit includes an incremental photoelectric encoder mounted on the motor output shaft and an inertial measurement unit fixed to the chassis.

[0034] During the spatial scanning and optimization process, the mobile power replenishment robot 100 calculates its real-time position using a dead reckoning algorithm. The central control unit 140 establishes a one-dimensional linear coordinate system with the position where the mobile power replenishment robot 100 first contacts the metal door / window frame 200 as the origin. The central control unit 140 calculates the current position in real time using the following formula. Position coordinates relative to the initial contact point Displacement amount: ; in, For the current moment Position coordinates relative to the initial contact point The amount of displacement; These are the coordinates of the initial contact point; The instantaneous synthesized velocity of the mobile power replenishment robot 100 in the X-axis direction; For integration variables; This indicates definite integral operations.

[0035] For an embodiment employing a four-wheel Mecanum wheel layout, let the radius of the drive wheel assembly be... The real-time angular velocities of the four drive wheels, front left, front right, rear left, and rear right, are respectively... , , , Then the horizontal scanning speed Determined by the following kinematic equations: ; in, The radius of the drive wheel assembly; , , , These are the real-time angular velocities of the four drive wheels: front left, front right, rear left, and rear right.

[0036] By discretizing and integrating the above kinematic equations, the mobile chassis module 110 provides millimeter-resolution position feedback data to the central control unit 140 for constructing a reflection coefficient dataset.

[0037] To ensure that the vertical distance (defined as the distance in the Y-axis direction) between the mobile power-assisted robot 100 and the metal door / window frame 200 remains constant during X-axis scanning, thus maintaining the stability of the capacitive coupling strength, the mobile chassis module 110 also integrates a proximity ranging sensor group. This proximity ranging sensor group consists of a multi-point laser ranging module or a high-precision ultrasonic probe arranged on the side of the chassis, used to monitor the distance between the chassis edge and the wall surface in real time. The specific motion control logic of the mobile chassis module 110 when performing a spatial scanning task includes the following sub-steps: The mobile power replenishment robot 100 uses a local environment map constructed by LiDAR to identify the plane equation where the metal door and window frame 200 is located. The central control mechanism 140 drives the chassis to rotate to a position parallel to the wall and moves it to an area at a preset working distance from the wall. After entering the scanning mode, the central control unit 140 initiates a dual-closed-loop PID control strategy. The outer-loop distance controller takes the feedback value of the near-range ranging sensor group as input and corrects the deviation by adjusting the velocity component in the Y-axis direction, ensuring that the mobile charging robot 100 moves along a straight trajectory; the inner-loop speed controller ensures that the mobile charging robot 100 moves at a constant low speed in the X-axis direction, and, in conjunction with the sampling frequency of the radio frequency energy synthesis and detection mechanism 130, prevents standing wave detection data aliasing. When the central control unit 140 reaches the optimal injection position Then, a braking command is sent to the motor drive unit. For motors with high reduction ratio gearboxes, passive locking is achieved by utilizing their back electromotive force or mechanical self-locking characteristics; for direct drive motors, a reverse torque is applied or an electromagnetic brake mechanism is activated to suppress the small displacement of the mobile power supply robot 100 caused by mechanical backlash and prevent the injection impedance phase jitter caused by this displacement.

[0038] For the battery power supply circuit, the selection of the underlying motor drive chip and the specific wiring method involved in the mobile chassis module 110, those skilled in the art can refer to the existing general hardware architecture of mobile robots for implementation. These are well-known technologies in the field and will not be described in detail here.

[0039] The capacitive injection probe mechanism 120 is configured to establish a non-conductive physical connection between the RF output port of the mobile power replenishment robot 100 and the metal door and window frame 200, thereby constructing an RF coupling channel with high withstand voltage characteristics and stable capacitance.

[0040] The capacitive injection probe mechanism 120 is mainly composed of three parts in terms of mechanical structure: a linear telescopic drive module, a flexible compliant connection component, and an end coupling electrode head.

[0041] The linear telescopic drive module is fixedly installed on the chassis or side of the mobile power replenishment robot 100, with its output axis perpendicular to the moving direction of the mobile power replenishment robot 100. This module uses a trapezoidal screw mechanism or electric push rod driven by a servo motor, and has the capability of closed-loop position control. It is used to push the end coupling electrode head to the position where it contacts the surface of the metal door and window frame 200.

[0042] A flexible compliant connection assembly connects the linear telescopic drive module to the end coupling electrode head. This assembly includes a linear spring or rubber damping block to provide mechanical compliance. When the mobile power replenishment robot 100 scans along the surface of the metal door / window frame 200, if there are minor errors in the flatness of the metal door / window frame 200 surface, the flexible compliant connection assembly absorbs radial displacement fluctuations through elastic deformation, maintaining a constant positive pressure of the end coupling electrode head on the contact surface, preventing contact loss or excessive pressure from damaging the door / window surface coating.

[0043] The end-coupled electrode head is a key component for realizing radio frequency energy injection. To adapt to different door and window frame cross-sectional shapes and maximize the effective coupling area, the end-coupled electrode head adopts a multi-layer composite structure. This structure consists of, from the inside out: a rigid metal backplate, a conductive buffer layer, and a high dielectric constant insulating film.

[0044] The rigid metal backplate is electrically connected to the feed line of the RF energy synthesis and detection mechanism 130, serving as the feed base for RF signals. The conductive buffer layer, made of conductive foam or conductive rubber, is compressible and maintains electrical conductivity with the rigid metal backplate. The conductive buffer layer fills the microscopic irregularities on the surface of the metal door / window frame 200, increasing the actual contact area. A high-dielectric-constant insulating film, made of a polymer-based composite material doped with high-dielectric-constant ceramic powder (such as barium titanate), covers the outermost layer of the conductive buffer layer and directly contacts the insulating dielectric layer 220 of the metal door / window frame 200.

[0045] In terms of electrical principle, when the end coupling electrode head presses against the metal door / window frame 200, the conductive buffer layer acts as one plate of a capacitor, and the metal substrate 210 of the metal door / window frame 200 acts as the other plate. The high-dielectric-constant insulating film and the insulating dielectric layer 220 on the surface of the metal door / window frame 200 together constitute a double-layer composite dielectric. The equivalent injection capacitance formed at this time... Determined by the following formula: ; in, This is the equivalent injection capacitance; It is the vacuum permittivity; The equivalent relative permittivity is the series connection of the high dielectric constant insulating film and the insulating dielectric layer 220. The effective overlap area between the end coupling electrode head and the metal door / window frame 200; The thickness of the high dielectric constant insulating film; The thickness of the insulating dielectric layer 220 on the surface of the metal door and window frame 200.

[0046] By selecting those with high The present invention utilizes a thin film material with a high efficiency, enabling effective overlap between the end-coupled electrode head and the metal door / window frame 200. To obtain a larger equivalent injection capacitance This reduces the capacitive reactance of the radio frequency signal at the injection point and improves energy transmission efficiency.

[0047] The motion control logic of the capacitive injection probe mechanism 120 includes the following steps: The linear telescopic drive module extends rapidly until the end coupling electrode head is 200mm away from the surface of the metal door and window frame, at which point the mobile power replenishment robot 100 stops moving laterally. The linear telescopic drive module switches to torque control mode, slowly pushing the end coupling electrode head to contact the metal door / window frame 200. When the motor current feedback or the built-in pressure sensor detects that the contact pressure has reached a preset threshold, the feed stops and the current torque is maintained. This constant pressure ensures the accuracy of the formula. and It is compacted to a minimum and remains stable, thereby stabilizing the equivalent injection capacitance. ; During the spatial scanning of the mobile power replenishment robot 100, the linear telescopic drive module finely adjusts the extension length in real time based on the deformation feedback of the flexible compliant connection component, compensating for the dynamic changes in the distance between the chassis and the metal door and window frame 200 caused by the chassis movement, and maintaining the stability of the electrical parameters of the coupling capacitor.

[0048] For the lead screw transmission principle and servo motor PID control algorithm involved in the linear telescopic drive module, those skilled in the art can refer to existing precision mechanical design manuals for implementation, which are well-known technologies in the field and will not be elaborated here.

[0049] The radio frequency energy synthesis and detection mechanism 130 is configured to generate radio frequency excitation signals with controllable frequency and amplitude, and extract the load reflection characteristics of the mobile power replenishment robot 100 at different spatial positions in real time, providing data feedback for the spatial scanning optimization algorithm.

[0050] The radio frequency energy synthesis and detection mechanism 130 is constructed by sequentially connecting a signal generation module, a drive amplification module, a final stage power amplification module, and a directional coupling detection module in series in its hardware architecture.

[0051] The signal generation module, acting as the source of the RF link, specifically employs a direct digital frequency synthesizer chip or a phase-locked loop frequency synthesizer. This module is controlled by the digital bus of the central control unit 140 and is capable of generating sinusoidal carrier signals covering a frequency range from high to very high frequencies. During the spatial scanning phase, the signal generation module is configured to output a single frequency or a narrowband swept signal; during the energy transfer phase, it locks onto the carrier frequency point with the highest system resonant efficiency.

[0052] The drive amplifier module is connected to the output of the signal generation module and includes a variable gain amplifier or a digitally controlled attenuator. The function of this drive amplifier module is to dynamically adjust the transmit power. The central control unit 140 controls the output level of the RF link by sending analog voltage control signals or digital gain control words to the drive amplifier module. During spatial scanning, the drive amplifier module reduces the system gain, maintaining the final stage output at a low power level in the milliwatt range to prevent high reflection energy in mismatched states from damaging the circuit. During high-power transmission, the drive amplifier module increases the gain, driving the subsequent circuit to output high power in the watt range or higher.

[0053] The final stage power amplifier module employs a high-efficiency switch-mode power amplifier. This high-efficiency switch-mode power amplifier is configured to operate under non-constant envelope signals, efficiently converting DC power supply energy into RF energy. The output impedance of the final stage power amplifier module is designed to be a standard source impedance and is connected to subsequent circuitry via an interstage matching network.

[0054] The directional coupling detection module is the core component for detecting reflection parameters, and it is connected in series between the final power amplifier module and the capacitive injection probe mechanism 120. Specifically, this module includes a dual directional coupler, which has an incident wave coupling port and a reflected wave coupling port. The directional performance of this dual directional coupler is better than 20dB to isolate mutual interference between the reverse and forward signals.

[0055] The incident wave coupling port is used to couple out the forward traveling wave signal flowing from the power amplifier to the probe at a fixed ratio; the reflected wave coupling port is used to couple out the reverse traveling wave signal reflected back from the probe to the source at the same ratio. Both coupling ports are connected to a linear envelope detector. The linear envelope detector operates in the linear detection region, converting the amplitude of the high-frequency coupled signal into a corresponding DC voltage signal.

[0056] The central control unit 140 has a built-in analog-to-digital converter that samples the incident wave detector voltage. and the voltage of the reflected wave detector Based on the linear input-output characteristics of the linear envelope detector, the central control unit 140 calculates the magnitude of the voltage reflection coefficient using the following logic. : ; in, This is the magnitude of the voltage reflection coefficient; The voltage for detecting the reflected wave; The incident wave detector voltage; The calibration coefficient is determined by the coupling difference of the dual directional couplers and the sensitivity of the detector.

[0057] To characterize the degree of matching, the central control unit 140 further calculates the voltage standing wave ratio according to the following formula. : ; in, The core feedback variable used to determine the optimal injection location; This represents the magnitude of the voltage reflection coefficient.

[0058] The radio frequency energy synthesis and detection mechanism 130 also includes an overvoltage protection circuit, located in the reflection channel of the dual directional coupler. When an overvoltage protection circuit is detected... When the voltage instantaneously exceeds the preset safety threshold, the overvoltage protection circuit drives the high-speed MOSFET switch connected in series in the power supply circuit of the drive amplifier module to disconnect via a hardware interrupt, directly cutting off the bias voltage of the drive amplifier module and achieving microsecond-level rapid shutdown protection.

[0059] The configuration of the DDS chip register, the specific transistor selection for the power amplifier, and the impedance matching microstrip line design involved in the above circuit can be implemented by those skilled in the art according to relevant RF circuit design manuals. These are well-known technologies in the field and will not be elaborated further here. This invention establishes an electromagnetic transmission model, defining the metal door and window frame 200 as a non-radiative dielectric-coated single-wire surface wave transmission line, thereby supporting an energy injection method based on standing wave detection.

[0060] The metal door and window frame 200 is physically composed of an inner metal substrate 210 and an outer insulating dielectric layer 220. Under the high-frequency or very-high-frequency excitation output by the radio frequency energy synthesis and detection mechanism 130, the current concentrates at the interface between the metal substrate 210 and the insulating dielectric layer 220. This distribution characteristic is mainly determined by the skin effect, which determines the skin depth of the current. Determined by the following formula: ; in, For skin depth; The resistivity of the metal matrix 210; The angular frequency of the radio frequency signal; is the absolute permeability of the 210 metallic matrix. Since the system operating frequency is set in the MHz band, The thickness is much smaller than that of the metal substrate 210, so the metal door and window frame 200 is regarded as a tubular waveguide carrier.

[0061] The presence of the insulating dielectric layer 220 alters the boundary conditions of the conductor surface. Covered with an insulating dielectric layer 220 having a relative permittivity greater than 1, it reduces the axial propagation speed of electromagnetic waves, causing the phase velocity to be lower than the speed of light in a vacuum. This slow-wave effect results in an exponentially decaying distribution of the electromagnetic field in the radial direction perpendicular to the metal surface, forming a non-radiative surface wave mode, i.e., the TM01 mode, confined to the surface of the metal door / window frame 200. This characteristic ensures that energy is primarily transmitted along the surface of the metal door / window frame 200, rather than radiated into free space.

[0062] To quantitatively analyze impedance characteristics, this invention equates the metal door and window frame 200 to a distributed parameter transmission line model. This distributed parameter transmission line model includes a series resistance per unit length. Series inductance per unit length Parallel conductance per unit length and parallel capacitors per unit length In this system, the metal chassis module 110 of the mobile power replenishment robot 100 serves as the virtual radio frequency ground for the excitation source, forming a loop reference potential through the stray capacitance between the chassis and the ground. (Unit length series resistance) Determined by the surface resistance of the 210 metal substrate; series inductance per unit length Composed of an internal metallic inductance and an external magnetic field energy storage inductance; parallel conductance per unit length Dielectric loss representing insulating dielectric layer 220; parallel capacitance per unit length The distributed capacitance between the surface charge of the metal door and window frame 200 and the virtual radio frequency ground and ambient ground.

[0063] Based on the above distribution parameters, the metal door and window frame 200 serves as the characteristic impedance of the transmission line. and propagation constant They are defined as follows: ; ; in, Characteristic impedance; The propagation constant; The attenuation constant characterizes the rate of energy loss during energy transfer. is a phase constant, characterizing the rate of phase change of voltage and current along the transmission line; It is the imaginary unit.

[0064] Due to the load impedance and characteristic impedance of the door and window dwelling device 300 Typically, there is a mismatch, and the metal door / window frame 200 exhibits structural discontinuities, causing RF energy to be reflected on the transmission line. The superposition of the incident and reflected waves creates a standing wave distribution on the surface of the metal door / window frame 200, resulting in an increase in input impedance. It changes periodically with position coordinates. This input impedance... The physical properties that change with position are the basis for the present invention to achieve impedance matching by changing the injection position.

[0065] For the specific solution process of Maxwell's equations and Sommerfeld wave field diagram analysis involved in the theory of metallic waveguides, those skilled in the art can refer to relevant textbooks on microwave engineering. These are well-known techniques in the field and will not be elaborated here.

[0066] In practical applications, the metal door and window frame 200 acts as a non-ideal uniform transmission line, and the non-ideal physical characteristics of the metal frame determine the efficiency of radio frequency energy transmission and the effective coverage distance.

[0067] Transmission loss is determined by the attenuation constant. This indicates that its attenuation constant The value of determines the maximum upward distance that energy can be transmitted along the metal door / window frame 200. Attenuation constant. Including conductor losses originating from the finite conductivity of the metal matrix 210 and dielectric losses originating from the 220 polarization relaxation of the insulating dielectric layer. The relationship between the two can be expressed by the following formula: ; in, For conductor loss; This refers to dielectric loss. The actual surface resistance is proportional to the surface resistance of the metal substrate 210. Considering the surface roughness caused by the manufacturing process, the actual surface resistance is greater than the theoretical value of an ideal smooth plane, leading to a longer current path under the skin effect and increasing the resistance. . Depends on the dielectric loss angle of the insulating dielectric layer 220 tangent value and relative permittivity. For common polyester powder coatings or anodized layers, It increases with increasing ambient humidity.

[0068] The distributed parameter characteristics are affected by the geometric cross-sectional shape and structural discontinuities of the metal door and window frame 200. The cross-sectional shape of the metal door and window frame 200 determines the series inductance per unit length. and parallel capacitor per unit length The specific value. For example, increasing the perimeter of the cross-section increases the coupling capacitance with the surrounding environment, leading to a higher characteristic impedance. decline.

[0069] The metal door and window frame 200, in its actual construction, includes hinge connection points, corner joints, and metal handle mounting locations. In the radio frequency transmission model, these structural abrupt changes manifest as discontinuities in lumped parameter impedance. Specifically, the contact resistance and gap effect at the hinge connection are equivalent to a combination of series resistance and series inductance, while protruding structures such as metal handles are equivalent to parallel capacitances to ground. Each discontinuity generates local reflections, forming a parasitic reflection coefficient. The presence of multiple discontinuities results in a complex, non-sinusoidal superposition interference pattern in the standing wave distribution along the line.

[0070] Environmental factors have a time-varying influence on the distributed parameters. When rainwater, condensation, or dust accumulates on the surface of the metal door and window frame 200, the conductivity of the water film introduces additional leakage current, resulting in a parallel conductivity per unit length. The increase in dielectric constant alters the equivalent dielectric constant of the insulating dielectric layer 220. These changes affect the characteristic impedance. and propagation constant Dynamic drift.

[0071] Due to differences in geometric structure, manufacturing tolerances, structural discontinuities, and environmental disturbances, the input impedance of the metal door and window frame 200 varies. It exhibits nonlinearity and time-varying characteristics. Energy injection cannot be achieved through a pre-designed fixed-parameter matching network, requiring the use of the spatial scanning strategy based on real-time feedback proposed in this invention to find the optimal impedance matching point.

[0072] For the calculation of roughness correction coefficients and the principle of superposition of multiple reflected waves involved in transmission line theory, those skilled in the art can refer to relevant literature on microwave integrated circuit design, which are well-known technologies in this field and will not be elaborated here.

[0073] This invention utilizes the principle of transmission line impedance transformation to establish the position coordinates of a mobile power replenishment robot 100. The equivalent input impedance as seen by the RF energy synthesis and detection mechanism 130 A deterministic mapping function between them.

[0074] In the radio frequency transmission system, the metal door / window frame 200 is considered a distributed parameter transmission line. Assuming the door / window dwelling device 300 is located at the top of the metal door / window frame 200, its equivalent load impedance at the operating frequency is... The mobile power replenishment robot 100 is located at the following coordinates. At this point, the effective transmission distance from the injection point to the load end is defined as... ,in The total length of the metal door and window frame is 200.

[0075] According to transmission line theory, the equivalent load impedance is After a length of After the lossy transmission line transformation, the line input impedance presented at the injection point is... Determined by the following transmission line equations: ; in, Indicates the line input impedance; Characteristic impedance; The propagation constant; This is the equivalent load impedance; The total length of the metal door and window frame is 200. Location coordinates. Line input impedance. Position coordinates The complex function, with position coordinates The resistive and reactive components exhibit a spiral-shaped periodic change in the complex plane. This represents the hyperbolic tangent function.

[0076] The radio frequency energy synthesis and detection mechanism 130 is coupled to the metal door and window frame 200 via a capacitive injection probe mechanism 120. In the circuit model, the capacitive injection probe mechanism 120 is equivalent to a series-connected equivalent injection capacitor. Therefore, the total system input impedance seen at the output port of the RF energy synthesis and detection mechanism 130 is... The vector sum of the line input impedance and the coupling capacitance reactance: ; in, This represents the total input impedance of the system. The angular frequency of the radio frequency signal; This is the equivalent injection capacitance; The imaginary unit; This indicates the input impedance of the line.

[0077] To maximize energy transfer, the total input impedance of the system... The source impedance of the radio frequency energy synthesis and detection mechanism 130 needs to be considered. Achieve conjugate matching. At this point, the position coordinates... Regarding voltage reflection coefficient The mapping relationship is represented as follows: ; in, Voltage reflection coefficient; The source impedance of the radio frequency energy synthesis and detection mechanism 130; This is the total input impedance of the system.

[0078] Based on the above mapping relationship, the impedance matching principle of this invention is as follows: due to the equivalent injection capacitance The negative imaginary part capacitive reactance was introduced to make it possible to... Approximately pure real numbers The optimal injection location must be found by utilizing the impedance transformation characteristics of the transmission line. At the optimal injection location Line input impedance at the location It exhibits an inductive state (i.e., the imaginary part is positive), and the inductive reactance exactly cancels out the equivalent injected capacitance. The capacitive reactance value, while its resistive component is close to At this time, the voltage reflection coefficient When the value reaches a minimum, the VSWR approaches 1, and the radio frequency energy is coupled into the metal door and window frame 200 with the highest efficiency and transmitted to the load end.

[0079] The central control unit 140, based on closed-loop feedback control logic, coordinates the motion control module and the radio frequency energy synthesis and detection unit 130 to achieve optimal injection position. Automatic search and locking.

[0080] The spatial scanning strategy of this invention employs a hierarchical search mechanism that uses global traversal to locate extreme value regions and local gradient approximation to the optimal point. Since the metal door and window frame 200 is a non-ideal transmission line, its standing wave distribution is affected by multiple reflections and may have multiple local minima, making a single gradient algorithm prone to suboptimal solutions. Therefore, the system first constructs a global impedance location feature map to lock in the potential globally optimal region, and then uses gradient information to achieve micrometer-level positioning, thus balancing search speed and matching accuracy. The specific execution steps are as follows: Specifically, the execution steps are as follows: The central control unit 140 sends a command to the radio frequency energy synthesis and detection unit 130, setting its output power to test power mode. The power level of this test power mode must be below the linear compression point of the radio frequency amplifier, typically set between -10dBm and 20dBm, to ensure that even under total reflection, the echo energy will not damage the power amplifier circuitry. Subsequently, the central control unit 140 controls the mobile power replenishment robot 100 to move at a constant speed in a straight line along the metal door and window frame 200. During the movement, the central control unit 140 acquires the current position coordinates in real time via a photoelectric encoder or visual odometry. The voltage reflection coefficient is read synchronously at a fixed spatial sampling interval. modulus The system constructs a mapping table in memory containing a sequence of position coordinates and the corresponding sequence of reflection coefficient magnitudes.

[0081] To eliminate high-frequency measurement noise introduced by mechanical vibration and contact resistance fluctuations, the central control unit 140... The sequence undergoes digital filtering. Specifically, a moving average filtering algorithm is used, and the calculation formula is as follows: ; in, The voltage reflection coefficient of the current sampling point after smoothing. The modulus; For the first The location coordinates of each sampling point; This is the summation index variable within the sliding window; This is the length of the sliding window. The value of depends on the relationship between the spatial sampling interval and the wavelength of mechanical vibration interference. It is usually taken as the number of sampling points covering 1 to 2 mechanical vibration cycles.

[0082] After filtering, the algorithm iterates through the smoothed data sequence and searches... Find the global minimum point. Mark the coordinates corresponding to this global minimum point as the coarsely selected target location. At this point, the system determines whether there exists a condition that satisfies... point. The preset coarse matching threshold is determined by the maximum allowable voltage standing wave ratio (VSWR) of the system, and the conversion relationship is as follows: ,in, This represents the maximum allowable voltage standing wave ratio (VSWR) of the system.

[0083] The central control unit 140 controls the mobile power replenishment robot 100 to quickly move to the initially selected target location. The system then switches to a fine-stepping mode, employing gradient descent logic for local optimization. The robot makes tentative movements with micrometer-level steps. After each step, the voltage reflection coefficient is re-detected. modulus .like If the value decreases, the current direction of motion is maintained; if... If the voltage reflection coefficient increases, the direction of motion is reversed. This process continues until the voltage reflection coefficient is detected. The rate of change of the modulus is close to zero, which means that the following convergence condition is satisfied: ; in, Represents voltage reflection coefficient The absolute value of the gradient of the magnitude of the position coordinates; This is the preset convergence criterion. The value of this value must be greater than the noise floor of the RF detection circuit and the equivalent gradient fluctuation value introduced by the ADC quantization error, to prevent the algorithm from oscillating and failing to converge near the extreme point. At this point, the corresponding position coordinates are confirmed as the optimal injection position under the current environment. .

[0084] After confirming the optimal injection site Subsequently, the central control unit 140 controls the motion control module to execute mechanical braking, physically locking the mobile power replenishment robot 100 at its current position coordinates via a motor brake or electromagnetic engagement mechanism to prevent displacement due to gravity or disturbance. Following this, the central control unit 140 adjusts the gain of the radio frequency energy synthesis and detection mechanism 130, increasing the transmission power to the rated operating power, and begins efficient energy transfer to the door and window dwelling device 300.

[0085] During the continuous energy transfer phase, the central control unit 140 polls the current voltage reflection coefficient with a low duty cycle. modulus If changes in the external environment cause the current location to... If the drift exceeds the permissible safety threshold, the system immediately interrupts high-power output, reverts to test power mode, and performs local fine-tuning optimization to restore the optimal matching state.

[0086] The specific code implementation of the digital filter and the parameter tuning of the PID control algorithm involved in the above steps can be designed by those skilled in the art based on general automatic control principles. These are well-known technologies in the field and will not be elaborated here.

[0087] The mobile power replenishment robot 100 completes the optimal injection position. After locking and entering high-power transmission state, the total input impedance of the system increases due to the non-stationarity of the external environment. It will experience time-varying drift over time. This invention ensures the long-term stability of energy transfer efficiency by establishing a closed-loop maintenance system based on time-domain perturbation observation.

[0088] The specific implementation includes the following steps: While maintaining high-power energy transmission, the central control unit 140 uses a directional coupler in the radio frequency energy synthesis and detection unit 130 to perform a preset sampling period. The system continuously acquires the incident and reflected power at the port. Using these physical quantities, the system calculates the current voltage reflection coefficient in real time. The modulus value is calculated, and a time sliding window sequence is constructed. To quantify the severity of environmental disturbances, a... as follows: ; in, For the current moment The rate of change of the disturbance; For the current moment In position coordinates Voltage reflection coefficient measured at [location] The modulus; The voltage reflection coefficient at the previous sampling time. The modulus; The sampling period.

[0089] The central control agency has a pre-set hysteresis comparison logic within 140, based on and the current moment The absolute reflection coefficient value is used to classify the system state into three modes: steady state, slow drift, and sudden disturbance.

[0090] Set the first threshold A second threshold is set as the upper limit of the allowable steady-state fluctuations. This is a safety cutoff limit. Simultaneously, it is set... The abrupt change slope threshold represents the maximum allowable jump in the reflection coefficient per unit time.

[0091] If the current time Voltage reflection coefficient The modulus is less than or equal to The system determines that it is in a steady state and keeps the current position coordinates unchanged.

[0092] like Current moment Voltage reflection coefficient modulus and The system determines that it is in a slow drift state, which is usually caused by temperature drift or gradual change in humidity, triggering the fine-tuning compensation mechanism.

[0093] If the current time Voltage reflection coefficient modulus or The system determines this as a sudden disturbance, which is usually caused by foreign objects blocking the view or human touch, triggering the safety blocking mechanism.

[0094] For slow drift, the system employs a perturbation-observation method or an extreme value search control strategy to dynamically correct the position coordinates without interrupting high-power transmission. The mobile power replenishment robot 100 maintains its position coordinates... Based on this, a small, tentative displacement step is applied. The system compares the voltage reflection coefficient before and after the displacement. The magnitude of the gradient changes, and the position coordinates are updated according to the gradient direction. The position update law is described by the following formula: ; in, The target position coordinates at the next moment; The coordinates of the current position; The iteration step size is typically set to 0.1 mm to 1 mm to ensure that the fine-tuning process does not cause drastic impedance fluctuations. This is the sign function, used to extract the gradient direction; and Voltage reflection coefficients at the current time and the previous time, respectively. The modulus; These are the position coordinates from the previous moment. Through this iterative process, the mobile power replenishment robot 100 can track the optimal injection position in real time, which changes due to drift in environmental parameters. This ensures that the system always operates near the extreme point of the impedance matching curve.

[0095] When a sudden disturbance is detected, the central control unit 140 immediately triggers a hardware interrupt signal to protect the RF power amplifier and avoid unintended radiation to the human body. Within microseconds, the system cuts off the gate bias voltage of the RF power amplifier, forcing the output power down to zero or the test power level. Subsequently, the system resets the motion control module and reverts to the aforementioned global coarse scan and data acquisition steps, restarting the global scan optimization process.

[0096] The software implementation of the hysteresis comparator and the dejittering of the sign function operation involved in the above control logic can be achieved by conventional means in digital signal processing technology by those skilled in the art. These are well-known technologies in the field and will not be elaborated here.

[0097] To efficiently extract radio frequency energy from the metal door / window frame 200, which serves as a single-wire transmission line, the door / window dwell device 300 is equipped with a distributed receiver coupler 310. This coupler does not rely on the exposed electrical contacts of the metal door / window frame 200, but instead employs a non-contact broadband capacitive coupling method to achieve non-contact wireless energy transmission.

[0098] The distributed receiving coupler 310 physically comprises a flexible dielectric substrate and receiving coupling electrodes attached thereto. The flexible dielectric substrate is made of polyimide (PI) or polyester (PET) film material and is tightly attached to the surface of the metal door / window frame 200. The receiving coupling electrodes are rectangular strips of copper foil or conductive silver paste coating, laid along the extension direction of the metal door / window frame 200 to form a distributed electric field induction surface. A composite dielectric layer is formed between the receiving coupling electrodes and the metal door / window frame 200 by the insulating varnish layer on the door / window surface and the flexible dielectric substrate, thereby forming an equivalent coupling capacitance between the receiving coupling electrodes and the metal door / window frame. .

[0099] To support the general feature of non-contact energy extraction in the claims, the equivalent coupling capacitance between the receiving coupling electrode and the metal door / window frame is... The physical value is determined by the following formula for parallel plate capacitance: ; in, To receive the equivalent coupling capacitance between the coupling electrode and the metal door / window frame; It is the vacuum permittivity; The relative permittivity of the composite dielectric layer; The effective overlap area between the end coupling electrode head and the metal door / window frame 200; The physical distance between the receiving coupling electrode and the metal door / window frame 200.

[0100] By designing the geometry of the receiving coupling electrode (increasing) Alternatively, a bonding material with a high dielectric constant can be selected (to increase...). This can reduce capacitive reactance and improve energy coupling efficiency.

[0101] In the electrical circuit connection, the receiving coupling electrode is connected to the impedance transformation and resonant network. This is due to the equivalent coupling capacitance between the receiving coupling electrode and the metal door / window frame. Exhibiting high capacitive reactance in the radio frequency band, direct connection to a load would lead to severe reflection loss. The impedance transformation and resonant network employs a series resonant matching structure, which includes a series compensating inductor. The series compensating inductor Its function is to cancel the equivalent coupling capacitance between the receiving coupling electrode and the metal door and window frame. The capacitive imaginary part allows the receiving port to operate at the specified frequency. A series resonance occurs at this point, exhibiting a purely resistive state. The resonance condition is satisfied: ; in, For series compensation inductance; Operating frequency; To receive the equivalent coupling capacitance between the coupling electrode and the metal door / window frame; It represents pi.

[0102] The RF signal, after resonance compensation, enters the rectification and regulation unit. The rectification and regulation unit employs a voltage doubler rectifier circuit topology, composed of zero-bias Schottky diodes, to reduce conduction voltage drop losses at low power. The rectified DC power, after being regulated by a DC-DC converter, is stored in a miniature supercapacitor or lithium battery to power the door / window dwell device 300.

[0103] To ensure maximum power transfer at the receiving end, the input impedance of the receiver coupler 310 is... The design needs to achieve conjugate matching with the output impedance at the 200mm end of the metal door / window frame. The impedance matching relationship at the receiving end is described by the following formula: ; in, The input impedance of the receiving coupler 310; The equivalent resistance of the rectifier circuit and the downstream load referred to the RF side; The angular frequency of the radio frequency signal; The inductance value for the series compensation inductor; To receive the equivalent coupling capacitance between the coupling electrode and the metal door / window frame; The imaginary unit; Let be the conjugate complex number of the output impedance of the metal door and window frame 200 at the coupling point.

[0104] To achieve the above formula and For matching the real part, this invention utilizes a DC-DC converter as a variable impedance converter. Assuming the DC-DC converter operates in continuous conduction mode, the equivalent DC resistance at the input of the DC-DC converter... Duty cycle A non-linear mapping relationship exists. The duty cycle is adjusted by a microcontroller. It can dynamically change the equivalent load at the back end of the rectifier circuit, thereby adjusting the load referred to the RF side. This allows the impedance to approach the real part of the transmission line's characteristic impedance, thus achieving efficient energy absorption.

[0105] For information on the manufacturing process of flexible circuit boards, the selection parameters of Schottky diodes, and the specific circuit topology of DC-DC converters, those skilled in the art can refer to relevant electronic circuit design manuals, which are well-known technologies in the field and will not be elaborated here.

[0106] To convert the weak radio frequency energy extracted by the distributed receiver coupler 310 into stable DC power that can be directly used by the door and window dwelling device 300, the system is equipped with a multi-stage rectification and energy management unit 320. This unit is functionally divided into a radio frequency rectification stage, an impedance transformation and voltage regulation stage, and an energy storage management stage.

[0107] The RF rectifier stage employs a multi-stage voltage multiplier rectifier circuit topology to accommodate potential voltage amplitude fluctuations on the metal door and window frame 200 and to boost the output voltage level. Specifically, an improved Dixon charge pump structure is used, consisting of several cascaded voltage multiplier units. Each voltage multiplier unit includes two zero-bias Schottky diodes and two energy storage capacitors. Zero-bias Schottky diodes are chosen to utilize their extremely low junction capacitance and forward voltage, thereby maintaining high detection efficiency across an input power range from microwatts to milliwatts.

[0108] Output DC voltage of rectifier circuit Peak voltage of the input RF signal The relationship is described by the following formula: ; in, This is the output DC voltage of the rectifier circuit; The number of stages in the voltage doubler rectifier circuit is usually set to 3 to 5, taking into account the bypass effect of parasitic capacitance on high-frequency signals. The peak voltage of the input radio frequency signal; This represents the forward voltage drop of a Schottky diode under current.

[0109] The impedance transformation and voltage regulation stage is located between the rectifier circuit and the energy storage battery. Its core component is a DC-DC converter with maximum power point tracking (MPPT). This DC-DC converter adopts a buck-boost topology and is not only responsible for stabilizing the output voltage, but more importantly, it acts as a variable impedance transformer to adjust the load impedance of the rectifier circuit, thereby achieving the equivalent resistance referred to the RF side for the rectifier circuit and the downstream load. Dynamic matching.

[0110] The energy storage management stage employs a hybrid energy storage architecture, comprising small-capacity supercapacitors and large-capacity lithium polymer batteries. The specific energy management strategy includes the following execution steps: In the initial state of the system, the control chip of the DC-DC converter has not yet started because the lithium battery is in a dormant or undervoltage state. At this time, the weak current output from the RF rectifier circuit directly charges the supercapacitor through a passive path formed by a bypass Schottky diode. When the voltage across the supercapacitor reaches the minimum startup threshold of the microcontroller, the control circuit is activated.

[0111] After the control chip starts up, it activates the DC-DC converter and executes the perturbation-observation algorithm. The controller operates in fixed step sizes. Periodically adjust the duty cycle of the power switching transistors in the DC-DC converter. During each adjustment cycle, the controller samples the rectified output current through a low-resistance current-sensing resistor connected in series in the circuit. And combined with the sampled rectified output voltage Calculate the current input power .

[0112] If the first Input power per sampling period Greater than the Input power per sampling period This indicates that the current impedance adjustment direction is correct, and the adjustment should continue in the same direction in the next cycle. ; If the first Input power per sampling period Less than the Input power per sampling period This indicates a deviation from the maximum power point, and the next cycle will adjust in the opposite direction. .

[0113] This process is repeated iteratively until the system stabilizes near its maximum power point.

[0114] While implementing MPPT control, the system monitors the battery voltage. If the battery voltage is lower than the safe voltage, the system limits the charging current to constant current charging mode; when the battery voltage approaches the full charge voltage, it switches to constant voltage charging mode. If the input power is detected to be continuously lower than the minimum threshold for maintaining system operation, the system automatically cuts off the lithium battery charging path and controls the door / window dwell device 300 to enter an extremely low-power deep sleep mode, retaining only the data in the supercapacitor-based volatile memory.

[0115] For the specific model parameters of the Schottky diodes used in the above circuit and the pin definitions of the DCDC control chip, those skilled in the art can refer to the datasheets of the relevant devices for selection and design. These are well-known technologies in the field and will not be elaborated here.

Claims

1. A dynamic power replenishment system for door and window equipment based on a service robot, characterized in that, Includes a mobile power replenishment robot (100), a metal door and window frame (200), and a door and window dwelling device (300); The mobile power replenishment robot (100) includes a mobile chassis module (110), a capacitive injection probe mechanism (120), and a radio frequency energy synthesis and detection mechanism (130). The capacitive injection probe mechanism (120) establishes non-conductive physical contact with the surface of the metal door and window frame (200) to form a capacitive coupling circuit. The radio frequency energy synthesis and detection mechanism (130) is used to generate radio frequency excitation signals and inject them into the metal door and window frame (200) through the capacitive injection probe mechanism (120). The metal door and window frame (200) serves as a single-line surface wave transmission medium, used to transmit the injected radio frequency excitation signal along the insulating dielectric layer (220) on the surface of the metal door and window frame (200) in the form of electromagnetic surface waves. The door and window dwelling device (300) is installed on the metal door and window frame (200) and includes a distributed receiver coupler (310) and an energy conversion management unit (320). The distributed receiver coupler (310) is used to pick up the energy of the electromagnetic surface wave from the surface of the metal door and window frame (200), and the energy conversion management unit (320) is used to convert the picked-up energy into DC power.

2. The dynamic power replenishment system for door and window equipment based on a service robot according to claim 1, characterized in that, The capacitive injection probe mechanism (120) includes a linear telescopic drive module, a flexible compliant connection assembly, and an end-coupled electrode head; The linear telescopic drive module is used to drive the end coupling electrode head to press against the metal door and window frame (200). The flexible compliant connection component is connected between the linear telescopic drive module and the end coupling electrode head to absorb radial displacement fluctuations and maintain constant contact pressure. The end coupling electrode head includes, from the inside out, a rigid metal back plate, a conductive buffer layer, and a high dielectric constant insulating film. The high dielectric constant insulating film is directly attached to the insulating dielectric layer (220) on the surface of the metal door and window frame (200), and together with the metal substrate (210) of the metal door and window frame (200), it constitutes an equivalent injection capacitor.

3. The dynamic power replenishment system for door and window equipment based on a service robot according to claim 1, characterized in that, The mobile chassis module (110) is an omnidirectional mobile chassis, which can drive the mobile power replenishment robot (100) to make linear displacement along the bottom extension direction of the metal door and window frame (200); The mobile charging robot (100) also includes a central control mechanism (140), which can establish a one-dimensional linear coordinate system based on the distance of the linear displacement and control the mobile chassis module (110) to perform spatial scanning motion and change the injection position of the radio frequency excitation signal.

4. The dynamic power replenishment system for door and window equipment based on a service robot according to claim 3, characterized in that, The radio frequency energy synthesis and detection mechanism (130) includes a signal generation module, a final stage power amplification module, and a directional coupling detection module connected in series; The signal generation module uses a direct digital frequency synthesizer chip or a phase-locked loop frequency synthesizer and is configured to generate sinusoidal carrier signals covering the high-frequency to very high-frequency bands under the control of the central control unit (140). The final stage power amplifier module adopts a switch-mode power amplifier topology and is configured to operate under a non-constant envelope signal to convert DC power energy into radio frequency energy. The output impedance of the final stage power amplifier module is the standard source impedance. The directional coupling detection module is used to detect the incident wave detection voltage and the reflected wave detection voltage at the injection port in real time and transmit them to the central control mechanism (140). The central control unit (140) calculates the voltage reflection coefficient based on the incident wave detection voltage and the reflected wave detection voltage, and constructs a mapping relationship between the injection position of the radio frequency excitation signal and the impedance matching degree based on the voltage reflection coefficient.

5. A dynamic power replenishment system for door and window equipment based on a service robot according to claim 1, characterized in that, The insulating dielectric layer (220) is used to constrain the propagation mode of electromagnetic surface waves, so that the radio frequency excitation signal forms the single-line surface wave on the surface of the metal door and window frame (200). The input impedance of the metal door and window frame (200) exhibits a periodic distribution characteristic as the injection position of the mobile power replenishment robot (100) changes.

6. A dynamic power replenishment system for door and window equipment based on a service robot according to claim 4, characterized in that, The central control unit (140) is used to perform spatial scanning optimization: The radio frequency energy synthesis and detection mechanism (130) is controlled to work in a low power test mode, and the mobile power replenishment robot (100) is controlled to perform a linear scanning motion along the metal door and window frame (200), and the position coordinate sequence and the corresponding voltage reflection coefficient amplitude sequence are collected simultaneously to construct a mapping table; The voltage reflection coefficient amplitude sequence is smoothed to identify the global minimum point in the voltage reflection coefficient amplitude sequence, and the location coordinates corresponding to the global minimum point are determined as the coarse target location. The mobile power replenishment robot (100) is controlled to move to the coarse target position and switch to fine step mode to perform local extremum optimization. The direction of movement is adjusted by judging the trend of the change of the voltage reflection coefficient before and after the small displacement until the gradient of the change of the voltage reflection coefficient with the position meets the preset convergence condition, thereby determining the optimal injection position. The mobile chassis module (110) of the mobile power replenishment robot (100) performs mechanical locking at the optimal injection position and controls the radio frequency energy synthesis and detection mechanism (130) to switch to high power transmission mode to inject electrical energy into the metal door and window frame (200).

7. A dynamic power replenishment system for door and window equipment based on a service robot according to claim 6, characterized in that, The central control unit (140) is also configured to execute a dynamic disturbance closed-loop maintenance strategy: During the high-power transmission phase, the time rate of change of the voltage reflection coefficient is calculated by the central control unit (140); When the time change rate or the magnitude of the voltage reflection coefficient is in the slow drift range, the mobile power replenishment robot (100) is controlled to perform micro-step iterative movement to track the optimal injection position; When the time change rate or the magnitude of the voltage reflection coefficient exceeds a preset safety threshold, the radio frequency energy synthesis and detection mechanism (130) is controlled to cut off the power output.

8. A dynamic power replenishment system for door and window equipment based on a service robot according to claim 1, characterized in that, The distributed receiving coupler (310) includes a flexible dielectric substrate and receiving coupling electrodes, which are laid along the extension direction of the metal door and window frame (200). The distributed receiver coupler (310) also includes an impedance transformation and resonant network, which includes a series compensation inductor. The series compensation inductor is used to cancel the capacitive reactance of the equivalent coupling capacitance between the receiver coupling electrode and the metal door and window frame (200), so that the receiver port generates a series resonance at the operating frequency.

9. A dynamic power replenishment system for door and window equipment based on a service robot according to claim 1, characterized in that, The energy conversion management unit (320) includes a multi-stage voltage multiplier rectifier circuit and a DC-DC converter with maximum power point tracking function; The DC-DC converter is used to change the equivalent load impedance at the back end of the multi-stage voltage multiplier rectifier circuit by adjusting the duty cycle, so that the real part of the load impedance referred to the radio frequency side matches the real part of the output impedance of the metal door and window frame (200) at the receiving end.

10. A method for dynamic power replenishment of door and window equipment based on service robots, characterized in that, The system, applied to a dynamic power replenishment system for door and window equipment based on a service robot as described in any one of claims 1-9, includes the following steps: The mobile power replenishment robot (100) responds to the scheduling command or power replenishment request and moves to the area where the metal door and window frame (200) is located; The central control mechanism (140) controls the capacitive injection probe mechanism (120) to extend and fit against the insulating dielectric layer (220) on the surface of the metal door and window frame (200) to establish an initial signal injection channel; The radio frequency energy synthesis and detection mechanism (130) outputs a low-power test carrier signal, and the central control mechanism (140) controls the mobile power replenishment robot (100) to perform linear scanning motion along the metal door and window frame (200) while maintaining contact, and simultaneously collects the voltage reflection coefficient at different positions; The central control unit (140) analyzes the distribution characteristics of the voltage reflection coefficient as a function of position, determines the optimal injection position corresponding to the antinode of the standing wave or the minimum point of the voltage reflection coefficient, and controls the mobile power replenishment robot (100) to lock at the optimal injection position. The central control unit (140) controls the radio frequency energy synthesis and detection unit (130) to switch the radio frequency excitation signal to a high power transmission mode, and injects electrical energy into the metal door and window frame (200) at the optimal injection position through the capacitive injection probe unit (120). The energy is transmitted to the door and window dwelling device (300) along the surface of the metal door and window frame (200) in the form of electromagnetic surface waves. The radio frequency energy synthesis and detection mechanism (130) continuously transmits the reflection parameters of the door and window dwelling device (300) to the monitoring port. If the impedance characteristics of the metal door and window frame (200) drift, the central control mechanism (140) controls the mobile power replenishment robot (100) to perform position correction, or stops power output when the voltage reflection coefficient exceeds the threshold.

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