Wireless charging power transmission system, robot, and wireless charging power transmission method

Abstract

The application provides a wireless charging power transmission system, a robot and a wireless charging power transmission method, and relates to the technical field of wireless charging. The system comprises a power factor correction circuit, which is used for converting alternating current input into direct current bus voltage; a common direct current bus, which is used for connecting the output end of the power factor correction circuit; at least two wireless power transmission channels, which are connected in parallel to the common direct current bus, wherein each wireless power transmission channel comprises: an inverter circuit, the input end of which is connected to the common direct current bus, and which is used for converting direct current into high-frequency alternating current; a transmitting side compensation network, which is connected to the output end of the inverter circuit; and a transmitting coil, which is connected to the transmitting side compensation network, and which is used for converting high-frequency alternating current into direct current output, so as to improve charging flexibility.

Description

Technical Field

[0001] This application relates to the field of wireless charging technology, and more specifically, to a wireless charging power transmission system, a robot, and a wireless charging power transmission method. Background Technology

[0002] Wireless charging technology is widely used in the automatic recharging scenarios of mobile devices such as service robots, inspection robots, and humanoid robots due to its advantages such as contactless power supply, safety and reliability, and no mechanical wear. A typical wireless charging system usually includes front-end rectification, high-frequency inverter, resonant compensation network, magnetic coupling mechanism, and receiving rectification, realizing contactless power transfer from the power grid to the battery of the device.

[0003] In related technologies, when wireless charging is required for multiple loads, a common approach is to configure a complete wireless charging system for each load. Each system has its own power factor correction circuit and power conversion circuit, operating independently. This method meets the charging needs of each load, but as the number of loads increases, the front-end power conversion circuit becomes redundant, resulting in a large number of components, high cost, and large size. Another approach is to drive two receivers simultaneously with a single inverter. However, when the coupling states of the two receivers are inconsistent, power distribution is difficult to control, easily leading to power imbalance problems where one side is stronger than the other.

[0004] When multiple loads are charged simultaneously, their charging needs are often different, and the coupling states between the receivers and transmitters may vary. The above method makes it difficult to ensure that each load receives a matching charging power while controlling hardware costs. Summary of the Invention

[0005] The problem addressed in this application is how to improve charging flexibility.

[0006] To address the aforementioned issues, this application provides a wireless charging power transmission system, a robot, and a wireless charging power transmission method.

[0007] In a first aspect, this application provides a wireless charging power transmission system, comprising: A power factor correction circuit is used to convert AC input into DC bus voltage; A common DC bus is used to connect to the output terminal of the power factor correction circuit; At least two wireless power transmission channels are connected in parallel to the common DC bus, wherein each wireless power transmission channel includes: The inverter circuit, with its input terminal connected to the common DC bus, is used to convert DC power into high-frequency AC power. A transmitter-side compensation network is connected to the output terminal of the inverter circuit; A transmitting coil, connected to the transmitting-side compensation network, is used to wirelessly transmit electrical energy to the receiving end.

[0008] Optionally, the power factor correction circuit is configured to adjust the output DC bus voltage in response to a voltage regulation signal.

[0009] Optionally, the inverter circuit is a phase-shifted full-bridge inverter circuit, and each inverter circuit is configured to respond to an independent phase-shift control signal and independently adjust its own output phase-shift angle.

[0010] Optionally, the transmitting-side compensation network is an LCC compensation network, and the receiving-side compensation network is an LC series resonant network.

[0011] Optionally, the power factor correction circuit is a totem pole power factor correction circuit.

[0012] Secondly, this application also provides a robot applied at a receiving end, the robot comprising: At least two receiving coils; At least two receiving-side compensation networks are respectively connected to each of the receiving coils; At least two rectifier circuits are connected to each of the receiving-side compensation networks to convert high-frequency AC power into DC power output.

[0013] Thirdly, this application also provides a wireless charging power transmission method, applied to the wireless charging power transmission system as described in the first aspect, the wireless charging power transmission method comprising: The control power factor correction circuit converts AC power to DC and establishes a common DC bus, which is connected to the first wireless power transmission channel and the second wireless power transmission channel respectively. The output requirements of the first wireless power transmission channel and the second wireless power transmission channel are detected respectively, and the target total output power is determined according to the output requirements of each channel. Adjust the bus voltage of the common DC bus according to the target total output power; The first inverter circuit in the first wireless power transmission channel and the second inverter circuit in the second wireless power transmission channel are respectively driven. According to the output requirements of each wireless power transmission channel, the control parameters of the corresponding inverter circuit are adjusted to independently regulate the output power of each wireless power transmission channel.

[0014] Optionally, the wireless charging power transmission method further includes: When adjusting the target total output power, first adjust the bus voltage of the common DC bus; When adjusting the output power of any of the wireless power transmission channels, the control parameters of the inverter circuit corresponding to that channel are adjusted, wherein the control parameters include at least one of phase shift angle, switching frequency and duty cycle.

[0015] Optionally, the wireless charging power transmission method further includes: According to the output requirements of each wireless power transmission channel, the system switches between single-channel working mode, dual-channel independent working mode, and dual-channel parallel working mode. In the single-channel working mode, one wireless power transmission channel is driven. In the dual-channel independent working mode, each wireless power transmission channel is driven independently. In the dual-channel parallel working mode, the outputs of each rectifier circuit are connected in parallel to the same load.

[0016] Optionally, the wireless charging power transmission method further includes: When any of the aforementioned wireless power transmission channels is detected to be abnormal, the channel that is mismatched or abnormal is subject to power reduction, suspension, or isolation control.

[0017] The beneficial effects of the wireless charging power transmission system of this application are: The AC input is converted to DC bus voltage by a power factor correction circuit and output to a common DC bus. The common DC bus distributes the DC power to at least two parallel wireless power transmission channels. Each channel completes the power transmission link from DC to high-frequency AC and then wirelessly transmits power to the receiver via an inverter circuit, a transmitter-side compensation network, and a transmitter coil. This architecture reduces the number of components and system size by sharing front-end power conversion resources, and meets the differentiated needs of multiple loads by independently transmitting power through parallel channels. This solves the technical problem of meeting the differentiated charging needs of various loads while controlling hardware costs in multi-load wireless charging scenarios. Attached Figure Description

[0018] Figure 1 This is a topology block diagram of the wireless charging power transmission system according to an embodiment of this application; Figure 2 This is a flowchart illustrating the wireless charging power transmission method according to an embodiment of this application. Figure 3 This is an example diagram illustrating the working mode of the wireless charging power transmission method according to an embodiment of this application; Figure 4 This is an example diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0019] To make the above-mentioned objects, features, and advantages of this application more apparent and understandable, specific embodiments of this application are described in detail below with reference to the accompanying drawings. Although some embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this application. It should be understood that the accompanying drawings and embodiments of this application are for illustrative purposes only and are not intended to limit the scope of protection of this application.

[0020] It should be understood that the steps described in the method embodiments of this application may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this application is not limited in this respect.

[0021] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the description below. It should be noted that the concepts of "first," "second," etc., mentioned in this application are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0022] It should be noted that the terms "one" and "more" used in this application are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0023] The names of the messages or information exchanged between multiple devices in the embodiments of this application are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0024] like Figure 1 As shown in the figure, an embodiment of this application provides a wireless charging power transmission system, comprising: A power factor correction circuit is used to convert AC input into DC bus voltage.

[0025] In one embodiment, the AC input passes through an EMI filter circuit and a pre-charge circuit before being connected to a power factor correction circuit. The power factor correction circuit, through rectification and power factor correction, outputs a DC bus voltage to a common DC bus. The EMI filter circuit suppresses electromagnetic interference on the input power line, and the pre-charge circuit limits inrush current during system startup. The power factor correction circuit improves the power factor on the input side and stabilizes the DC output. In an architecture where multiple wireless power transmission channels share a front-end power conversion circuit, only one power factor correction circuit is needed to provide a DC bus for all channels. Compared to configuring a separate power factor correction circuit for each channel, this reduces redundant configuration of front-end power devices, magnetic devices, and control resources, thus lowering system cost and size.

[0026] A common DC bus is used to connect to the output terminal of the power factor correction circuit.

[0027] In one embodiment, a common DC bus is connected to the output of the power factor correction circuit and simultaneously connects to at least two wireless power transmission channels. The common DC bus represents the DC conductive path between the output of the power factor correction circuit and each wireless power transmission channel. The common DC bus distributes the DC power output from the power factor correction circuit to each wireless power transmission channel, enabling each channel to draw power from the same DC bus and achieving resource sharing in the front-end power conversion.

[0028] At least two wireless power transmission channels are connected in parallel to the common DC bus, wherein each wireless power transmission channel includes: The inverter circuit, with its input terminal connected to the common DC bus, is used to convert DC power into high-frequency AC power.

[0029] The transmitter-side compensation network is connected to the output terminal of the inverter circuit.

[0030] A transmitting coil, connected to the transmitting-side compensation network, is used to wirelessly transmit electrical energy to the receiving end.

[0031] In one embodiment, at least two wireless power transmission channels are connected in parallel to a common DC bus. Each wireless power transmission channel represents a power transmission link from the common DC bus to the transmitting coil, including an inverter circuit, a transmitter-side compensation network, and a transmitting coil. The parallel connection of these wireless power transmission channels to the common DC bus enables each channel to simultaneously acquire power and transmit power independently, supporting simultaneous charging of multiple loads. When the charging needs of different loads differ or the coupling states of the channels vary, each channel transmits different power to meet differentiated charging requirements.

[0032] The input of the inverter circuit is connected to a common DC bus. The inverter circuit converts the DC power supplied by the common DC bus into high-frequency AC power through the periodic switching of switching devices, and outputs it to the transmitter-side compensation network. The operating state of the inverter circuit is adjustable, allowing independent control of the output power of each wireless power transmission channel. Compared to a scheme that uses a single inverter to drive two receivers simultaneously, each channel has its own inverter circuit, ensuring independent power transmission and avoiding power distribution imbalances caused by coupling differences.

[0033] In one embodiment, a transmitter-side compensation network is connected to the output of the inverter circuit. The transmitter-side compensation network is used to compensate for the resonance of the high-frequency AC output from the inverter circuit, ensuring that the transmitting coil operates near its resonant state. The function of the transmitter-side compensation network is to match the impedance between the inverter circuit and the transmitting coil, thereby improving power transmission efficiency.

[0034] In one embodiment, the transmitting coil is connected to the transmitting-side compensation network. Under the excitation of the transmitting-side compensation network, an alternating magnetic field is generated, which radiates electrical energy into space in the form of an electromagnetic field and wirelessly transmits electrical energy to the receiving end.

[0035] The wireless charging power transmission system in this embodiment converts the AC input into a DC bus voltage via a power factor correction circuit and outputs it to a common DC bus. The common DC bus distributes the DC power to at least two parallel wireless power transmission channels. Each channel completes the power transmission link from DC to high-frequency AC and then wirelessly transmits power to the receiver via an inverter circuit, a transmitter-side compensation network, and a transmitter coil. This architecture reduces the number of components and system size through front-end power conversion resource sharing, and meets the differentiated needs of multiple loads by independently transmitting power through parallel channels. This solves the technical problem of controlling hardware costs while meeting the differentiated charging needs of various loads in multi-load wireless charging scenarios.

[0036] Optionally, the power factor correction circuit is configured to adjust the output DC bus voltage in response to a voltage regulation signal.

[0037] In one embodiment, the output voltage of the power factor correction circuit is controlled by a voltage regulation signal. When the total system power demand changes, the controller outputs a voltage regulation signal to the power factor correction circuit. The power factor correction circuit then adjusts the on-time or duty cycle of its switching devices according to the voltage regulation signal, causing the output DC bus voltage to rise or fall. This change in the DC bus voltage simultaneously affects each wireless power transmission channel, altering the input voltage of the inverter circuit in each channel and thus changing the power transmission capability of each channel. The power factor correction circuit is configured to adjust its output voltage in response to the voltage regulation signal, allowing the voltage of the common DC bus to adjust according to changes in the total system power demand, thereby achieving wide-range power regulation at the system level.

[0038] Specifically, with Figure 1 Taking the PFC circuit shown as an example, the PFC output bus voltage can be adjusted within the range of 370V to 450V. When the target total output power increases, the controller outputs a voltage adjustment signal to raise the PFC output voltage to around 450V, thereby increasing the input voltage of each channel's inverter circuit and improving power transmission capability. When the target total output power decreases, the controller outputs a voltage adjustment signal to lower the PFC output voltage to around 370V, reducing the power transmission capability of each channel.

[0039] In another embodiment, the power factor correction circuit is not limited to totem-pole PFC; it can also employ bridge PFC, bridgeless PFC, or interleaved parallel PFC, or other AC-DC front-end topologies capable of bus voltage regulation. As long as the power factor correction circuit can respond to voltage regulation signals and adjust the output voltage, the above functions can be achieved.

[0040] Optionally, the inverter circuit is a phase-shifted full-bridge inverter circuit, and each inverter circuit is configured to respond to an independent phase-shift control signal and independently adjust its own output phase-shift angle.

[0041] In one embodiment, each inverter circuit employs a phase-shifted full-bridge structure, comprising an H-bridge composed of four power switching devices. By adjusting the conduction phase difference (i.e., phase shift angle) between the upper and lower transistors of the same bridge arm, the effective duty cycle of the output high-frequency AC square wave is changed, thereby regulating the output power. The advantage of the phase-shifted full-bridge structure is that the switching devices can be turned on under zero-voltage switching conditions, reducing switching losses. Each inverter circuit receives its own phase shift control signal, which is independently generated by the controller according to the output requirements of each channel. The phase shift angles of the two inverter circuits are independent of each other, making the output power of each channel independently adjustable.

[0042] Specifically, INV_1 receives the first phase shift control signal, and INV_2 receives the second phase shift control signal. When the output demand of the first wireless power transmission channel is greater than that of the second wireless power transmission channel, the controller adjusts the phase shift angle of INV_1 to be smaller than that of INV_2, making the output power of the first channel greater than that of the second channel. The phase shift angle can be adjusted from 0 degrees to 180 degrees; a smaller phase shift angle results in higher output power, and a larger phase shift angle results in lower output power. The two phase shift angles can be set to different values ​​to achieve independent power allocation between the two channels.

[0043] In another embodiment, the inverter circuit is not limited to a phase-shifted full-bridge structure; it can also employ a full-bridge inverter combined with other soft-switching control strategies, LLC-type excitation inverter structures, half-bridge inverter structures, or active bridge resonant inverter structures. Considering medium-to-high power, adjustable power range, and efficiency, the phase-shifted full-bridge is the preferred option, but other inverter topologies capable of DC-to-high-frequency AC conversion and adjustable output parameters are also applicable.

[0044] Optionally, the transmitting-side compensation network is an LCC compensation network, and the receiving-side compensation network is an LC series resonant network.

[0045] In one embodiment, the transmitting-side compensation network adopts an LCC structure, consisting of a series inductor, a parallel capacitor, and a series capacitor, forming a resonant network together with the transmitting coil. The receiving-side compensation network adopts an LC series structure, consisting of an inductor and a capacitor connected in series, forming a resonant network together with the receiving coil. The LCC-S structure enables the transmitting side to have constant current characteristics and the receiving side to have constant voltage output characteristics, which is beneficial for obtaining output voltage and current characteristics suitable for battery charging. The LCC-S structure has good stability under load and coupling changes, making it suitable as a front-end power transfer network for battery charging.

[0046] In another embodiment, the compensation network is not limited to the LCC-S structure. The compensation networks on both the transmitting and receiving sides can also employ other compensation forms such as SS (series-series), SP (series-parallel), PS (parallel-series), PP (parallel-parallel), LCL, CLL, or LCC-LCC. Any network capable of wireless power transfer and possessing compensation capabilities to adapt to load and coupling changes is applicable. Considering output characteristics, efficiency, and ease of control, LCC-S is the preferred solution.

[0047] Optionally, the power factor correction circuit is a totem pole power factor correction circuit.

[0048] In one embodiment, the totem-pole power factor correction circuit includes two active switches and two low-frequency rectifiers. The two active switches are silicon carbide or gallium nitride wide-bandgap semiconductor devices, operating alternately during the positive and negative half-cycles of the power frequency to achieve rectification and power factor correction of the AC input. The advantage of the totem-pole structure lies in the small number of switching devices in the conduction path and low conduction losses, making it suitable for medium- to high-power wireless charging applications. The control terminal of the totem-pole power factor correction circuit is connected to a controller, which adjusts the switching sequence of the active switches to change the output DC bus voltage.

[0049] In another embodiment, the power factor correction circuit is not limited to the totem pole structure, but can also adopt other topologies that can realize front-end power factor correction and DC bus regulation functions, such as single-phase bridge PFC, bridgeless PFC, interleaved parallel PFC or bidirectional PFC.

[0050] This application embodiment also provides a robot applied at a receiving end, the robot comprising: At least two receiving coils; At least two receiving-side compensation networks are respectively connected to each of the receiving coils; At least two rectifier circuits are connected to each of the receiving-side compensation networks to convert high-frequency AC power into DC power output.

[0051] In one embodiment, each receiving coil of the robot is magnetically coupled to the corresponding transmitting coil at the transmitting end. The receiving coil is situated in the alternating magnetic field generated by the transmitting coil, and generates an induced electromotive force through electromagnetic induction to receive wirelessly transmitted electrical energy. The magnetic coupling relationship between the receiving coil and the transmitting coil is the core element of wireless power transmission, and the coupling strength is affected by factors such as coil spacing, alignment deviation, and air gap.

[0052] In one embodiment, a receiving-side compensation network is connected to the receiving coil to perform resonance compensation on the high-frequency AC power received by the receiving coil. The function of the receiving-side compensation network is to match the impedance between the receiving coil and the rectifier circuit, optimizing the output characteristics of the receiving side. The rectifier circuit is connected to the receiving-side compensation network to rectify the high-frequency AC power output by the receiving-side compensation network into DC power. The output terminal of the rectifier circuit is connected to a filter circuit, which includes a filter capacitor or an LC filter circuit, to filter the rectified DC power and output a stable DC voltage to supply power to the battery or DC load. In another embodiment, the rectifier circuit is not limited to a full-bridge rectifier structure; it can also use a diode rectifier bridge, a MOS synchronous rectifier bridge, an active rectifier bridge, or a bidirectional DC-AC / AC-DC bridge structure. If higher efficiency or energy feedback is required, it can be expanded into an active rectification scheme.

[0053] For example, the transmitting coils of the two wireless power transmission channels are respectively positioned on the charging base at the corresponding positions of the robot's left and right feet. When the robot's feet are resting on the charging base, the receiving coil at the bottom of the left foot is aligned and coupled with the transmitting coil at the left foot position, and the receiving coil at the bottom of the right foot is aligned and coupled with the transmitting coil at the right foot position, enabling simultaneous wireless charging for both feet. The two sets of transmitting coils are set independently. When the alignment deviation or air gap between the left and right feet is different, the coupling coefficients of the two channels will differ. Each channel adjusts its output power to adapt to its respective coupling state, improving the system's robustness and charging success rate in real-world docking scenarios.

[0054] Specifically, the two sets of transmitting coils can also be arranged in the positions of two independent receiving modules, not limited to bipedal robot scenarios. The number of transmitting coils can be expanded to three or more sets, corresponding to multiple docking points of the robot or multiple receiving modules.

[0055] like Figure 2 As shown in the embodiment of this application, a wireless charging power transmission method is provided and applied to the wireless charging power transmission system described above. The wireless charging power transmission method includes: Step S100: Control the power factor correction circuit to convert AC power to DC and establish a common DC bus, which is connected to the first wireless power transmission channel and the second wireless power transmission channel respectively.

[0056] In one embodiment, the power factor correction circuit receives AC input, rectifies and corrects the power factor to output a DC voltage, and establishes a common DC bus. This common DC bus connects to both the first and second wireless power transmission channels, providing a shared DC power source for both channels. By providing a common DC bus for multiple wireless power transmission channels using a single power factor correction circuit, it avoids configuring separate front-end rectification and power factor correction circuits for each channel, reducing the number of system components and cost.

[0057] Step S200: Detect the output requirements of the first wireless power transmission channel and the second wireless power transmission channel respectively, and determine the target total output power based on the output requirements of each channel.

[0058] In one embodiment, the output requirements of the first and second wireless power transmission channels are detected. The output requirements represent the charging state requirements of the load connected to each channel, including at least one of a target charging voltage, a target charging current, and a target charging power. The target total output power is determined based on the output requirements of each channel, and the target total output power is the sum of the output requirements of all channels.

[0059] Step S300: Adjust the bus voltage of the common DC bus according to the target total output power.

[0060] In one embodiment, the bus voltage of the common DC bus is adjusted according to the target total output power. When the target total output power increases, the bus voltage of the common DC bus is increased; when the target total output power decreases, the bus voltage of the common DC bus is decreased. The change in the bus voltage of the common DC bus simultaneously affects the input voltage of each wireless power transmission channel, thereby altering the power transmission capability of each channel. By achieving a wide range of total power adjustment at the system level, the power transmission capability of each channel is adjusted holistically according to changes in the bus voltage.

[0061] Step S400: Drive the first inverter circuit in the first wireless power transmission channel and the second inverter circuit in the second wireless power transmission channel respectively.

[0062] In one embodiment, a first inverter circuit in the first wireless power transmission channel and a second inverter circuit in the second wireless power transmission channel are driven respectively. The first and second inverter circuits operate independently, converting the DC power supplied by the common DC bus into high-frequency AC power to drive the transmitter-side compensation network and transmitter coil of their respective channels. This allows both wireless power transmission channels to operate simultaneously, enabling simultaneous charging of multiple loads, and the driving of the two inverter circuits is independent and undependent.

[0063] Step S500: According to the output requirements of each wireless power transmission channel, adjust the control parameters of the corresponding inverter circuit to independently adjust the output power of each wireless power transmission channel.

[0064] In one embodiment, the control parameters of the first inverter circuit are adjusted according to the output demand of the first wireless power transmission channel, and the control parameters of the second inverter circuit are adjusted according to the output demand of the second wireless power transmission channel. The control parameters represent adjustable parameters in the inverter circuit that affect the output power, including at least one of phase shift angle, switching frequency, and duty cycle. The control parameters of the two inverter circuits are set independently, allowing the output power of the first and second wireless power transmission channels to be adjusted independently. Based on a common DC bus voltage, the independent fine-tuning of the output power of each channel is achieved through the control parameters of each channel's inverter circuit. When the coupling state or load demand of the two channels differs, each channel adjusts its output power separately to avoid uneven power distribution.

[0065] In one embodiment, after the output power of each channel is adjusted to the target value, the system enters the closed-loop regulation stage. The controller continuously monitors the output voltage and output current of each channel, compares them with the target charging voltage and target charging current, and continuously updates the bus voltage and inverter circuit control parameters through closed-loop feedback to maintain the output of each channel within the target range. The closed-loop regulation includes a constant current charging stage and a constant voltage charging stage, and the controller switches between constant current and constant voltage modes according to the battery's charging state.

[0066] This embodiment of the wireless charging power transmission method establishes a common DC bus by controlling a power factor correction circuit and connecting it to two wireless power transmission channels. It detects the output demand of each channel and determines the target total output power. Based on the target total output power, it adjusts the bus voltage to achieve system-level total power regulation. It then drives the inverter circuits of each channel to operate simultaneously. Based on the output demand of each channel, it adjusts the control parameters of the inverter circuits to achieve independent control of the output power of each channel, forming a power regulation architecture that combines total power regulation of the bus voltage with independent power regulation of each channel's control parameters. Under the premise of sharing front-end power conversion resources, it achieves system-level total power control through bus voltage regulation and differentiated control of the output power of each channel through independent adjustment of the control parameters of each channel's inverter circuit. This solves the technical problem of meeting the differentiated charging needs of each load while controlling hardware costs in multi-load wireless charging scenarios.

[0067] Optionally, the wireless charging power transmission method further includes: When adjusting the target total output power, first adjust the bus voltage of the common DC bus; When adjusting the output power of any of the wireless power transmission channels, the control parameters of the inverter circuit corresponding to that channel are adjusted, wherein the control parameters include at least one of phase shift angle, switching frequency and duty cycle.

[0068] In one embodiment, power regulation is divided into two levels. The first level is bus voltage regulation. When the target total output power changes, the controller prioritizes adjusting the bus voltage of the common DC bus, thereby achieving a wide range of adjustments to the total system power by changing the output voltage of the PFC circuit. Bus voltage regulation is suitable for scenarios where the total power demand changes significantly, offering a wide adjustment range but a slow response speed. The second level is control parameter regulation. When it is necessary to adjust the output power of a specific channel, the controller adjusts the control parameters of the inverter circuit for that channel, achieving rapid and fine-tuned adjustment of the single-channel power. Control parameter regulation is suitable for fine-tuning the differentiated power demands of each channel, offering a fast response speed without affecting the operating status of other channels. The reason for adopting the order of adjusting bus voltage first and then control parameters is that changes in bus voltage affect all channels. By first completing the adjustment at the total power level and then using control parameters to differentiate the allocation of power to each channel, repeated adjustments to each channel during bus voltage fluctuations are avoided.

[0069] Specifically, when the system transitions from standby to charging mode, the target total output power increases from zero to the rated value. The controller first controls the PFC to raise the bus voltage from 370V to 450V, ensuring that the power transmission capacity of each channel reaches the rated level. Subsequently, the controller adjusts the phase shift angles of INV_1 and INV_2 according to the output requirements of the first and second channels, respectively. Control parameters include at least one of phase shift angle, switching frequency, and duty cycle. For example, the phase shift angle of INV_1 is set to 30 degrees, and the phase shift angle of INV_2 is set to 60 degrees, ensuring that the output power of the first channel is greater than that of the second channel. The switching frequency and duty cycle can also be adjusted simultaneously to achieve multi-parameter coordinated power regulation.

[0070] Optionally, the wireless charging power transmission method further includes: According to the output requirements of each wireless power transmission channel, the system switches between single-channel working mode, dual-channel independent working mode, and dual-channel parallel working mode. In the single-channel working mode, one wireless power transmission channel is driven. In the dual-channel independent working mode, each wireless power transmission channel is driven independently. In the dual-channel parallel working mode, the outputs of each rectifier circuit are connected in parallel to the same load.

[0071] In one embodiment, the system selects the operating mode based on the output requirements of each channel. In single-channel operating mode, only one inverter circuit, compensation network, and rectifier channel are activated, suitable for robot single-leg positioning or single-receiver operation scenarios. When only one receiver is in position, the system enters single-channel operating mode to avoid idle loss on the other channel. In dual-channel independent operating mode, both channels operate simultaneously, supplying power to two independent receivers respectively. The control parameters of the two inverter circuits are set independently, distributing power according to their respective coupling and load states. When the output requirements of the two receivers differ, the system enters dual-channel independent operating mode, with each channel outputting different power according to its needs. In dual-channel parallel operating mode, the outputs of the two rectifier circuits are connected in parallel to the same battery or the same DC bus, suitable for single-load scenarios requiring higher total charging power. In dual-channel parallel operating mode, the controller detects the output current of the first and second wireless power transmission channels and adjusts the control parameters of the corresponding inverter circuits based on the difference in output current, balancing the two output currents and achieving parallel current sharing control.

[0072] In another embodiment, the two outputs are not limited to direct parallel connection; they can also be combined to the same load after passing through a DC / DC converter. The outputs of each rectifier circuit are combined after voltage matching and current regulation by a DC / DC converter to adapt to battery systems with different voltage levels.

[0073] In another embodiment, the two outputs can be connected to two independent battery packs completely independently, connected to different interfaces of the same battery pack, connected in parallel to the same DC bus, or combined to the same load through a DC / DC converter.

[0074] Specifically, with Figure 3 Taking the illustrated operating modes as an example, when both legs of the robot are in position and connected to their respective batteries, the system operates in a dual-path independent operating mode, with INV_1 and INV_2 charging the batteries of the left and right legs respectively. When only one leg of the robot is in position, the system switches to a single-path operating mode, driving only the inverter circuit of the corresponding channel. When both legs of the robot are in position but both outputs are connected in parallel to the same battery system, the system switches to a dual-path parallel operating mode, where the outputs of REC_1 and REC_2 are connected in parallel to power the same battery, increasing the total charging power.

[0075] In another embodiment, the system also supports an asymmetric power distribution mode. When the coupling coefficients of the left and right legs are different or the battery states are different, the two output powers are distributed in different proportions; for example, one operates at rated power and the other operates at lower power. The switching of the operating mode is determined based on at least one parameter among the output requirements of each channel, the coupling state, and the battery state.

[0076] Optionally, the wireless charging power transmission method further includes: When any of the aforementioned wireless power transmission channels is detected to be abnormal, the channel that is mismatched or abnormal is subject to power reduction, suspension, or isolation control.

[0077] In one embodiment, the system continuously monitors the operating status of each channel, including at least one of the following parameters: inverter current, output voltage, output current, coil coupling state, and temperature. When any channel experiences an anomaly such as coupling mismatch, excessive positional offset, overcurrent, overvoltage, or overtemperature, the controller reduces power, suspends operation, or isolates the channel. The severity of the anomaly determines the response level: a minor anomaly results in reduced power operation for that channel; a moderate anomaly suspends the inverter circuit drive for that channel; and a severe anomaly isolates the rectifier output for that channel. While the abnormal channel is being processed, other normal channels continue to operate unaffected by the abnormal channel. This system provides single-channel fault tolerance, preventing the entire charging system from being interrupted due to a single-channel failure.

[0078] Specifically, with Figure 1Taking the system shown as an example, when a positional deviation occurs between the receiving coil and the transmitting coil of the first wireless power transmission channel, causing the coupling coefficient to drop below a preset threshold, the controller detects an abnormal increase in the output current of INV_1 and determines that the first channel has a coupling mismatch. The controller performs power reduction control on the first channel, increasing the phase shift angle of INV_1 to reduce the output power. Simultaneously, the second wireless power transmission channel maintains normal operation, with the phase shift angle of INV_2 remaining unchanged, and the charging process of the second channel is unaffected. Once the anomaly in the first channel is eliminated, the controller restores normal drive of INV_1, allowing the first channel to re-enter the working state.

[0079] like Figure 4 As shown in the embodiment of this application, an electronic device 400 includes a memory 410 and a processor 420; the memory 410 is used to store a computer program; the processor 420 is used to implement the wireless charging power transmission method as described above when the computer program is executed.

[0080] Alternatively, an electronic device 400 includes a memory 410 and a processor 420 coupled to the memory 410; the memory 410 is configured to store a computer program; and the processor 420 is configured to perform the following operations when the computer program is executed: The control power factor correction circuit converts AC power to DC and establishes a common DC bus, which is connected to the first wireless power transmission channel and the second wireless power transmission channel respectively. The output requirements of the first wireless power transmission channel and the second wireless power transmission channel are detected respectively, and the target total output power is determined according to the output requirements of each channel. Adjust the bus voltage of the common DC bus according to the target total output power; The first inverter circuit in the first wireless power transmission channel and the second inverter circuit in the second wireless power transmission channel are respectively driven. According to the output requirements of each wireless power transmission channel, the control parameters of the corresponding inverter circuit are adjusted to independently regulate the output power of each wireless power transmission channel.

[0081] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the wireless charging power transmission method described above.

[0082] Alternatively, a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the following operations: The control power factor correction circuit converts AC power to DC and establishes a common DC bus, which is connected to the first wireless power transmission channel and the second wireless power transmission channel respectively. The output requirements of the first wireless power transmission channel and the second wireless power transmission channel are detected respectively, and the target total output power is determined according to the output requirements of each channel. Adjust the bus voltage of the common DC bus according to the target total output power; The first inverter circuit in the first wireless power transmission channel and the second inverter circuit in the second wireless power transmission channel are respectively driven. According to the output requirements of each wireless power transmission channel, the control parameters of the corresponding inverter circuit are adjusted to independently regulate the output power of each wireless power transmission channel.

[0083] Electronic device 400, which can serve as a server or client in this application, is described below as an example of hardware devices that can be applied to various aspects of this application. Electronic device 400 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device 400 can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the application described and / or claimed herein.

[0084] Electronic device 400 includes a computing unit that can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or a computer program loaded from a storage unit into random access memory (RAM). The RAM may also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0085] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this application according to actual needs. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0086] Although the above disclosure is provided, the scope of protection of this application is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this application, and all such changes and modifications will fall within the scope of protection of this application.

Claims

1. A wireless charging power transmission system, characterized in that, The system, applied to the transmitting end, includes: A power factor correction circuit is used to convert AC input into DC bus voltage; A common DC bus is used to connect to the output terminal of the power factor correction circuit; At least two wireless power transmission channels are connected in parallel to the common DC bus, wherein each wireless power transmission channel includes: The inverter circuit, with its input terminal connected to the common DC bus, is used to convert DC power into high-frequency AC power. A transmitter-side compensation network is connected to the output terminal of the inverter circuit; A transmitting coil, connected to the transmitting-side compensation network, is used to wirelessly transmit electrical energy to the receiving end.

2. The wireless charging power transmission system according to claim 1, characterized in that, The power factor correction circuit is configured to respond to a voltage adjustment signal and adjust the output DC bus voltage.

3. The wireless charging power transmission system according to claim 1, characterized in that, The inverter circuit is a phase-shifted full-bridge inverter circuit, and each inverter circuit is configured to respond to an independent phase shift control signal and independently adjust its own output phase shift angle.

4. The wireless charging power transmission system according to claim 1, characterized in that, The transmitting-side compensation network is an LCC compensation network, and the receiving-side compensation network is an LC series resonant network.

5. The wireless charging power transmission system according to claim 1, characterized in that, The power factor correction circuit is a totem pole power factor correction circuit.

6. A robot, characterized in that, The robot, used at the receiving end, includes: At least two receiving coils; At least two receiving-side compensation networks are respectively connected to each of the receiving coils; At least two rectifier circuits are connected to each of the receiving-side compensation networks to convert high-frequency AC power into DC power output.

7. A wireless charging power transmission method, characterized in that, The wireless charging power transmission method, applied to the wireless charging power transmission system as described in any one of claims 1-5, comprises: The control power factor correction circuit converts AC power to DC and establishes a common DC bus, which is connected to the first wireless power transmission channel and the second wireless power transmission channel respectively. The output requirements of the first wireless power transmission channel and the second wireless power transmission channel are detected respectively, and the target total output power is determined according to the output requirements of each channel. Adjust the bus voltage of the common DC bus according to the target total output power; The first inverter circuit in the first wireless power transmission channel and the second inverter circuit in the second wireless power transmission channel are respectively driven. According to the output requirements of each wireless power transmission channel, the control parameters of the corresponding inverter circuit are adjusted to independently regulate the output power of each wireless power transmission channel.

8. The wireless charging power transmission method according to claim 7, characterized in that, The wireless charging power transmission method further includes: When adjusting the target total output power, first adjust the bus voltage of the common DC bus; When adjusting the output power of any of the wireless power transmission channels, the control parameters of the inverter circuit corresponding to that channel are adjusted, wherein the control parameters include at least one of phase shift angle, switching frequency and duty cycle.

9. The wireless charging power transmission method according to claim 7, characterized in that, The wireless charging power transmission method further includes: According to the output requirements of each wireless power transmission channel, the system switches between single-channel working mode, dual-channel independent working mode, and dual-channel parallel working mode. In the single-channel working mode, one wireless power transmission channel is driven. In the dual-channel independent working mode, each wireless power transmission channel is driven independently. In the dual-channel parallel working mode, the outputs of each rectifier circuit are connected in parallel to the same load.

10. The wireless charging power transmission method according to claim 7, characterized in that, The wireless charging power transmission method further includes: When any of the aforementioned wireless power transmission channels is detected to be abnormal, the channel that is mismatched or abnormal is subject to power reduction, suspension, or isolation control.

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