| Robot technology has come into people’s vision since the 19 th century,and researchers have completed a lot of researches on it.And it has been applied in logistics,industry,transportation,aerospace and other fields.Generally,Robots used batteries to provide the required electric energy.While the power is insufficient,the robot needs to be recharged.At present,the research on charging technology for single robots is more mature,while the charging technology for group robots is not yet able to meet the demand of their continuous and uninterrupted work.Based on this,dynamic wireless power supply technology is applied to the power supply scene of swarm robots.In this thesis,the wireless power supply system is studied based on the group dynamic planning of wireless robots.It can meet the requirements of stable and orderly power supply for swarm robots.The following problems are mainly solved:Firstly,in order to study the variations of output power and transmission efficiency of system in the dynamic wireless charging scene of the robot,the coupling of the robot in the dynamic wireless charging process is analyzed based on the square array transmitting structure module.And the mathematical models of single transmit-single receiver,dual transmit-single receiver and four transmit-single receiver coupling cases are constructed.The mutual inductance coupling theory is used to analyze the model.In this thesis,we use square-square coils and use them as the basis of theoretical study to analyze the variation law of mutual inductance between the transmitting and receiving coils.The mutual inductance between the transmitting and receiving coils at different displacements of the receiving coil was analyzed using the simulation software COMSOL Multiphysics.The simulation results are verified by experiment,and the mutual inductance between receiving and transmitting coils under different displacement of receiving coil is measured.It is found that the output power and transmission efficiency of the system reach the maximum value when the centers of the transmitting and receiving coils overlapped during the robot’s movement.With the reduction of the coincidence part,the output power and transmission efficiency of the system relatively decrease.Secondly,in order to solve the path planning problem in the dynamic wireless charging scenario of a single robot,a penalty mechanism is proposed with the goal of optimal charging power and transmission efficiency of charging during the movement of the robot.If the moving path of the robot is in the transmitting coil,it will not be punished,otherwise,it will be punished.The mechanism is applied to Q-learning algorithm and ant colony algorithm to plan the path of the robot,so that the robot can move on the path with short path length,high charging efficiency and high power.The Q-learning algorithm and ant colony algorithm with penalty mechanism are simulated and analyzed by matlab software platform.It is found that compared with the traditional ant colony algorithm,the ant colony algorithm with penalty mechanism can increase the distance of the robot’s moving path in the transmitting coil by about 30.6%,while the Q-learning algorithm with penalty mechanism can increase the range of the robot’s moving path in the transmitting coil by 26.4% compared with the traditional Q-learning algorithm.It can be seen that compared with the improved Q-learning algorithm,the improved ant colony algorithm has better path planning performance.Thirdly,the path planning of swarm robots in dynamic wireless charging scene is further studied,and a cooperative working mode of swarm robots is proposed.It can avoid robot collision in the working process.It is applied to the cooperative dynamic wireless charging system of swarm robots.Furthermore,the path planning problem of efficient receiving circuit of each single robot is studied.And the proposed co-working model in this thesis is validated by simulation.The results show that the cooperative working mode can realize the stable,reliable and cooperative work of swarm robots in the process of dynamic wireless power supply.Finally,the experimental platform of swarm robots dynamic wireless charging system is built for experimental verification.The results show that the research in this thesis can provide guarantee for the power supply of swarm robots,and can greatly promote the research of swarm intelligence based on swarm robot. |
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