Wireless Charging Docking Method for Multi-Sensor Integrated Logistics Robot in Substation

Abstract

To avoid wasting time and manpower during the wireless charging docking process of logistics robots of different sizes and models in substations, which may affect the operational efficiency of the robots, this paper proposes a wireless charging docking method for multi-sensor integrated logistics robots in substations. First, multiple data signals, such as infrared sensors, pressure sensors, and ultrasonic sensors, are fused within the coarse positioning interval to obtain the length and width data of the robot. The robot is then controlled to travel along the X-axis towards the pre-set displacement sensor while maintaining its position relative to the wireless charging transmitter coil. In the fine positioning interval, the distance between the displacement sensor and the wireless charging transmitter coil is fixed. A coarse-precision positioning transformation method is used to decelerate the robot as it travels along the X-axis towards the pre-set displacement sensor, and the robot is parked at the wireless charging transmitter coil. Additionally, two sets of laser sensors are used to compare the lateral distance, which is half the difference between the charging station width and the robot width. This assists the robot in aligning along the Y-axis with the wireless charging transmitter coil and completing the wireless charging docking process. The experimental results show that the wireless charging system has superior docking time and stability compared to traditional docking methods. It is also compatible with multiple logistics robots of different sizes for wireless charging, with a docking error of less than 0.3%. This effectively improves the charging efficiency of robots in substations.