A Position Detection Method for Dynamic Wireless Inspection Robots Charging

The paper proposes a new structure of the receiving coil, which features horizontal and vertical position detection of inspection robot, which eliminates the system dependence on complex detection control circuit and simplifies the circuit design of the receiving end. The proposed design obtains the position information by comparing the induced voltage difference of the four-coil sets. Besides, the receiving coil is optimized in terms of the shape, dimension and the magnetic shielding structure by finite element analysis. Finally, the effectiveness of the receiving coil position detection is verified by the experiment with misalignment disturbance. The results illustrate the effectiveness of the four-coil system to detect the load position and the position adjustment by the adjustment control system.