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To solve the issues of frequent and inflexible contact charging system for inspection robots, the dynamic wireless charging system for the moving robot is introduced in this paper. In dynamic wireless charging systems with symmetric transceiver, including a single energized transmitting coil and one receiving coil, the receiving power drops significantly when the receiving coil moves to the boundary position of the energized transmitting coil. An asymmetric transceiver, including the single energized transmitting coil and two identical receiving coils connected in series is proposed for power stabilization during the moving process of the inspection robot. Circuit models of the systems with symmetric and asymmetric transceivers are developed. Expressions for the receiving power and the efficiency in these systems are derived. Then, the characteristics of the receiving power and efficiency varying with the position of receiving devices during one cycle of the switching control of the transmitting coils are investigated comparatively. The receiving power drop issue when the receiving coil is at the switching control position of the transmitting coils in the system with symmetric structure is solved by the proposed asymmetric structure with two receiving coils. Finally, the theoretical analyses are verified by experimental results and conclusions are drawn.

Power Stabilization Based on Asymmetric Transceiver in Dynamic Wireless Charging System with Short-Segmented Transmitting Coils for Inspection Robots