CN105914901A - Line patrol robot wireless charging system capable drawing out power via power transmission line induction - Google Patents
Line patrol robot wireless charging system capable drawing out power via power transmission line induction Download PDFInfo
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- CN105914901A CN105914901A CN201610443047.4A CN201610443047A CN105914901A CN 105914901 A CN105914901 A CN 105914901A CN 201610443047 A CN201610443047 A CN 201610443047A CN 105914901 A CN105914901 A CN 105914901A
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- electric energy
- wireless charging
- charging system
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- inspection robot
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Abstract
The invention relates to a line patrol robot wireless charging system capable drawing out power via power transmission line induction. The line patrol robot wireless charging system comprises a charging base station fixed on a pole and a line patrol robot running on a ground wire of a power transmission line, the charging base station comprises an electric energy obtaining module and an electric energy transmitting and sending module, the electric energy obtaining module obtains electric energy via electromagnetic induction in an alternating magnetic field of the power transmission line, the line patrol robot comprises an electric energy transmitting and receiving module and a machine-mounted battery group, the electric energy transmitting and sending module transmits electric energy to the electric energy transmitting and receiving module via a wireless mode, and the electric energy transmitting and receiving module transmits received electric energy to the machine-mounted battery group. According to the line patrol robot wireless charging system capable drawing out power via power transmission line induction, electric energy is obtained from the alternating magnetic field generated on a high voltage transmission line via an electromagnetic induction mode, and the line patrol robot wireless charging system is characterized by continuous and stable energy supply.
Description
Technical field
The present invention relates to a kind of inspection robot wireless charging system, utilize power transmission line particularly to one
The inspection robot wireless charging system of sensing power taking, belongs to transmission of electricity and safeguards apparatus field.
Background technology
Inspection robot is to utilize mobile robot as carrier, uses visible light camera, infra-red heat
Imager and other detecting instrument, as the detecting system of load, are a kind of to use machine vision, electromagnetism
Field, many information fusion of GPS, GIS are believed with independently patrolling and examining offer navigation as robot autonomous movement
The robot system in breath source.The crusing robot being operated in ultra-high-tension power transmission line on ground wire utilizes self
The picture pick-up device carried completes to carry out transmission line of electricity and related facility event under backstage remote control or control
The task that barrier is patrolled and examined.Based on above construction features, inspection robot is that one has certain volume
With the mechanically moving system of weight, the energy supply problem of the mechanical system of this movement is its application of restriction
One of subject matter, uses many people operate installation or unload robot to coordinate it at high-tension line adnexa
Feature operation is extremely dangerous, brings impact also to the properly functioning of high-tension line.Based on above present situation,
Electric energy convenient, reliable is provided to become the key of solution problem, so how to the inspection robot reached the standard grade
And according to national pertinent regulations and the requirement of technical specification, inspection robot can't be from the height closed on
Pressure transmission line power taking, has the most in the industry the way using traditional regenerative resource to originate as energy supply,
For example with solar energy, wind energy etc., although these energy modes can meet the requirement of environmental protection,
But it is relatively big to the dependency of natural environment, generally cannot realize persistence and stablize energy supply, therefore patrol
The stable energy supply of line robot is always a problem expecting to solve.
Summary of the invention
A kind of inspection robot wireless charging system utilizing power mains induced power taking of the present invention discloses
New scheme, uses the mode of electromagnetic induction to obtain electricity from the alternating magnetic field that ultra-high-tension power transmission line produces
Can, solve the energy resource supply problem that existing inspection robot is continual and steady.
A kind of inspection robot wireless charging system utilizing power mains induced power taking of the present invention includes solid
The charging base station being scheduled on tower bar and the inspection robot operated on power transmission line ground wire, charging base station bag
Including electric energy acquisition module and electric energy transmitting module, electric energy acquisition module passes through electromagnetic induction from transmission of electricity
In line alternating magnetic field, sensing obtains electric energy, and inspection robot includes electric energy transmission receiver module and airborne electricity
Pond group, electric energy is wirelessly transferred to electric energy transmission receiver module by electric energy transmitting module,
The electric energy obtained is transferred to on-board batteries group by electric energy transmission receiver module.
A kind of inspection robot wireless charging system utilizing power mains induced power taking of the present invention uses electricity
The mode of magnetic induction obtains electric energy from the alternating magnetic field that ultra-high-tension power transmission line produces, and has lasting, steady
Determine the feature of energy supply.
Accompanying drawing explanation
Fig. 1 is that a kind of inspection robot wireless charging system utilizing power mains induced power taking of the present invention is former
Reason schematic diagram.
Detailed description of the invention
Wireless power transmission technology is by mean of electromagnetic field or electromagnetic wave carries out a kind of skill of energy transmission
Art, is divided into induction, electromagentic resonance formula and electromagnetic radiation formula.Way of electromagnetic induction can be used for low
Power, short range transmission, electromagentic resonance is applicable to mid power, and middle distance energy transmits, electromagnetism spoke
Penetrate be applicable to high-power, distance apply.As it is shown in figure 1, utilize the line walking of power mains induced power taking
Robot wireless charging system includes the charging base station being fixed on tower bar and operates in power transmission line ground wire
On inspection robot, charging base station include electric energy acquisition module and electric energy transmitting module, electric energy
Acquisition module senses acquisition electric energy, inspection robot bag by electromagnetic induction from power transmission line alternating magnetic field
Including electric energy transmission receiver module and on-board batteries group, electric energy transmitting module is wirelessly by electricity
Can be transferred to electric energy transmission receiver module, the electric energy obtained is transferred to airborne by electric energy transmission receiver module
Set of cells.This programme uses way of electromagnetic induction to obtain electric energy from transmission line of electricity, recycles magnetic resonance side
The electric energy of acquisition is sent to inspection robot by formula, thus provides stable, lasting to inspection robot
The energy.Based on above method, the electric energy transmitting module of this programme is magnetic resonance electric energy transmitting
Module, electric energy transmission receiver module is that magnetic resonance electric energy transmits receiver module, and the transmission of magnetic resonance electric energy is sent out
Penetrating module to be connected with the transmission receiver module formation noncontact magnetic resonance transmission of electricity of magnetic resonance electric energy, charge base
Stand the electric energy obtained from power transmission line alternating magnetic field by electric energy acquisition module through described noncontact magnetic field
Resonance transmission of electricity connection is transferred to described inspection robot.Concrete according to ultra-high-tension power transmission line of such scheme
Situation have employed near radio and adopts the electric and middle distance mode that combines of wireless power transmission and achieve line walking
Robot continue, stablize energy resource supply problem.
In order to realize the base station technical purpose from ultra-high-tension power transmission line alternating magnetic field power taking of charging, this programme
Electric energy acquisition module include current transformer unit and electric energy acquisition control circuit, current transformer list
Unit includes a pair c-type iron core ring being located on transmission line of electricity, and electric energy acquisition control circuit includes relay
Unit, bidirectional triode thyristor unit, overvoltage crowbar, rectification circuit, Voltage Feedback control circuit,
The electric energy that electric energy acquisition module is obtained by current transformer unit is at electric energy acquisition control circuit
Stable output voltage is formed after reason.Electric energy is obtained from charging base station radio in order to realize inspection robot,
The magnetic resonance electric energy transmitting module of this programme include high-frequency signal produce circuit, power amplification circuit,
Impedance matching circuit, excitation coil and source resonance coil, magnetic resonance electric energy transmission receiver module includes setting
Standby resonance coil, actuating coil, hf rectifier and charging module.The height that impedance matching circuit produces
Frequently electric current produces alternating magnetic field after excitation coil, and excitation coil is by alternating magnetic field and source resonance line
Circle forms magnetic field coupling.Equipment resonance coil forms electromagentic resonance with source resonance coil, and electromagentic resonance produces
Raw alternating magnetic field, alternating magnetic field produces induction electric energy in making actuating coil, and induction electric energy passes through high frequency
Form, after commutator and charging module conditioning, the electric energy being available for the charging of on-board batteries group.This programme airborne
Set of cells is preferably lithium battery group.Such scheme is described in detail below.
Electric energy acquisition module includes current transformer and energy pickup two parts of control circuit.Wherein electricity
Current transformer is the annulus being made up of two c-type iron cores, and this annulus is set on transmission line of electricity.Energy
Pickup control circuit includes relay group, bidirectional triode thyristor, overvoltage crowbar, rectification circuit, electricity
Pressure feedback control circuit.The outfan of current transformer electrically connects with relay group, is used for controlling electric current
The secondary winding turns of transformer.The output of relay group electrically connects with bidirectional triode thyristor, simultaneously with mistake
Voltage protection circuit, rectification circuit electrically connect.Rectification output end passes through Voltage Feedback control circuit with two-way
Controllable silicon connects, so that it is guaranteed that the 48V voltage that rectification circuit output is stable.In order to meet two-stage electromagnetic
The requirement of resonance transmission of electricity, output signal is directly nursed one's health into high frequency power signals as magnetic resonance by this programme
The driving source of transmission system.
Magnetic resonance electric energy transfer device includes that magnetic resonance electric energy transmitting unit and magnetic resonance electric energy pass
Defeated transmitter unit, magnetic resonance electric energy transmitting unit includes high-frequency signal generator and power amplification electricity
Road, impedance matching circuit, excitation coil, source resonance coil, the transmission of magnetic resonance electric energy receives unit
Including equipment resonance coil, actuating coil, high-frequency rectification circuit and charging circuit.Pick up list
High-frequency signal generator and power amplification circuit are sent in unit's output 48V voltage stabilizing, utilize pick up unit
The high frequency sinusoidal small-signal that the electric energy of output will produce in high-frequency signal generator and power amplification circuit
Zoom into driving source, deliver to excitation coil via impedance matching circuit, thus provide for magnetic resonance system
Excitation.Impedance matching circuit is used for mating impedance, due to high-frequency signal generator and power amplification circuit
Output drive source frequency is higher, it is necessary to consider impedance matching so that energy can be to greatest extent with magnetic
The form of field radiate from excitation coil so that source resonance coil produces LC vibration.
Magnetic resonance coil is made up of excitation coil, source resonance coil, equipment resonance coil and actuating coil.
Excitation coil uses single turn conductor loop, and flowing through the high frequency electric from impedance matching circuit therein can be
Alternating magnetic field is produced around excitation coil, owing to excitation coil is close together with source resonance coil, the two
Magnetic field couples, and produces LC vibration in resonance coil, due to equipment resonance coil and source resonance coil
Resonant frequency is identical, and equipment resonance coil produces resonance with source resonance coil, i.e. the LC of same frequency shakes
Swing.The actuating coil that the alternating magnetic field produced in oscillatory process is closed on receives, then through high-frequency rectification
Circuit nurses one's health into the electric energy that can be to manage set of cells charging with charging circuit.Wherein excitation coil and source resonance
Coil 1cm apart, both deads in line simultaneously, and actuating coil and the position of equipment resonance coil
Relation is arranged symmetrically with both formation above-mentioned.The source resonance coil of this programme is with equipment resonance coil apart
Less than 2 meters, so can ensure that the efficiency that magnetic resonance electric energy transmits, meet inspection robot lithium electricity
The power demand of pond group charging.Excitation coil in magnetic resonance transmission system, source resonance coil, equipment
Resonance coil and actuating coil can be made by the copper cash of a diameter of 5cm, wherein excitation coil and work
The shape of coil and equivalently-sized, can be the single-turn circular coil of diameter 15cm, source resonance coil with set
The shape of standby resonance coil and equivalently-sized, and be plane Archimedes spiral structure, i.e. initial and tie
It is connected at tail, totally 8 circle, internal diameter 20cm, external diameter 35cm.The electric conductivity of copper and high frequency performance are relatively
Good, coil uses copper cash can obtain bigger Q-value, and therefore the copper cash of diameter 5mm selected by coil.
The practical situations of magnetic resonance electric energy transfer device and source resonance coil and the chi of equipment resonance coil
Very little relevant, transmission range is generally 1～2 times of coil diameter, and therefore, the system of such scheme sets
Meter both take into account the demand being sized large enough to meet through-put power, it is also contemplated that in-site installation is wanted
Ask and the load capacity of robot.
Circuit, module and the electronic devices and components related in above scheme all can use generally in the art
Scheme or type selecting, it is also possible to use specially designed scheme according to actual needs.
The inspection robot of this programme is operated on ground wire, and it utilizes and carries pulley edge under motor drives
Ground wire moves, and by photographic head, ground wire and lower section power transmission line and power transmission line appurtenance is carried out shooting and is patrolled and examined.
When inspection robot requires supplementation with electric energy, it is possible to move and carry out nothing near corresponding charging base station
Line charges.Therefore, the inspection robot wireless charging system of this programme is based on above-mentioned two-stage wireless energy
Acquisition compare currently existing scheme with transmission technology there is prominent substantive distinguishing features and significantly enter
Step.
The a kind of of this programme utilizes the inspection robot wireless charging system of power mains induced power taking not
Be limited to the content disclosed in detailed description of the invention, in embodiment occur technical scheme can with individualism,
Can also mutually comprise, those skilled in the art simply replace according to what this programme combined that common knowledge makes
The scheme of changing falls within the scope of this programme.
Claims (7)
1. utilize an inspection robot wireless charging system for power mains induced power taking, it is characterized in that including being fixed on
Charging base station on tower bar and the inspection robot operated on power transmission line ground wire, described charging base station includes that electric energy obtains
Delivery block and electric energy transmitting module, described electric energy acquisition module passes through electromagnetic induction from described power transmission line alternation magnetic
In Chang, sensing obtains electric energy, and described inspection robot includes electric energy transmission receiver module and on-board batteries group, described electricity
Electric energy wirelessly can be transferred to transmitting module described electric energy transmission receiver module, described electric energy transmits
The electric energy obtained is transferred to described on-board batteries group by receiver module.
The inspection robot wireless charging system utilizing power mains induced power taking the most according to claim 1, its
Being characterised by, described electric energy transmitting module is magnetic resonance electric energy transmitting module, and the transmission of described electric energy receives
Module is that magnetic resonance electric energy transmits receiver module, described magnetic resonance electric energy transmitting module and described magnetic resonance electric energy
Transmission receiver module forms the transmission of electricity of noncontact magnetic resonance and connects, and described charging base station is by described electric energy acquisition module
The electric energy obtained from described power transmission line alternating magnetic field is transferred to described through the transmission of electricity connection of described noncontact magnetic resonance
Inspection robot.
The inspection robot wireless charging system utilizing power mains induced power taking the most according to claim 1 and 2,
It is characterized in that, described electric energy acquisition module includes current transformer unit and electric energy acquisition control circuit, described electricity
Road mutual inductor unit includes a pair c-type iron core ring being located on transmission line of electricity, and described electric energy acquisition control circuit includes
Relay unit, bidirectional triode thyristor unit, overvoltage crowbar, rectification circuit, Voltage Feedback control circuit, institute
State electric energy that electric energy acquisition module obtained by described current transformer unit through described electric energy acquisition control circuit
Stable output voltage is formed after process.
The inspection robot wireless charging system utilizing power mains induced power taking the most according to claim 2, its
Be characterised by, described magnetic resonance electric energy transmitting module include high-frequency signal produce circuit, power amplification circuit,
Impedance matching circuit, excitation coil and source resonance coil, described magnetic resonance electric energy transmission receiver module includes that equipment is humorous
Shake coil, actuating coil, hf rectifier and charging module.
The inspection robot wireless charging system utilizing power mains induced power taking the most according to claim 4, its
Being characterised by, the high frequency electric that described impedance matching circuit produces produces alternating magnetic field after described excitation coil,
Described excitation coil forms magnetic field by described alternating magnetic field with described source resonance coil and couples.
The inspection robot wireless charging system utilizing power mains induced power taking the most according to claim 5, its
Being characterised by, described equipment resonance coil forms electromagentic resonance with described source resonance coil, and described electromagentic resonance produces
Alternating magnetic field, described alternating magnetic field produces induction electric energy in making described actuating coil, and described induction electric energy passes through institute
Form, after stating hf rectifier and charging module conditioning, the electric energy being available for the charging of described on-board batteries group.
The inspection robot wireless charging system utilizing power mains induced power taking the most according to claim 6, its
Being characterised by, described on-board batteries group is lithium battery group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610443047.4A CN105914901A (en) | 2016-06-20 | 2016-06-20 | Line patrol robot wireless charging system capable drawing out power via power transmission line induction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610443047.4A CN105914901A (en) | 2016-06-20 | 2016-06-20 | Line patrol robot wireless charging system capable drawing out power via power transmission line induction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105914901A true CN105914901A (en) | 2016-08-31 |
Family
ID=56758180
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610443047.4A Pending CN105914901A (en) | 2016-06-20 | 2016-06-20 | Line patrol robot wireless charging system capable drawing out power via power transmission line induction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105914901A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109854958A (en) * | 2019-01-17 | 2019-06-07 | 温州市天马建筑装璜工程公司 | A kind of municipal sewer network monitoring system |
| CN110165753A (en) * | 2019-05-14 | 2019-08-23 | 北京国网富达科技发展有限责任公司 | Charging unit and its method for transmission line polling robot |
| CN116667543A (en) * | 2023-06-14 | 2023-08-29 | 东北电力大学 | Wireless power supply system for power transmission line and splicing sleeve inspection robot |
-
2016
- 2016-06-20 CN CN201610443047.4A patent/CN105914901A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109854958A (en) * | 2019-01-17 | 2019-06-07 | 温州市天马建筑装璜工程公司 | A kind of municipal sewer network monitoring system |
| CN110165753A (en) * | 2019-05-14 | 2019-08-23 | 北京国网富达科技发展有限责任公司 | Charging unit and its method for transmission line polling robot |
| CN116667543A (en) * | 2023-06-14 | 2023-08-29 | 东北电力大学 | Wireless power supply system for power transmission line and splicing sleeve inspection robot |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160831 |
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| WD01 | Invention patent application deemed withdrawn after publication |