CN110380494A - A kind of Intelligent Mobile Robot wireless charging system and its charging method - Google Patents
A kind of Intelligent Mobile Robot wireless charging system and its charging method Download PDFInfo
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- CN110380494A CN110380494A CN201910670108.4A CN201910670108A CN110380494A CN 110380494 A CN110380494 A CN 110380494A CN 201910670108 A CN201910670108 A CN 201910670108A CN 110380494 A CN110380494 A CN 110380494A
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- 238000007600 charging Methods 0.000 title claims abstract description 101
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000007405 data analysis Methods 0.000 claims abstract description 20
- 238000007689 inspection Methods 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 230000007547 defect Effects 0.000 claims abstract description 10
- 230000005611 electricity Effects 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims description 51
- 230000007246 mechanism Effects 0.000 claims description 14
- 229910000859 α-Fe Inorganic materials 0.000 claims description 12
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 9
- 229910052782 aluminium Inorganic materials 0.000 claims description 9
- 239000004411 aluminium Substances 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 9
- 238000004458 analytical method Methods 0.000 claims description 7
- 230000005674 electromagnetic induction Effects 0.000 claims description 5
- 231100000572 poisoning Toxicity 0.000 claims description 3
- 230000000607 poisoning effect Effects 0.000 claims description 3
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- 238000009434 installation Methods 0.000 claims description 2
- 150000001875 compounds Chemical class 0.000 claims 1
- 230000005779 cell damage Effects 0.000 abstract description 11
- 208000037887 cell injury Diseases 0.000 abstract description 11
- 238000012544 monitoring process Methods 0.000 abstract 1
- 230000006378 damage Effects 0.000 description 10
- 238000005457 optimization Methods 0.000 description 9
- 230000010287 polarization Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
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- 238000011160 research Methods 0.000 description 2
- 208000037408 Device failure Diseases 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
- H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a kind of Intelligent Mobile Robot wireless charging system and charging methods, are related to wireless charging field.Existing wireless charging system does not account for substation's transmission power, weather, facility information, equipment fault and defect information, and it is different to have ignored inspection requirement under substation's difference operating condition.This system includes big data analysis module, cloud, data terminal and wireless charging device；Big data analysis module show that substation is in special operation condition or common operating condition according to historical data and instantly data, is as a result sent to cloud, data terminal obtains data from cloud, and is transferred to crusing robot；Crusing robot is started to charge when electricity is lower than 30%, and selects charge mode according to operating condition；Special operation condition selects fast charge mode, stopping when charging to 60%；Common operating condition selects trickle charge mode, stopping when charging to 90%.The inspection demand of substation's difference operating condition can be effectively adapted to, ensures the monitoring time under special operation condition, and small to cell damage.
Description
Technical field
The present invention relates to wireless charging field more particularly to a kind of Intelligent Mobile Robot wireless charging systems.
Background technique
Wireless power transmission technique functions are derived from 19th-century latter stage, are proposed first by Ni Gula tesla, in view of its institute
The advantages such as the safe and convenient, strong environmental adaptability having, and can solve the application problem of certain specific occasions, and into
The sight for entering people becomes the research hotspot of current field of power electronics.Radio energy transmission system is broadly divided into electromagnetism sense
Answer manifold type, magnetic resonance coupling formula, three kinds of microwave radiation formula, wherein electromagnetic induction manifold type radio energy transmission system due to
Its efficiency is higher, structure is simply obtained research extensively and application.Electromagnetic induction manifold type radio energy transmission system is to primary side magnetic
It is passed through high-frequency alternating current in the mechanism of road, and then excites high frequency magnetic field in space, subsidiary magnetic route mechanism passes through electromagnetic coupling mode
Electric energy is obtained from high frequency magnetic field, realizes electric energy from primary side device to the non-contact transmission of secondary side device.
Big data refers to the data set that can not be captured, managed and be handled with conventional software tool within the scope of certain time
It closes, is magnanimity, the high growth for needing new tupe that could have stronger decision edge, see clearly discovery power and process optimization ability
Rate and diversified information assets.Certain rule can be summed up from different types of data using big data, transported
In terms of using substation's O&M, it can be found that distinct device failure, defect and substation operation rule, weather conditions, equipment letter
Relationship between breath.
Intelligent Mobile Robot can autonomous inspection substation, it is horizontal to improve substation's O&M, to ensureing substation's peace
Full stable operation has positive meaning.Intelligent Mobile Robot major function is copy data, thermometric, by data point
Analysis finds defect existing for substation equipment.The stability, reliability of substation equipment are different under different operating conditions, for example work as change
When power station is under high-power operating condition, equipment can bear biggish electric current, be that equipment the height of defect occurs under such operating condition
It is the peak phase, defective also to aggravate.Rain, snow, strong wind, high temperature, low temperature condition descend the reliability and stability of distinct device also can
Have different degrees of reduction, equipment is also easier to defect or failure occur, therefore need in such cases to particular device and
When, comprehensive, round-the-clock tour.
Battery charging arrangements can be divided into fast charge and trickle charge, and fast charge is big to cell damage, and especially the phase can add after charging
The polarization speed of fast battery pole plates, therefore " shallowly fill and shallowly put, repeatedly charge " while guaranteeing charging rate, and can be effectively relieved
Damage of the fast charge to battery.Trickle charge power is smaller, small to cell damage, and damage occurs mainly in the later period, if not to battery
Full of the damage that can be effectively reduced to battery.
The wireless charging system of existing literature introduction lays particular emphasis on former secondary mechanics of communication and control in location technology, former pair more
Strategy processed etc., has ignored under substation's difference operating condition that inspection requirement is different, causes when designing wireless charging system
Substation's transmission power, weather conditions, facility information, equipment fault and defect information are not accounted for.
Summary of the invention
The technical problem to be solved in the present invention and the technical assignment of proposition are to be improved and improved to prior art,
A kind of Intelligent Mobile Robot wireless charging system and its charging method are provided, to adapt to patrolling for substation's difference operating condition
For the purpose of inspection demand.For this purpose, the present invention takes following technical scheme.
A kind of Intelligent Mobile Robot wireless charging system, including change is obtained according to historical data and data analysis instantly
The big data analysis module of operating condition locating for power station, for as data server cloud, for by field data upload and will
The data terminal that cloud data are downloaded and the wireless charging device for realizing Intelligent Mobile Robot wireless charging, it is described
Big data analysis module is connect with cloud, and the cloud is connect with data terminal, the data terminal and substation inspection
Robot is wirelessly connected, and the wireless charging device and Intelligent Mobile Robot pass through electromagnetic induction coupled modes realization nothing
The transmission connection of line electric energy, the Intelligent Mobile Robot are equipped with the wireless charging for independently adapting to operating condition locating for substation
Policy module.It is convenient to realize the analysis to operating condition locating for substation by big data analysis module, analysis data are stored in
Cloud, Intelligent Mobile Robot is convenient to realize from cloud downloading performance analysis data sentences operating condition locating for substation
Disconnected, Intelligent Mobile Robot can effectively realize the adaptability charging to different operating conditions by wireless charging policy module, realize
Power transformation is realized in comprehensive consideration to substation's transmission power, weather conditions, facility information, equipment fault and defect information
It stands the inspection demands of different operating conditions.
As optimization technique means: the wireless charging device includes 1 secondary side device and multiple primary side devices, described
Secondary side device be set to Intelligent Mobile Robot bottom, the primary side device is distributed in region of patrolling and examining.It can make substation
Crusing robot charges nearby during inspection, and moving distance is short, and power consumption is few, can monitor charged area during the charging process
Neighbouring equipment.
As optimization technique means: the primary side device includes that 220V power frequency supply, circuit of power factor correction, high frequency are inverse
Become device, primary side resonance compensation circuit, primary side magnetic path and primary side wireless communication apparatus, the 220V power frequency supply and power
Factor correcting circuit connection, the circuit of power factor correction are connect with high-frequency inverter, the high-frequency inverter and original
Side wireless communication apparatus and primary side resonance compensation circuit connection, the primary side resonance compensation circuit and primary side magnetic path connect
It connects.Effectively realize the circuit structure of primary side device.
As optimization technique means: the described secondary resonance compensation circuit when device includes subsidiary magnetic route mechanism, is secondary, secondary side
Rectification circuit, battery charger and secondary side wireless communication apparatus, the subsidiary magnetic route mechanism and secondary side resonance compensation circuit
Connection, the secondary side resonance compensation circuit are connect with secondary side rectification circuit, the secondary side rectification circuit and battery charging electricity
Road connection, the battery charger connect Intelligent Mobile Robot, the Intelligent Mobile Robot and secondary side without
The connection of line communication device.Effectively realize the circuit structure of secondary side device.
As optimization technique means: the primary side magnetic path and subsidiary magnetic route mechanism includes coil, ferrite magnetic
Core and aluminium sheet, the FERRITE CORE and aluminium sheet setting electromagnetic shielding, the coil is located above FERRITE CORE, described
FERRITE CORE be located above aluminium sheet, three is fixed in a plastic casing, and coil lead is drawn outside plastic casing.Effectively realize
The structure of primary side magnetic path and subsidiary magnetic route mechanism.
As optimization technique means: the battery charger includes two kinds of different voltages power electricity of fast charge and trickle charge
Road.The charging strategy under different operating conditions can be effectively supported by two different charge modes, fast charge is big to cell damage, especially
Be after charging the phase can accelerate the polarization speed of battery pole plates, therefore " shallowly fill and shallowly put, repeatedly charge " is guaranteeing the same of charging rate
When, and damage of the fast charge to battery can be effectively relieved.Trickle charge power is smaller, small to cell damage, and damage occurs mainly in
Later period, if not being full of the damage that can be effectively reduced to battery to battery.
As optimization technique means: the primary side resonance compensation circuit and secondary side resonance compensation circuit are mended using series connection
It repays, shunt compensation or series-parallel combined compensation topological circuit structure.Three kinds of topological structures are applied generally, technology maturation.
A kind of charging method of Intelligent Mobile Robot wireless charging system, comprising the following steps:
1) when Intelligent Mobile Robot detects battery capacity less than 30%, nearest primary side is just found according to self poisoning
Charging unit；
2) after Intelligent Mobile Robot is parked in charged area, the operating condition judgement of substation is just carried out, if it is determined that special
3) operating condition thens follow the steps, if it is determined that 4) common operating condition, thens follow the steps；
3) fast charge mode is selected, is issued to secondary side wireless communication apparatus and starts fast charge signal, secondary side wireless communication apparatus believes this
Number it is sent to primary side wireless communication apparatus, primary side wireless communication apparatus, which is issued according to signal to high-frequency inverter, to be started fast charge and refer to
It enables；
4) select trickle charge mode, to secondary side wireless communication apparatus issue start trickle charge signal, secondary side wireless communication apparatus by this
Signal is sent to primary side wireless communication apparatus, and primary side wireless communication apparatus issues beginning trickle charge to high-frequency inverter according to signal and refers to
It enables；
5) after charging complete, Intelligent Mobile Robot is issued to secondary side wireless communication apparatus stops charging signals, secondary side
This signal is sent to primary side wireless communication apparatus by wireless communication apparatus, and primary side wireless communication apparatus stops to high-frequency inverter sending
Only charging instruction, Intelligent Mobile Robot leave charged area, continue inspection.The charging method can effectively be realized for two
The adaptability charging of the different operating conditions of kind, can effectively realize the inspection demand of substation's difference operating condition.
As optimization technique means: when fast charge mode, when battery capacity is charged to 60%-80%, charging terminates；Trickle charge mode
When, when battery capacity is charged to 80%-95%, charging terminates.Realize fast charge and the battery capacity standard that two kinds of trickle charge chargings terminate.
As optimization technique means: the special operation condition refers to big data analysis module according to historical data and power transformation
It stands data instantly, show that several equipment in substation are easy to appear the working condition of failure or defect；The common operating condition
Refer to that big data analysis module according to historical data and substation data instantly, show that all devices break down in substation
Or the lesser working condition of shortage probability；Analysis result is sent to cloud by big data analysis module, and data terminal is from cloud
Data are obtained, and are transferred to Intelligent Mobile Robot.Effectively realize the analytical judgment of special operation condition and common operating condition.
The utility model has the advantages that
1, the analytical judgment to substation's special operation condition and common operating condition is conveniently realized, effectively realizes the adaptation to different operating conditions
Property charging, realize and the comprehensive of substation's transmission power, weather conditions, facility information, equipment fault and defect information examined
Consider, realizes the inspection demand of substation's difference operating condition.
2, by multiple primary side devices being distributed in region of patrolling and examining, it can make Intelligent Mobile Robot during inspection
Charging nearby, moving distance is short, and power consumption is few, can monitor charged area equipment nearby during the charging process.
3, the charging strategy under different operating conditions can be effectively supported by two different charge modes, fast charge is to cell damage
Greatly, especially the phase can accelerate the polarization speed of battery pole plates after charging, therefore " shallowly fill and shallowly put, repeatedly charge " is guaranteeing charging speed
While spending, and damage of the fast charge to battery can be effectively relieved.Trickle charge power is smaller, small to cell damage, and damages main
Occur in the later period, if not being full of the damage that can be effectively reduced to battery to battery.
Detailed description of the invention
Fig. 1 is present system module diagram.
Fig. 2 is charging method flow chart of the present invention.
Fig. 3 is wireless charging device principle assumption diagram of the invention.
In figure: 1- big data analysis module；The cloud 2-；3- data terminal；4- Intelligent Mobile Robot；5- wireless charging
Device；501-220V power frequency supply；502- circuit of power factor correction；503- high-frequency inverter；504- primary side resonance compensation electricity
Road；505- primary side magnetic path；506- primary side wireless communication apparatus；507- subsidiary magnetic route mechanism；508- pair side resonance compensation electricity
Road；509- secondary side rectification circuit；510- battery charger；511- pair side wireless communication apparatus.
Specific embodiment
Technical solution of the present invention is described in further detail below in conjunction with Figure of description.
As shown in Figure 1-3, a kind of Intelligent Mobile Robot wireless charging system, including count according to historical data and instantly
According to analysis obtain operating condition locating for substation big data analysis module 1, for as data server cloud 2, for that will show
Field data uploads and by the data terminal 3 of 2 data of cloud downloading and for realizing the nothing of 4 wireless charging of Intelligent Mobile Robot
Line charge electric installation 5, big data analysis module 1 are connect with cloud 2, and cloud 2 is connect with data terminal 3, data terminal 3 and substation
Crusing robot 4 is wirelessly connected, and wireless charging device 5 is realized with Intelligent Mobile Robot 4 by electromagnetic induction coupled modes
Wireless power transmission connection, Intelligent Mobile Robot 4 are equipped with the wireless charging plan for independently adapting to operating condition locating for substation
Slightly module.
For the ease of charging nearby, wireless charging device 5 includes 1 secondary side device and multiple primary side devices, secondary side device
Set on 4 bottom of Intelligent Mobile Robot, primary side device is distributed in region of patrolling and examining.Intelligent Mobile Robot 4 can be made to patrol
Charging nearby during inspection, moving distance is short, and power consumption is few, can monitor charged area equipment nearby during the charging process.
In order to realize that the circuit structure of primary side device, the primary side device include 220V power frequency supply 501, power factor school
Positive circuit 502, high-frequency inverter 503, primary side resonance compensation circuit 504, primary side magnetic path 505 and primary side wireless communication apparatus
506,220V power frequency supplies 501 are connect with circuit of power factor correction 502, circuit of power factor correction 502 and high-frequency inverter
503 connections, high-frequency inverter 503 are connect with primary side wireless communication apparatus 506 and primary side resonance compensation circuit 504, primary side resonance
Compensation circuit 504 is connect with primary side magnetic path 505.Effectively realize the circuit structure of primary side device.
In order to realize the circuit structure of secondary side device, the secondary resonance compensation electricity when device includes subsidiary magnetic route mechanism 507, is secondary
Road 508, secondary side rectification circuit 509, battery charger 510 and secondary side wireless communication apparatus 511, subsidiary magnetic route mechanism 507 with
Secondary side resonance compensation circuit 508 connects, and secondary side resonance compensation circuit 508 is connect with secondary side rectification circuit 509, secondary side rectification circuit
509 connect with battery charger 510, and battery charger 510 connects Intelligent Mobile Robot 4, substation inspection machine
People 4 connect with secondary side wireless communication apparatus 511.Effectively realize the circuit structure of secondary side device.
In order to realize magnetic path, primary side magnetic path 505 and subsidiary magnetic route mechanism 507 include coil, ferrite magnetic
Core and aluminium sheet, FERRITE CORE and aluminium sheet setting electromagnetic shielding, coil are located above FERRITE CORE, and FERRITE CORE is located at aluminium
Above plate, three is fixed in a plastic casing, and coil lead is drawn outside plastic casing.Effectively realize 505 He of primary side magnetic path
The structure of subsidiary magnetic route mechanism 507.
In order to realize that the charging rate of different operating conditions, battery charger 510 include two kinds of different voltages of fast charge and trickle charge
Power circuit.The charging strategy under different operating conditions can be effectively supported by two different charge modes, fast charge is to cell damage
Greatly, especially the phase can accelerate the polarization speed of battery pole plates after charging, therefore " shallowly fill and shallowly put, repeatedly charge " is guaranteeing charging speed
While spending, and damage of the fast charge to battery can be effectively relieved.Trickle charge power is smaller, small to cell damage, and damages main
Occur in the later period, if not being full of the damage that can be effectively reduced to battery to battery.
A kind of charging method of Intelligent Mobile Robot wireless charging system, process the following steps are included:
1) when Intelligent Mobile Robot 4 detects battery capacity less than 30%, nearest primary side is just found according to self poisoning
Charging unit；
2) after Intelligent Mobile Robot 4 is parked in charged area, the operating condition judgement of substation is just carried out, if it is determined that special
3) operating condition thens follow the steps, if it is determined that 4) common operating condition, thens follow the steps；
3) fast charge mode is selected, is issued to secondary side wireless communication apparatus 511 and starts fast charge signal, secondary side wireless communication apparatus 511
This signal is sent to primary side wireless communication apparatus 506, primary side wireless communication apparatus 506 is according to signal to high-frequency inverter 503
It issues and starts fast charge instruction；
4) trickle charge mode is selected, the signal for starting trickle charge, secondary side wireless communication apparatus are issued to secondary side wireless communication apparatus 511
This signal is sent to primary side wireless communication apparatus 506 by 511, and primary side wireless communication apparatus 506 is according to signal to high-frequency inverter
503 issue beginning trickle charge instruction；
5) after charging complete, Intelligent Mobile Robot 4 is issued to secondary side wireless communication apparatus 511 stops charging signals,
This signal is sent to primary side wireless communication apparatus 506 by secondary side wireless communication apparatus 511, and primary side wireless communication apparatus 506 is to height
Frequency inverter 503, which issues, stops charging instruction, and Intelligent Mobile Robot 4 leaves charged area, continues inspection.The charging method
It can effectively realize for the adaptability charging of two kinds of different operating conditions, can effectively realize the inspection of substation's difference operating condition
Demand.
In order to optimize fast charge and trickle charge effect, when fast charge mode, when battery capacity is charged to 60%, charging terminates；Trickle charge mode
When, when battery capacity is charged to 90%, charging terminates.Realize fast charge and the battery capacity standard that two kinds of trickle charge chargings terminate, it is effectively excellent
Change fast charge and trickle charge effect.
In order to realize the analytical judgment of special operation condition and common operating condition, special operation condition refers to 1 basis of big data analysis module
Historical data and substation data instantly show that several equipment in substation are easy to appear the work shape of failure or defect
Condition；Common operating condition refers to that big data analysis module 1 according to historical data and substation data instantly, obtains in substation and owns
Equipment breaks down or the lesser working condition of shortage probability；It analyzes result and cloud 2 is sent to by big data analysis module 1,
Data terminal 3 obtains data from cloud 2, and is transferred to Intelligent Mobile Robot 4.Effectively realize special operation condition and common operating condition
Analytical judgment.
In this example, primary side resonance compensation circuit 504 and secondary side resonance compensation circuit 508 use series compensation topological circuit
Structure, this example can also be replaced using shunt compensation or series-parallel combined compensation.Three kinds of topological structures are applied generally,
Technology maturation.
In this example, circuit of power factor correction 502 uses Boost DC chopped-wave topological circuit.
In this example, high-frequency inverter 503 uses single-phase full-bridge inverter, can also use single phase half bridge inverter generation
It replaces.
It is of the invention with a kind of Intelligent Mobile Robot wireless charging system and its charging method shown in attached drawing 1-3
Specific embodiment has embodied present invention substantive distinguishing features outstanding and marked improvement, can use needs according to actual,
Under enlightenment of the invention, the equivalent modifications of shape, structure etc., the column in the protection scope of this programme are carried out to it.
Claims (10)
1. a kind of Intelligent Mobile Robot wireless charging system, it is characterised in that: including according to historical data and data instantly
Analysis obtain operating condition locating for substation big data analysis module (1), for as data server cloud (2), for will
Field data upload and by the data terminal (3) of cloud (2) data downloading and for realizing Intelligent Mobile Robot (4) it is wireless
The wireless charging device (5) of charging, the big data analysis module (1) are connect with cloud (2), the cloud (2) and number
It is connected according to terminal (3), the data terminal (3) and Intelligent Mobile Robot (4) are wirelessly connected, the wireless charging Denso
It sets (5) and realizes that wireless power transmission is connect by electromagnetic induction coupled modes with Intelligent Mobile Robot (4), the power transformation
Crusing robot (4) are stood equipped with the wireless charging policy module for independently adapting to operating condition locating for substation.
2. a kind of Intelligent Mobile Robot wireless charging system according to claim 1, it is characterised in that: the nothing
Line charge electric installation (5) includes 1 secondary side device and multiple primary side devices, and the secondary side device is set to Intelligent Mobile Robot
(4) bottom, the primary side device are distributed in region of patrolling and examining.
3. a kind of Intelligent Mobile Robot wireless charging system according to claim 2, it is characterised in that: the primary side
Device includes 220V power frequency supply (501), circuit of power factor correction (502), high-frequency inverter (503), primary side resonance compensation
Circuit (504), primary side magnetic path (505) and primary side wireless communication apparatus (506), the 220V power frequency supply (501) with
Circuit of power factor correction (502) connection, the circuit of power factor correction (502) are connect with high-frequency inverter (503), institute
The high-frequency inverter (503) stated is connect with primary side wireless communication apparatus (506) and primary side resonance compensation circuit (504), described
Primary side resonance compensation circuit (504) is connect with primary side magnetic path (505).
4. a kind of Intelligent Mobile Robot wireless charging system according to claim 3, it is characterised in that: the pair
Resonance compensation circuit (508), secondary side rectification circuit (509), battery charging when device includes subsidiary magnetic route mechanism (507), is secondary
Circuit (510) and secondary side wireless communication apparatus (511), the subsidiary magnetic route mechanism (507) and secondary side resonance compensation circuit
(508) it connects, the secondary side resonance compensation circuit (508) connect with secondary side rectification circuit (509), the secondary side rectified current
Road (509) is connect with battery charger (510), and the battery charger (510) connects Intelligent Mobile Robot
(4), the Intelligent Mobile Robot (4) is connect with secondary side wireless communication apparatus (511).
5. a kind of Intelligent Mobile Robot wireless charging system according to claim 4, it is characterised in that: the original
Side magnetic path (505) and subsidiary magnetic route mechanism (507) include coil, FERRITE CORE and aluminium sheet, the ferrite magnetic
Core and aluminium sheet setting electromagnetic shielding, the coil are located above FERRITE CORE, and the FERRITE CORE is located on aluminium sheet
Side, three are fixed in a plastic casing, and coil lead is drawn outside plastic casing.
6. a kind of Intelligent Mobile Robot wireless charging system according to claim 4, it is characterised in that: the electricity
Pond charging circuit (510) includes two kinds of different voltages power circuits of fast charge and trickle charge.
7. a kind of Intelligent Mobile Robot wireless charging system according to claim 4, it is characterised in that: the original
In resonance compensation circuit (504) and pair, resonance compensation circuit (508) uses series compensation, shunt compensation or series-parallel compound
Compensation topology circuit structure.
8. a kind of described in any item charging methods of Intelligent Mobile Robot wireless charging system of claim 1-7 are used,
Characterized by the following steps:
1) when Intelligent Mobile Robot (4) detects battery capacity less than 30%, nearest original is just found according to self poisoning
Side charging unit；
2) after Intelligent Mobile Robot (4) is parked in charged area, the operating condition judgement of substation is just carried out, if it is determined that special
3) different operating condition, thens follow the steps, if it is determined that 4) common operating condition, thens follow the steps；
3) fast charge mode is selected, is issued to secondary side wireless communication apparatus (511) and starts fast charge signal, secondary side wireless communication apparatus
(511) this signal is sent to primary side wireless communication apparatus (506), primary side wireless communication apparatus (506) is according to signal to high frequency
Inverter (503), which issues, starts fast charge instruction；
4) trickle charge mode is selected, the signal for starting trickle charge, secondary side wireless communication apparatus are issued to secondary side wireless communication apparatus (511)
(511) this signal is sent to primary side wireless communication apparatus (506), primary side wireless communication apparatus (506) is according to signal to high frequency
Inverter (503), which issues, starts trickle charge instruction；
5) after charging complete, Intelligent Mobile Robot (4) is issued to secondary side wireless communication apparatus (511) stops charging letter
Number, this signal is sent to primary side wireless communication apparatus (506), primary side wireless communication apparatus by secondary side wireless communication apparatus (511)
(506) it is issued to high-frequency inverter (503) and stops charging instruction, Intelligent Mobile Robot (4) leaves charged area, continues to patrol
Inspection.
9. charging method according to claim 8, it is characterised in that: when fast charge mode, battery capacity is charged to 60%-80%
When, charging terminates；When trickle charge mode, when battery capacity is charged to 80%-95%, charging terminates.
10. charging method according to claim 8, it is characterised in that: the special operation condition refers to big data analysis mould
Block (1) show that several equipment are easy to appear failure or defect in substation according to historical data and substation data instantly
Working condition；The common operating condition refer to big data analysis module (1) according to historical data and substation data instantly,
Obtain all devices failure or the lesser working condition of shortage probability in substation；Result is analyzed by big data analysis mould
Block (1) is sent to cloud (2), and data terminal (3) obtains data from cloud (2), and is transferred to Intelligent Mobile Robot (4).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111478390A (en) * | 2020-04-17 | 2020-07-31 | 上海艾临科智能科技有限公司 | Non-contact charging system and method |
| CN113459855A (en) * | 2021-06-22 | 2021-10-01 | 中国农业大学 | AGV trolley charging control method and system based on power consumption analysis |
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| Publication number | Priority date | Publication date | Assignee | Title |
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