CN111355310A - Cascading wireless charging system of power inspection robot and control method - Google Patents
Cascading wireless charging system of power inspection robot and control method Download PDFInfo
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- CN111355310A CN111355310A CN202010294063.8A CN202010294063A CN111355310A CN 111355310 A CN111355310 A CN 111355310A CN 202010294063 A CN202010294063 A CN 202010294063A CN 111355310 A CN111355310 A CN 111355310A
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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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- 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
- H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
-
- 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
- H02J50/50—Circuit arrangements or systems for wireless supply or distribution of electric power using additional energy repeaters between transmitting devices and receiving devices
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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
- H02J50/70—Circuit arrangements or systems for wireless supply or distribution of electric power involving the reduction of electric, magnetic or electromagnetic leakage fields
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a cascading wireless charging system and a control method for a power inspection robot, which are characterized in that: the primary side is provided with a plurality of stages of transmitting coils, each stage of transmitting coil is connected with a respective compensating capacitor to form a primary resonant circuit, two adjacent stages of transmitting coils are coupled by a U-shaped magnetic core, a sensor for detecting whether a load enters and a power switch for controlling whether the resonant circuit is switched on or off are arranged relative to each stage of resonant circuit, the 1 st stage of transmitting coil gets power from a high-frequency inverter on the primary side, the rest stages of transmitting coils get power from the last stage of transmitting coil through the U-shaped magnetic core, and when the load enters the nth stage of wireless charging transmitting guide rail, the system controls the power switches corresponding to the 1-n stages of transmitting coils to be in a closed state. The effect is as follows: can satisfy the power and patrol and examine the dynamic wireless charging of robot.
Description
Technical Field
The invention relates to a wireless charging technology, in particular to a cascading wireless charging system and a control method for a power inspection robot.
Background
In each substation, a power inspection robot is generally arranged to perform daily inspections of various kinds of power equipment. Along with the popularization of unattended transformer substations, the intelligent requirement on inspection equipment is higher and higher, the original plug-in charging is difficult to meet the requirement of intelligent inspection, and how to realize energy management of power inspection equipment in an unattended state becomes a major subject of research in the industry.
With the maturity of wireless charging transmission technology, it has become possible to use wireless charging for power inspection equipment, but due to the mobility of its secondary receiving end, if the form of sampling single transmitting coil and single receiving coil, will certainly require to stay for a long time in a certain fixed charging area, is difficult to realize dynamic charging demand.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a cascading wireless charging system of a power inspection robot, which can realize dynamic charging in the moving process of the robot.
In order to achieve the purpose, the invention adopts the following specific technical scheme:
the utility model provides a power inspection robot cascade type wireless charging system which the key lies in: the primary side is provided with N stages of transmitting coils, each stage of transmitting coil is connected with a respective compensation capacitor to form a primary resonant circuit, two adjacent stages of transmitting coils are coupled by a U-shaped magnetic core, a sensor used for detecting whether a load enters or not and a power switch used for controlling whether the resonant circuit is on or off are arranged relative to each stage of resonant circuit, the 1 st stage of transmitting coil gets power from a high-frequency inverter on the primary side, the rest stages of transmitting coils get power from the last stage of transmitting coil through the U-shaped magnetic core, when the load enters an nth stage of wireless charging transmitting guide rail, a system controls the power switches corresponding to the 1-N stages of transmitting coils to be in a closed state, wherein the value of N is 1-N, and N is a positive integer greater than or equal to.
Optionally, the N-level transmitting coil is laid along a routing inspection path of the power routing inspection robot and is on the same plane.
Optionally, a sensor for detecting whether the load leaves is further arranged for the last-stage transmitting coil, and when the load leaves the nth-stage wireless charging transmitting guide rail, the system controls the power switches corresponding to the 1-N-stage transmitting coils to be in the off state.
Optionally, each stage of the transmitting coil is in a shape of a rectangular rail.
Optionally, a receiving coil is arranged on the power inspection robot, the receiving coil is rectangular, and the receiving coil can move along the N-stage transmitting coil in parallel relatively.
Optionally, the first-stage transmitting coil adopts LCC compensation to form a resonant tank, and the remaining transmitting coils of each stage adopt S-type compensation to form a resonant tank.
Optionally, the U-shaped magnetic core is disposed with an opening facing upward, and two adjacent stages of transmitting coils are disposed side by side in the U-shaped groove of the U-shaped magnetic core
Based on the system, the invention also provides a control method of the cascading wireless charging system of the power inspection robot, which comprises the following steps:
s1: a step of sequentially moving the load in accordance with a path in which the N-stage transmission coils are arranged;
s2: detecting whether the load enters a corresponding primary transmitting coil or not through a sensor;
s3: when the load enters the current-stage transmitting coil, the corresponding power switch is controlled to be closed, so that the power switch is used as a relay coil to transmit wireless electric energy to the load.
Optionally, the method further includes step S4: and a sensor is arranged at the tail end of the last-stage transmitting coil to detect whether the load leaves, and when the load leaves the last-stage transmitting coil, the power switches corresponding to all the transmitting coils are simultaneously switched off.
The invention has the following remarkable effects:
(1) the mutual inductance of the cascade transmitting coil and the receiving coil formed by coupling the multi-stage guide rails is approximately unchanged in the transmission process of the dynamic wireless electric energy, so that the dynamic wireless charging efficiency is ensured;
(2) the coupling among the multi-stage transmitting coils is enhanced by adding the U-shaped magnetic core, and the replacement and the maintenance are easy;
(3) the control strategy of gradually turning on the transmitting coils is adopted, so that the stable power output of a load end is realized, the magnetic leakage among the coupling coils is reduced, and the transmission efficiency is improved;
(4) and a mode that one set of transmitting device is matched with a multi-stage transmitting coil is adopted, so that the transmission distance is prolonged, and the system cost is saved.
Drawings
FIG. 1 is a schematic structural diagram of a coupling mechanism in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a system circuit in an embodiment of the invention;
FIG. 3 is a graph showing the mutual inductance between the receiver coil and the transmitter coil as a function of the position of the receiver coil;
FIG. 4 is a flow chart of system control in an embodiment of the present invention.
Detailed Description
The following provides a more detailed description of the embodiments and the operation of the present invention with reference to the accompanying drawings.
As shown in fig. 1 and fig. 2, in this embodiment, a cascaded wireless charging system for a power inspection robot is provided, where 5 stages of transmitting coils are laid on a primary side along an inspection path of the power inspection robot, and the number of the transmitting coils can be set to be more, each stage of transmitting coil is in a rectangular rail shape, each stage of transmitting coil is connected with a respective compensation capacitor to form a first-stage resonant circuit, adjacent two stages of transmitting coils are coupled by a U-shaped magnetic core, a sensor for detecting whether a load enters or not and a power switch for controlling whether the resonant circuit is on or off are provided for each stage of resonant circuit, the 1 st stage of transmitting coil gets power from a primary-side high-frequency inverter, the rest stages of transmitting coils get power from a last stage of transmitting coil through the U-shaped magnetic core, and when the load enters an nth stage of wireless charging transmitting rail, the system controls the power, the value of n is 1-5, a rechargeable battery in the power inspection robot is used as a load of the system, and a receiving coil is arranged on the power inspection robot, is rectangular and can move in parallel relatively above the 5-stage transmitting coil.
As can be seen from FIG. 2, in the equivalent circuit of the system, VdcRepresenting a direct current voltage source, power MOSFETS1-S4 form a full-bridge inverter, and a primary side emission compensation circuit is composed of L0、C0、C1Form an LCC topology, L1-L5Is equivalent inductance corresponding to the first to fifth stage transmitting coils, C2-C5For corresponding series resonant capacitance, R1-R5Equivalent internal resistance, K, of the first to fifth transmitting coils1-K5For the power switch serially connected into each stage of resonant circuit, the position sensor and the power switch can adopt the existing proximity switch or inductive switch integrated configuration, Mi_j(i,j∈N*) Is the mutual inductance between coil i and coil j, L6、C6、R6Parameter of element representing resonant loop of receiving end, RloadRepresenting the load resistance value, the receiver coil is moved from left to right along the arrangement path of the first-stage to fifth-stage transmitter coils.
In the multi-stage transmitting coil according to the above embodiment, only the first-stage transmitting coil is connected to the primary side control circuit, the other four-stage coils transmit energy to the receiving coil through mutual magnetic field coupling, the first-stage transmitting coil adopts an LCC type compensation topology, and the other transmitting coil and the receiving coil both adopt an S type compensation topology. Meanwhile, an inductive switch or a power switch is connected in series in each stage of transmitting coil, when the receiving coil moves to the position above the first stage of transmitting coil, the first stage of inductive switch is started, and energy is transmitted to the receiving end by the first stage of transmitting coil; when the receiving coil moves to the position above the second-stage transmitting coil, the first-stage induction switch is kept on, and meanwhile, the second-stage induction switch is turned on, so that energy is transferred to the receiving coil through the first-stage transmitting coil and the second-stage transmitting coil; by analogy, the receiving coil is always used as the last-stage coupling coil in the dynamic wireless energy transmission process, the number of the relay coils is increased from zero to four, and the receiving power of the receiving end is kept approximately constant through analysis.
As for when the power supply is turned off after being turned on, timing control can be performed on the basis of the moving speed of the load and the layout length of the coils on the one hand, and on the other hand, control can be performed by detecting whether the load completely runs out of the transmitting coil through the sensor.
In order to facilitate the installation and maintenance of the coils and ensure the multi-stage transmission of wireless electric energy, the U-shaped magnetic core is provided with an upward opening, and the adjacent two stages of transmitting coils are arranged in the U-shaped groove of the U-shaped magnetic core side by side.
In specific implementation, the transmitting coil-the outer wall is long: 20cm, width: 10cm, height: 2cm, coil thickness: 1cm, inter-coil spacing: 2mm, U type magnetic core is connected, and the coil is self-inductance: 23.4uH, adjacent coil mutual inductance: 1.67uH, one coil mutual inductance apart: 0.0836uH, coil internal resistance 0.112 omega; receive coil-outer wall length: 5cm, width: 5cm, height: 1cm, coil thickness: 1cm, and the distance from the transmitting coil: 4mm, coil self-inductance: 4.65uH, internal resistance: 0.026 Ω.
The mutual inductance change between the transmitter coil and the receiver coil during the dynamic process was calculated by COMSOL simulation software, and the result is shown in fig. 3, where d-0 indicates the initial position of the receiver coil, the relative positional relationship between the transmitter coil and the receiver coil is shown in fig. 1, and the increase of d indicates that the receiver coil moves to the rear stage of the multi-stage transmitter coil, and the mutual inductance is approximately 1.6 uH.
Setting input voltage as 12V, L in LCC structure110uH, frequency: 100kHz, load RLThe output power varies with the receiver coil position as shown in the following table, 1 Ω:
it can be seen that when the receiving coil moves on the multi-stage transmitting coil, although the receiving power and the transmission efficiency are gradually reduced, as long as the stage number is set within the acceptable transmission efficiency range, the wireless energy transmission can be satisfied, and the dynamic long-distance wireless charging of the power inspection robot is realized.
In combination with the above system, this embodiment further provides a control method for a cascading wireless charging system of a power inspection robot, including the following steps:
s1: a step of sequentially moving the load in accordance with a path in which the five-stage transmission coils are arranged;
s2: detecting whether the load enters a corresponding primary transmitting coil or not through a sensor;
s3: when the load enters the current primary transmitting coil, controlling the corresponding power switch to be closed so as to enable the power switch to be used as a relay coil to transmit wireless electric energy to the load;
s4: and a sensor is arranged at the tail end of the last-stage transmitting coil to detect whether the load leaves, and when the load leaves the last-stage transmitting coil, the power switches corresponding to all the transmitting coils are simultaneously switched off.
In the implementation with reference to the schematic circuit diagram shown in fig. 2, the control manner of each transmitting coil may be controlled according to the flow shown in fig. 4.
Based on the system and the control method provided by the invention, the multi-stage transmitting coils can be arranged according to the routing inspection path of the power routing inspection robot, the transmission efficiency of the adjacent two-stage transmitting coils is improved by utilizing the U-shaped magnetic core, the transmitting coils are turned on step by combining the moving position of the robot, the stable power output of a load end is realized, the magnetic leakage among the coupling coils can be reduced, the transmission efficiency of the multi-stage relay is improved, meanwhile, only one set of equipment such as power supply equipment and an inverter on the primary side is needed to be configured, the transmission distance is effectively prolonged, and the system cost is saved.
Finally, it should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to make many variations without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. The utility model provides a power inspection robot cascade type wireless charging system which characterized in that: the primary side is provided with N stages of transmitting coils, each stage of transmitting coil is connected with a respective compensation capacitor to form a primary resonant circuit, two adjacent stages of transmitting coils are coupled by a U-shaped magnetic core, a sensor used for detecting whether a load enters or not and a power switch used for controlling whether the resonant circuit is on or off are arranged relative to each stage of resonant circuit, the 1 st stage of transmitting coil gets power from a high-frequency inverter on the primary side, the rest stages of transmitting coils get power from the last stage of transmitting coil through the U-shaped magnetic core, when the load enters an nth stage of wireless charging transmitting guide rail, a system controls the power switches corresponding to the 1-N stages of transmitting coils to be in a closed state, wherein the value of N is 1-N, and N is a positive integer greater than or equal to.
2. The power inspection robot cascading wireless charging system according to claim 1, wherein: the N-level transmitting coil is laid along a routing inspection path of the power routing inspection robot and is positioned on the same plane.
3. The power inspection robot cascading wireless charging system according to claim 1 or 2, wherein: and a sensor for detecting whether the load leaves is also arranged for the last-stage transmitting coil, and when the load leaves the Nth-stage wireless charging transmitting guide rail, the system controls the power switch corresponding to the 1-N-stage transmitting coils to be in a disconnected state.
4. The power inspection robot cascading wireless charging system according to claim 3, wherein: each stage of transmitting coil is in a rectangular guide rail shape.
5. The power inspection robot cascading wireless charging system of claim 4, wherein: the power inspection robot is provided with a receiving coil which is rectangular and can move along the N-level transmitting coil in parallel relatively.
6. The power inspection robot cascading wireless charging system according to claim 1, wherein: the first-stage transmitting coil adopts LCC compensation to form a resonant circuit, and the other transmitting coils of each stage adopt S-type compensation to form the resonant circuit.
7. The power inspection robot cascading wireless charging system according to claim 1, wherein: the U-shaped magnetic core is provided with an upward opening, and the adjacent two stages of transmitting coils are arranged in the U-shaped groove of the U-shaped magnetic core side by side.
8. The control method of the cascading wireless charging system for the power inspection robot according to any one of claims 1 to 7, comprising the following steps:
s1: a step of sequentially moving the load in accordance with a path in which the N-stage transmission coils are arranged;
s2: detecting whether the load enters a corresponding primary transmitting coil or not through a sensor;
s3: when the load enters the current-stage transmitting coil, the corresponding power switch is controlled to be closed, so that the power switch is used as a relay coil to transmit wireless electric energy to the load.
9. The method for controlling the cascading wireless charging system for the power inspection robot according to claim 8, further comprising step S4: and a sensor is arranged at the tail end of the last-stage transmitting coil to detect whether the load leaves, and when the load leaves the last-stage transmitting coil, the power switches corresponding to all the transmitting coils are simultaneously switched off.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111864921A (en) * | 2020-07-09 | 2020-10-30 | 中国电力科学研究院有限公司 | Wireless charging system and method for transformer substation inspection robot and wireless charging platform |
| CN111884358A (en) * | 2020-08-17 | 2020-11-03 | 江苏方天电力技术有限公司 | Patrol unmanned aerial vehicle wireless charging system, device and method based on high-voltage line energy obtaining |
| CN112018900A (en) * | 2020-07-28 | 2020-12-01 | 浙江大学 | One-band-multiple dynamic wireless power transmission system capable of automatically switching and implementation method thereof |
| CN112977102A (en) * | 2021-04-19 | 2021-06-18 | 国网黑龙江省电力有限公司电力科学研究院 | Dynamic resonant magnetic coupling wireless charging system for electric automobile |
| CN113904460A (en) * | 2020-11-20 | 2022-01-07 | 国网江苏省电力有限公司 | Wireless energy receiving device and multistage guide rail type wireless energy transmission system |
| CN113922514A (en) * | 2020-11-20 | 2022-01-11 | 国网江苏省电力有限公司 | Wireless energy receiver and dynamic wireless energy constant-voltage output system |
| CN113991878A (en) * | 2021-10-12 | 2022-01-28 | 哈尔滨工业大学 | Hanging rail type dynamic wireless charging symmetrical flat plate type coupling device |
| CN114093619A (en) * | 2021-11-05 | 2022-02-25 | 哈尔滨工业大学 | Crisscross U type magnetic core and wireless power supply system of crisscross U type coupling structure of guide tracked |
| CN114326524A (en) * | 2021-12-30 | 2022-04-12 | 杭州电子科技大学 | Distributed cable tunnel inspection system and detection evaluation method |
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Cited By (12)
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| CN111864921A (en) * | 2020-07-09 | 2020-10-30 | 中国电力科学研究院有限公司 | Wireless charging system and method for transformer substation inspection robot and wireless charging platform |
| CN112018900A (en) * | 2020-07-28 | 2020-12-01 | 浙江大学 | One-band-multiple dynamic wireless power transmission system capable of automatically switching and implementation method thereof |
| CN112018900B (en) * | 2020-07-28 | 2022-04-05 | 浙江大学 | One-band-multiple dynamic wireless power transmission system capable of automatically switching and implementation method thereof |
| CN111884358A (en) * | 2020-08-17 | 2020-11-03 | 江苏方天电力技术有限公司 | Patrol unmanned aerial vehicle wireless charging system, device and method based on high-voltage line energy obtaining |
| CN113904460A (en) * | 2020-11-20 | 2022-01-07 | 国网江苏省电力有限公司 | Wireless energy receiving device and multistage guide rail type wireless energy transmission system |
| CN113922514A (en) * | 2020-11-20 | 2022-01-11 | 国网江苏省电力有限公司 | Wireless energy receiver and dynamic wireless energy constant-voltage output system |
| CN112977102A (en) * | 2021-04-19 | 2021-06-18 | 国网黑龙江省电力有限公司电力科学研究院 | Dynamic resonant magnetic coupling wireless charging system for electric automobile |
| CN113991878A (en) * | 2021-10-12 | 2022-01-28 | 哈尔滨工业大学 | Hanging rail type dynamic wireless charging symmetrical flat plate type coupling device |
| CN113991878B (en) * | 2021-10-12 | 2023-10-13 | 哈尔滨工业大学 | Rail-mounted dynamic wireless charging symmetrical flat plate type coupling device |
| CN114093619A (en) * | 2021-11-05 | 2022-02-25 | 哈尔滨工业大学 | Crisscross U type magnetic core and wireless power supply system of crisscross U type coupling structure of guide tracked |
| CN114093619B (en) * | 2021-11-05 | 2023-10-13 | 哈尔滨工业大学 | Staggered U-shaped magnetic core and guide rail type wireless power supply system with staggered U-shaped coupling structure |
| CN114326524A (en) * | 2021-12-30 | 2022-04-12 | 杭州电子科技大学 | Distributed cable tunnel inspection system and detection evaluation method |
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