CN111884358A - Patrol unmanned aerial vehicle wireless charging system, device and method based on high-voltage line energy obtaining - Google Patents
Patrol unmanned aerial vehicle wireless charging system, device and method based on high-voltage line energy obtaining Download PDFInfo
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- CN111884358A CN111884358A CN202010825823.3A CN202010825823A CN111884358A CN 111884358 A CN111884358 A CN 111884358A CN 202010825823 A CN202010825823 A CN 202010825823A CN 111884358 A CN111884358 A CN 111884358A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
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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
- H02J50/50—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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention relates to the technical field of wireless charging, and particularly discloses a patrol unmanned aerial vehicle wireless charging system, device and method based on high-voltage line energy taking, wherein the system comprises a high-voltage electricity taking module, a wireless electric energy transmission module and an unmanned aerial vehicle charging module which are sequentially connected, the wireless electric energy transmission module comprises a primary side voltage adjusting unit, a coupling unit and a secondary side voltage adjusting unit which are sequentially connected, the primary side voltage adjusting unit is connected with the high-voltage electricity taking module, and the secondary side voltage adjusting unit is connected with the unmanned aerial vehicle charging module; the coupling unit comprises a transmitting coil connected with the primary voltage adjusting unit, a receiving coil connected with the unmanned aerial vehicle charging module, and a multi-stage relay coil arranged between the transmitting coil and the receiving coil. The plurality of relay coils can effectively improve the transmission distance, and by combining the insulator structure, the requirement on the insulation distance between the high-voltage side and the low-voltage side can be met, and the size and the weight of the wireless power transmission module are reduced.
Description
Technical Field
The invention relates to the technical field of wireless charging, in particular to a system, a device and a method for polling a wireless charging of an unmanned aerial vehicle based on high-voltage line energy acquisition.
Background
In recent years, with the rapid construction of power grids in China, power transmission lines of various voltage classes are rapidly developed, and power inspection is an indispensable task for ensuring the safe operation of the power grids. Compared with the traditional manual inspection, the unmanned aerial vehicle inspection saves a series of high-position complex actions such as manual climbing and the like, and observation of special phenomena on a high-voltage tower and an electric power line can be completed through a cloud platform camera on the unmanned aerial vehicle, so that the unmanned aerial vehicle inspection system has the advantages of safety, high efficiency and accuracy; secondly, the unmanned aerial vehicle can fly along the power line at high altitude, the complex ground environment has no influence on the inspection process of the unmanned aerial vehicle, and the working efficiency is greatly improved; in addition, the use of the unmanned aerial vehicle can remarkably reduce the number of patrol operators, and greatly saves manpower and material resources.
The biggest problem that unmanned aerial vehicle patrols and examines mode existence at present is that the electric energy is not enough to lead to operating time short, detection line distance shorter. Therefore, in order to fully exert the advantages of the unmanned aerial vehicle in the aspect of power inspection, the endurance problem of the unmanned aerial vehicle is solved. At present, the solutions for the endurance problem of the unmanned aerial vehicle are mainly classified into two types, one type is to carry more electric energy, which means that a plurality of batteries are required to be carried or the volume of the batteries is enlarged, so that the weight of the unmanned aerial vehicle is increased while the cruising distance is increased; the other kind need charge many times to unmanned aerial vehicle, and traditional contact charging technology means that unmanned aerial vehicle returns when needing to supply the electric energy and falls to the basic station to artificially charge for it, this kind of mode greatly increased manpower, material resources cost and time cost undoubtedly, seriously restricted unmanned aerial vehicle in the application of electric power patrolling and examining. Consequently, above-mentioned two kinds of modes of patrolling and examining all do not benefit to the development direction that unmanned aerial vehicle automatic electric power patrolled and examined.
Compared with the traditional contact type conduction charging, the Wireless Power Transfer (WPT) is used as an ideal electric energy transmission mode, has higher safety and convenience, and can provide a more flexible access mode for electric equipment. Combine wireless power transmission technique and unmanned aerial vehicle technique of charging, can exert the huge advantage of wireless power transmission technique. Establish charging platform on the shaft tower, get charging platform through Current Transformer (CT) in the circuit line of laying, then wireless biography can be to the unmanned aerial vehicle of berthhing on the platform to realize that electric power patrols and examines unmanned aerial vehicle's electric energy and supplement on the spot, can effectively solve the not enough problem of unmanned aerial vehicle duration, avoided human intervention simultaneously, promoted the efficiency of patrolling and examining greatly, practiced thrift the cost of labor.
At present, a polling unmanned aerial vehicle charging device and method using a high-voltage cable and the like appear, and refer to a patent of polling unmanned aerial vehicle high-voltage cable wireless charging device and method (application number: 201811510643.5), wherein a magnetic resonance type wireless power transmission technology is applied to a wireless charging device of a power polling unmanned aerial vehicle, the device is directly installed on the high-voltage cable, and the unmanned aerial vehicle is enabled to be more convenient and efficient in cruising without power failure operation. Under the weak coupling condition that the distance between the unmanned aerial vehicle and the transmitting end is far, the transmission capability of high power is ensured as much as possible in the process that the load and the mutual inductance are continuously changed. Meanwhile, reactive loss caused by mutual inductance and load change of the coupling unit is reduced, and the output voltage of the control system is ensured to be constant.
But this patent is to transmission distance is nearer, unmanned aerial vehicle wireless charging occasion of hovering, and charging platform is unset, and system stability is low, and unable anti skew, transmission efficiency is not high enough, and transmission distance is not far away enough.
Disclosure of Invention
The invention provides a wireless charging system, a wireless charging device and a wireless charging method for an inspection unmanned aerial vehicle based on high-voltage line energy obtaining, and solves the technical problems that a charging platform is not fixed, the system stability is low, the deviation cannot be resisted, the transmission efficiency is not high enough, and the transmission distance is not long enough in the conventional high-voltage cable inspection unmanned aerial vehicle charging device and the conventional high-voltage cable inspection unmanned aerial vehicle charging method.
In order to solve the technical problems, the invention provides a patrol unmanned aerial vehicle wireless charging system based on high-voltage line energy taking, which comprises a high-voltage electricity taking module, a wireless electric energy transmission module and an unmanned aerial vehicle charging module which are sequentially connected, wherein the wireless electric energy transmission module comprises a primary side voltage adjusting unit, a coupling unit and a secondary side voltage adjusting unit which are sequentially connected, the primary side voltage adjusting unit is connected with the high-voltage electricity taking module, and the secondary side voltage adjusting unit is connected with the unmanned aerial vehicle charging module;
the coupling unit comprises a transmitting coil connected with the primary voltage adjusting unit, a receiving coil connected with the unmanned aerial vehicle charging module, and a multi-stage relay coil arranged between the transmitting coil and the receiving coil, wherein the receiving coil and the unmanned aerial vehicle charging module are installed on the unmanned aerial vehicle, and the last stage relay coil is a relay platform coil installed on a relay charging platform; the multistage trunk coils are wound in the insulator at equal intervals and are all of hollow structures.
This basic scheme is with transmission coil (including transmitting coil and relay coil) coiling inside the insulator, and a plurality of relay coils of adoption can improve transmission distance effectively, combines the insulator structure, can all set up relay coil to cavity, not only can guarantee the insulation distance requirement of high-pressure side and low pressure side, has still reduced wireless power transmission module's volume and weight, also can transmit higher energy when realizing high-low pressure isolation, can also practice thrift not few costs. On the whole, this system charging platform is fixed, and stability is good, and anti skew nature is good, and charging platform is located the low pressure side moreover, and transmission distance is far away, and transmission efficiency is high, easy to maintain.
In a further embodiment, the transmit coil and the receive coil are both hollow structures. The transmitting coil is arranged to be a hollow structure, so that the weight of the wireless power transmission module can be further reduced. The receiving coil is arranged to be of a hollow structure, and the requirement for light weight of the unmanned aerial vehicle can be met, so that the unmanned aerial vehicle is stronger in cruising ability and can fly farther and higher.
In a further embodiment, the relay platform coil adopts a structure of 'grouping series winding coils + concave-convex magnetic cores'. Compared with a conventional strip-shaped magnetic core, the concave-convex magnetic core structure adopted by the relay platform coil increases the magnetic induction intensity under the condition of less magnetic core consumption, and is favorable for improving the longitudinal transmission capacity of electric energy.
In a further embodiment, a metal shield is disposed over the receive coil. The magnetic field of relay platform coil is offset to the produced reverse magnetic field of the vortex that utilizes the formation in the metallic shield layer, can reduce the magnetic field of receiving coil top greatly, and the electromagnetic interference of magnetic field above the receiving coil when reducing unmanned aerial vehicle and charging the circuit production that charges.
In a further embodiment, the primary voltage adjusting unit comprises a DC/DC conversion circuit, a high-frequency inverter circuit, and a first resonance compensation circuit sequentially connected between the high-voltage power taking module and the transmitting coil;
and the secondary side voltage adjusting unit comprises a second resonance compensation circuit and a rectification filter circuit which are sequentially connected between the receiving coil and the unmanned aerial vehicle charging module.
Due to the unique structural design of the coupling unit, the basic DC/DC conversion circuit, the high-frequency inverter circuit, the first resonance compensation circuit, the second resonance compensation circuit and the rectification filter circuit are designed in the embodiment, and therefore good transmission quality can be guaranteed.
In a further embodiment, the high-voltage electricity taking module comprises a primary side controller and a load sensing unit, and the unmanned aerial vehicle charging module comprises a secondary side controller;
the load sensing unit is used for sending corresponding information to the primary side controller when sensing that the relay charging platform stops the unmanned aerial vehicle, and the primary side controller opens a wireless communication function after receiving the corresponding information;
the secondary side controller is used for acquiring battery power information of the unmanned aerial vehicle in real time and establishing wireless communication connection with the primary side controller to transmit the battery power information; the primary side controller is used for controlling the connection and disconnection between the high-voltage electricity taking module and the wireless electric energy transmission module according to the battery electric quantity information.
This scheme senses at load induction element and relays charging platform when berthhing unmanned aerial vehicle, and communication function and vice limit controller communication are opened to the primary controller to can acquire unmanned aerial vehicle's battery power information, and under the request of vice limit controller, open wireless power transmission module, begin to carry out wireless charging.
In a further embodiment, the secondary controller is further connected to the secondary voltage adjustment unit, and configured to obtain the charging voltage output by the secondary voltage adjustment unit and send the charging voltage to the primary controller, and the primary controller is further configured to adjust a DC/DC conversion circuit in the primary voltage adjustment unit according to the charging voltage, so as to adjust the charging voltage.
In the charging process of the unmanned aerial vehicle, the secondary controller sends charging voltage information of the unmanned aerial vehicle to the primary controller in real time, and the primary controller further adjusts the wireless power transmission module to maintain the charging voltage to be stable, so that the charging quality is guaranteed.
The invention also provides a wireless charging device of the inspection unmanned aerial vehicle based on high-voltage line energy taking, which specifically comprises a high-voltage electricity taking device, a wireless electric energy transmission device and an induction device, wherein the high-voltage electricity taking module and the primary side voltage adjusting unit in the charging system are arranged in the high-voltage electricity taking device; the wireless power transmission device is provided with the coupling unit, the insulator and the relay charging platform in the charging system; the induction device is fixed on the relay charging platform and is electrically connected with the high-voltage power taking device.
Furthermore, the relay charging platform is fixed on the telegraph pole and located above the high-voltage line, the high-voltage electricity taking device is fixed on the high-voltage line, and the wireless electric energy transmission device is installed between the relay charging platform and the high-voltage electricity taking device.
The invention also provides a polling unmanned aerial vehicle wireless charging method based on high-voltage line energy obtaining, which comprises the following steps:
s1, judging whether the electric quantity of the unmanned aerial vehicle is sufficient or not by the unmanned aerial vehicle, if not, sending a charging request to an unmanned aerial vehicle controller, and controlling the unmanned aerial vehicle to fly to a relay charging platform of the wireless charging device by the unmanned aerial vehicle controller;
s2, after sensing the landing of the unmanned aerial vehicle, the sensing device sends a signal to the high-voltage electricity taking device to enable the high-voltage electricity taking device to open a wireless communication function;
s3, establishing communication connection between the unmanned aerial vehicle controller and the high-voltage power taking device, and then sending a charging preparation instruction to the high-voltage power taking device;
s4, after receiving a charging preparation instruction, the high-voltage power taking device detects whether a circuit of the high-voltage power taking device is normal, if so, the wireless power transmission device is turned on, electric energy is transmitted to the unmanned aerial vehicle, and the step S5 is carried out, and if not, fault detection is carried out, and a detection result is fed back to the unmanned aerial vehicle controller;
s5, feeding back the charging voltage of the unmanned aerial vehicle to a high-voltage electricity taking device in real time by the unmanned aerial vehicle controller, and adjusting the operation parameters of the wireless electric energy transmission device by the high-voltage electricity taking device according to the charging voltage so as to keep the charging voltage stable;
s6, judging whether the battery is fully charged by the unmanned aerial vehicle controller, if so, feeding the battery back to the high-voltage power taking device, and cutting off the wireless power transmission device by the high-voltage power taking device; if not, continuing to judge.
The wireless charging method is applied to the charging system and the charging device, and intelligent wireless charging of the inspection unmanned aerial vehicle is completed.
Drawings
Fig. 1 is a block diagram of a wireless charging system of an inspection unmanned aerial vehicle based on high-voltage line energy acquisition according to embodiment 1 of the present invention;
fig. 2 is a coil distribution diagram of the coupling unit 22 in fig. 1 according to embodiment 1 of the present invention;
fig. 3 is a diagram of the structure and the positional relationship between the relay platform coil (relay coil H) and the receiving coil 22-3 in fig. 1 according to embodiment 1 of the present invention;
FIG. 4 is an electromagnetic field profile of the receiving coil 22-3 provided by embodiment 1 of the present invention without a shielding layer;
fig. 5 is an electromagnetic field distribution diagram of the relay coil 22-3 according to embodiment 1 of the present invention, in which a metal shielding layer (aluminum) is superimposed on the surface thereof, (a) is an aluminum sheet, and (b) is an aluminum frame;
fig. 6 is a structural diagram of a wireless power transmission module 2 provided in embodiment 1 of the present invention;
fig. 7 is a circuit diagram of fig. 6 provided in embodiment 1 of the present invention;
FIG. 8 is a detailed view of FIG. 1 provided in embodiment 1 of the present invention;
FIG. 9 is a diagram showing simulation results of the system provided in embodiment 1 of the present invention;
FIG. 10 is a diagram of the PID closed loop regulation control effect provided by embodiment 1 of the invention;
FIG. 11 is a diagram of the effect of PID closed loop regulation control when the receiving coil 22-3 provided by embodiment 1 of the invention is laterally offset by 5 cm;
FIG. 12 is a diagram showing the output characteristics of the system in which the receiver coil 22-3 provided in embodiment 1 of the present invention is laterally offset by 5 cm;
fig. 13 is a schematic structural diagram of a polling unmanned aerial vehicle wireless charging device based on high-voltage line energy obtaining provided in embodiment 2 of the present invention;
fig. 14 is a schematic diagram of the inspection drone shown in fig. 14 stopping on the wireless charging device shown in fig. 13 according to embodiment 2 of the present invention;
fig. 15 is a schematic structural diagram of an inspection unmanned aerial vehicle based on high-voltage line energy obtaining provided in embodiment 3 of the present invention;
fig. 16 is a flowchart of steps of the polling unmanned aerial vehicle wireless charging system based on high-voltage line energy obtaining according to embodiment 4 of the present invention.
The reference numerals include: the high-voltage electricity taking module 1 (a primary side controller 11 and a load induction unit 12); the wireless power transmission system comprises a wireless power transmission module 2, a primary side voltage adjusting unit 21 (a DC/DC conversion circuit 21-1, a high-frequency inverter circuit 21-2 and a first resonance compensation circuit 21-3), a coupling unit 22 (a transmitting coil 22-1, a relay coil 22-2 and a receiving coil 22-3), first to eighth relay coils A to H and a secondary side voltage adjusting unit 23 (a second resonance compensation circuit 23-1 and a rectification filter circuit 23-2); the unmanned aerial vehicle charging module 3 (secondary controller 31); a high-voltage electricity taking device 4; the wireless electric energy transmission device 5, the insulator 24 and the relay charging platform 25; an induction device 6; an unmanned aerial vehicle body 7; an IC card 8; a coil support 9; a platform support 10.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which are given solely for the purpose of illustration and are not to be construed as limitations of the invention, including the drawings which are incorporated herein by reference and for illustration only and are not to be construed as limitations of the invention, since many variations thereof are possible without departing from the spirit and scope of the invention.
Example 1
For being applied to patrolling and examining unmanned aerial vehicle wireless charging system based on high-voltage line gets energy with electromagnetic induction type wireless power transmission technology, this embodiment provides a patrolling and examining unmanned aerial vehicle wireless charging system based on high-voltage line gets energy, as shown in the module structure chart of fig. 1, get module 1 including the high pressure that connects in order, wireless power transmission module 2, unmanned aerial vehicle charging module 3, wireless power transmission module 2 is including the primary voltage adjustment unit 21 that connects in order, coupling unit 22 and secondary voltage adjustment unit 23, primary voltage adjustment unit 21 connects high pressure and gets module 1, secondary voltage adjustment unit 23 connects unmanned aerial vehicle charging module 3. Because the high-voltage power-taking module 1 adopts the intelligent mutual inductor to take power from the high-voltage circuit, the rest parts of the high-voltage power-taking module 1 are equivalent to an induction power supply module.
The coupling unit 22 comprises a transmitting coil 22-1 connected with the primary voltage adjusting unit 21, a receiving coil 22-3 connected with the unmanned aerial vehicle charging module 3, and a multi-stage relay coil 22-2 arranged between the transmitting coil 22-1 and the receiving coil 22-3, wherein the receiving coil 22-3 and the unmanned aerial vehicle charging module 3 are installed on the unmanned aerial vehicle, and the last stage of relay coil is a relay platform coil installed on a relay charging platform; the multistage relay coils 22-2 are wound in the insulator at equal intervals and are all of hollow structures.
In the embodiment, the transmission coil (comprising the transmitting coil 22-1 and the relay coil 22-2) is wound inside the insulator, the transmission distance can be effectively increased by adopting the plurality of relay coils 22-2, and the relay coils 22-2 can be all arranged to be hollow by combining the insulator structure, so that the requirement on the insulation distance between the high-voltage side and the low-voltage side can be ensured, the size and the weight of the wireless electric energy transmission module 2 are reduced, higher energy can be transmitted while high-voltage and low-voltage isolation is realized, and the cost can be saved.
The coupling unit 22 is an important factor affecting the performance of the wireless power transmission system, and determines the transmission power level, transmission efficiency, transmission distance, and anti-offset performance of the system. The design of the coupling unit 22 requires that the coupling coefficient be increased as much as possible within a specific transmission distance and spatial size range to improve the transmission performance of the system. Because the power inspection unmanned aerial vehicle needs to lighten the airborne mass as much as possible to increase the flying distance of the power inspection unmanned aerial vehicle, higher requirements are provided for the mass of the pickup coil. The landing and stopping environment of the unmanned aerial vehicle outdoors is complex and changeable, the unmanned aerial vehicle may be influenced by natural factors such as strong wind, and errors may further increase, so that the wireless charging system is required to have good anti-offset characteristics. Because the electricity is taken from the high-voltage line, the insulation problem between the primary side high-voltage side and the secondary side low-voltage side needs to be considered; in addition, the electromagnetic interference generated by the coupling unit 22 may have a certain influence on the control circuit of the drone itself, so that a corresponding electromagnetic shield needs to be designed for the drone.
The traditional two-coil structure is too large in volume and weight, is not suitable for being installed on a power grid transmission line, and can cause potential safety hazards. Therefore, the system adopts a multi-stage relay coil wireless electric energy transmission system, the transmission coil is wound inside the insulator, the transmission distance can be effectively increased by adding the relay coil 22-2, and the requirement of the insulation distance between the high-voltage side and the low-voltage side is met. The insulator structure is combined, the size, the weight and the cost of the whole device are reduced, and energy can be transmitted while high-voltage and low-voltage isolation is realized.
According to the size and model of the selected insulator, as shown in fig. 2, in this embodiment, 8 circular-ring-shaped coils with the same size are designed, namely, a transmitting coil 22-1 and 7 relay coils (first to seventh relay coils a-G), and are sequentially wound inside the insulator, and the distances between the relay coils 22-2 are also the same. Because the magnetic core is inconvenient to arrange inside the insulator, the relay coil 22-2 and the transmitting coil 22-1 both adopt hollow structures.
Considering that the coupling unit 22 needs to have a certain anti-offset characteristic, the relay platform coil (i.e. the eighth relay coil H, and also the 8 th relay coil) of the system adopts a "circular transmitting coil 22-1" structure of "group string winding coil + concave-convex magnetic core" as shown in fig. 3, and compared with a strip-shaped magnetic core, the concave-convex magnetic core structure increases the magnetic induction intensity under the condition of less magnetic core consumption, thereby being beneficial to improving the longitudinal transmission capability. Considering that the receiving coil 22-3 of the coupling mechanism of the unmanned aerial vehicle needs to be designed in a light weight mode, the receiving coil 22-3 of the system adopts a circular hollow structure as shown in figure 2, and the coil is fixed below a control circuit of the unmanned aerial vehicle.
When the unmanned aerial vehicle is wirelessly charged, the magnetic coupling mechanism has high-frequency characteristics, the generated electromagnetic interference can possibly cause adverse effects on the unmanned aerial vehicle, and the current electromagnetic shielding technology is mainly divided into two types, namely a passive shielding technology and an active shielding technology.
Passive shielding generally selects comparatively cheap and the wider ferrite of operating frequency range as the shield panel, but its density is great, is unfavorable for unmanned aerial vehicle shield assembly's lightweight design. Wireless charging may also be passively shielded using conductive materials, such as copper and aluminum, which are common conductive materials. When wireless charging is carried out, a time-varying magnetic field can induce an electric field in a surrounding space, eddy currents can be generated in the conductive materials, and the lenz law shows that a reverse magnetic field generated by the eddy currents can counteract the magnetic field of an original resonance coil, so that electromagnetic shielding of the surrounding environment is achieved, and the eddy currents in metal are finally lost in a heat mode. Because aluminum is the most abundant metal element in the earth's crust, and has the advantages of low price, light weight, good conductivity and small eddy current loss, the aluminum plate is used as a shielding material and is placed right above the receiving coil 22-3, and the eddy current is used for eliminating the leakage magnetic field.
Fig. 4 is a magnetic field intensity interface diagram before the receiving coil 22-3 is not shielded, and it can be seen that the magnetic field intensity above the receiving coil 22-3 is still large, and the maximum magnetic field intensity is 240uH, which seriously affects the normal operation of the unmanned aerial vehicle.
The system selects an aluminum plate as a shielding device, reduces a magnetic field by using eddy current generated in the aluminum plate, and actually designs two structures in the simulation process, wherein one structure is that an aluminum sheet with the radius of 3cm and the height of 0.5cm is added on a receiving coil 22-3, as shown in fig. 5(a), the magnetic field above the receiving coil 22-3 is greatly reduced, and the maximum magnetic field intensity of an unmanned aerial vehicle control circuit accessory is only 65 uH. On the basis of the design, the annular aluminum sheet with the thickness of 0.5cm, the height of 3cm, the outer radius of 3.5cm and the inner radius of 3cm is additionally arranged on the periphery of the aluminum sheet, as shown in fig. 5(b), 20uH is formed after the maximum magnetic field intensity near the unmanned aerial vehicle control circuit, and the shielding effect is better. Through calculating, the weight of the aluminum that adopts the second kind of shielding mode to add is 30.6g, and from the light-weighted consideration of unmanned aerial vehicle, this embodiment adopts the first kind of shielding mode, and aluminum plate gross weight is 14.1 g. Of course, in other embodiments, other metal materials and other structures may be used.
In this embodiment, as shown in fig. 6, the primary voltage adjusting unit 21 includes a DC/DC converting circuit 21-1, a high frequency inverter circuit 21-2, and a first resonance compensating circuit 21-3 sequentially connected between the high voltage power taking module 1 and the transmitting coil 22-1;
the secondary side voltage adjusting unit 23 comprises a second resonance compensation circuit 23-1 and a rectification filter circuit 23-2 which are sequentially connected between the receiving coil 22-3 and the unmanned aerial vehicle charging module 3.
Due to the requirement of application occasions, a certain insulation distance needs to be met on the high-voltage side and the low-voltage side, and the isolation distance between the transmitting coil 22-1 and the receiving coil 22-3 is long, so that the coupling mechanism uses a transmission mode of multiple relay coils, and the reason is that: compared with the traditional two-coil transmission mode, the multi-relay wireless power transmission system can effectively improve the transmission distance, transmission power and efficiency of the system; secondly, the coil can be wound on the insulator, the diameter of the coil is obviously reduced, the size of the coupling mechanism is effectively reduced, and the mounting is convenient. The high-frequency inverter circuit 21-2 converts the dc power output by the high-voltage power-taking module 1 into a higher-frequency ac power, thereby improving the power density of the system and enhancing the power transmission capability of the system.
The primary voltage adjusting unit 21 adopts an LCC compensation network, and the relay and receiving coil 22-3 adopts S-type compensation, so as to form a transmitting-Multi-relay-receiving LCC-Multi-S type Multi-relay magnetic coupling WPT system, and the circuit diagram is shown in fig. 7. In FIG. 7, VdcA MOS transistor S0, a diode D0, an inductor L for the DC voltage source output by the high voltage power-taking module 10Capacitor C0The front end BUCK circuit is formed, the power MOS tubes S1-S4 form a full bridge inverter link,
for inverting the output voltage, Lf1Is a resonant inductor, n is the number of coils, Cf1、C1…CnIs a resonant capacitor, L1For self-inductance of the transmitting coil 22-1, L2…Ln-1Relay coil 22-2 self-inductance, LnSelf-inductance of the receiving coil 22-3, Mi_jIs the mutual inductance between coil i and coil j,
for inverting output current, InFor the current flowing through the coil n, the diodes D1-D4 form a full bridge rectification link, RLIs a load resistance, ReqIs an equivalent load resistance, CLIs a filter capacitor.
Because of the unique structural design of the coupling unit 22, the basic DC/DC conversion circuit 21-1, the high-frequency inverter circuit 21-2, the first resonance compensation circuit 21-3, the second resonance compensation circuit 23-1 and the rectification filter circuit 23-2 are designed in this embodiment, so that the better transmission quality can be ensured.
In this embodiment, as shown in fig. 8, the high-voltage power taking module 1 includes a primary side controller 11 and a load sensing unit 12, and the unmanned aerial vehicle charging module 3 includes a secondary side controller 31;
the load sensing unit 12 is configured to send corresponding information to the primary side controller 11 when sensing that the relay charging platform stops the unmanned aerial vehicle, and the primary side controller 11 opens a wireless communication function after receiving the corresponding information;
the secondary side controller 31 is used for acquiring battery power information of the unmanned aerial vehicle in real time and establishing wireless communication connection with the primary side controller 11 to transmit the battery power information; the primary side controller 11 is used for controlling the connection and disconnection between the high-voltage power taking module 1 and the wireless electric energy transmission module 2 according to the battery electric quantity information.
When load induction unit 12 senses that the relay charging platform stops having unmanned aerial vehicle, communication function and vice limit controller 31 communication are opened to primary side controller 11 to can acquire unmanned aerial vehicle's battery power information, and under the request of vice limit controller 31, open wireless power transmission module 2, begin to carry out wireless charging.
Further, the secondary controller 31 is further connected to the secondary voltage adjusting unit 23, and is configured to obtain the charging voltage output by the secondary voltage adjusting unit 23 and send the charging voltage to the primary controller 11, and the primary controller 11 is further configured to adjust the DC/DC conversion circuit 21-1 in the primary voltage adjusting unit 21 according to the charging voltage, so as to adjust the charging voltage.
In the charging process of the unmanned aerial vehicle, the secondary controller 31 sends charging voltage information of the unmanned aerial vehicle to the primary controller 11 in real time, and the primary controller 11 further adjusts the wireless power transmission module 2 to maintain stable charging voltage, so that the charging quality is ensured.
The more specific circuit structure of the high voltage electricity-taking module 1 is shown in fig. 8, and since the electricity-taking CT outputs a dc current source, it cannot be directly used, and an electric energy conversion module is required to output it as a stable dc voltage. The selected power-taking CT power supply can output 24V constant-voltage direct current with the maximum output power of 50W. Meanwhile, because the input power supply is only one path, and the primary side control part controls the electricity and the main electricity, the isolated DC/DC conversion is designed to electrically isolate the main electricity from the control electricity, and in addition, the controller part and the load detection part are in a normally open state, and the wireless energy transfer device is opened when needing to work, and the on-off of the main electricity is controlled by a relay controlled by the controller. The secondary receiving device supplies power to the BMS through rectification filtering after compensating the topology, and the BMS detects the battery voltage in real time and transmits the battery voltage to the secondary controller 31. The secondary controller 31 is to communicate with the drone controller in real time during flight to transmit battery power information and provide a charging instruction, and in addition, the secondary controller 31 is to establish communication with the primary side to transmit charging information and provide information for closing the charging system during charging.
In this embodiment, the charging module 3 of the drone further includes a charging circuit, a load battery, and a BMS module as shown in fig. 8, which are all general designs, and therefore, this embodiment will not be described again.
In the simulation model, an input direct-current voltage source is set to be 24V constant-voltage direct current, a load is equivalent to a 4 omega resistor according to power, a multi-stage coupling coil inputs parameters according to a simulation result in COMSOL, the voltage of a load detected by a secondary side is used as a feedback signal to be compared with a given value, and a PID controller is used for controlling the on-off of a switch tube in a primary side BUCK circuit to form a closed-loop control system. In the simulation process, the system output power, the transmission efficiency, the coupling mechanism current and the like are observed by adjusting the system frequency f and the LCC tuning parameter L1, and a group of parameter values with optimal performance are determined.
Through trial and error, a group of ideal parameter values are obtained, the matching frequency f is selected to be 200kHz, the system input frequency is 195.5kHz, the resonance inductance L1 is 2.5uH, the system input power is 25.83W at the moment, the requirement of getting the output power of the CT is met, 8V stable voltage is picked up at a load end, 16W direct current electric energy is picked up, the system efficiency reaches 61.94%, the system index requirement is met, the PID control performance is good, and the system requirement is met. The simulation results are shown in fig. 9 and 10.
Meanwhile, the offset resistance of the system is required to be considered according to the system requirements, so that the influence of the corresponding mutual inductance change on the output performance is researched during simulation. Fig. 11 and 12 show the output characteristics of the system when the receiving coil 22-3 is laterally offset by 5cm, and it can be seen that, due to the addition of feedback adjustment, the system has strong offset resistance, can meet the output requirement, and the system efficiency is only slightly reduced.
Example 2
The embodiment provides a wireless charging device of an inspection unmanned aerial vehicle based on high-voltage line energy obtaining, which is used for parking the unmanned aerial vehicle and charging the unmanned aerial vehicle, and specifically comprises a high-voltage electricity obtaining device 4, a wireless electric energy transmission device 5 and an induction device 6, wherein the high-voltage electricity obtaining module 1 and a primary voltage adjusting unit 21 which are arranged in the charging system of the embodiment 1 are arranged in the high-voltage electricity obtaining device 4; the wireless power transmission device 5 is equipped with the coupling unit 22, the insulator 24 (the coupling unit 22 is installed in the insulator 24) and the relay charging platform 25 as in the charging system of embodiment 1; the sensing device 6 (corresponding to the load sensing unit 12) is fixed on the relay charging platform 25 and electrically connected to the high voltage electricity-taking device 4.
Specifically, the relay charging platform 25 is fixed on the telegraph pole and located above the high-voltage cable, the high-voltage power taking device 4 is fixed on the high-voltage cable, and the wireless power transmission device 5 is installed between the relay charging platform 25 and the high-voltage power taking device 4.
In this embodiment, as shown in fig. 14, the apparatus further includes a platform support 10 fixed on the electric tower and fixing the relay charging platform 25.
Example 3
The embodiment provides an unmanned aerial vehicle patrols and examines based on high-voltage line gets energy, as shown in fig. 15, specifically includes unmanned aerial vehicle body 7, installs the IC-card 8 of side on unmanned aerial vehicle body 7, installs coil support 9 under unmanned aerial vehicle body 7, installs receiving coil 22-3 on coil support 9, is fixed in the metal shielding layer (install between receiving coil 22-3 and unmanned aerial vehicle body 7, not shown in fig. 14) above receiving coil 22-3.
Then install in unmanned aerial vehicle body 7 as in embodiment 1 unmanned aerial vehicle module 3 that charges, this embodiment then no longer gives details. The position relationship of the unmanned aerial vehicle in the embodiment 2 when the unmanned aerial vehicle stops on the wireless charging device is shown in fig. 13, and after the sensing device 6 recognizes the relevant information on the IC card 8, as described in embodiment 1, the relevant signal is sent to the primary side controller 11 through the secondary side controller 31, so that charging can be started.
Example 4
The embodiment provides a wireless charging method for an inspection unmanned aerial vehicle based on energy obtaining of a high-voltage line, and the wireless charging method is applied to the charging system in embodiment 1 or the charging device in embodiment 2, so that intelligent wireless charging of the inspection unmanned aerial vehicle is completed. As shown in fig. 16, the method includes the steps of:
s1, judging whether the electric quantity of an unmanned aerial vehicle (BMS module of the unmanned aerial vehicle) is sufficient, if not, sending a charging request to an unmanned aerial vehicle controller (secondary controller 31), and controlling the unmanned aerial vehicle to fly to a relay charging platform 25 of the wireless charging device as described in embodiment 2 by the unmanned aerial vehicle controller;
s2, after the sensing device 6 senses that the unmanned aerial vehicle falls down, a signal is sent to the high-voltage electricity taking device 4 (the primary side controller 11 of the high-voltage electricity taking device 4) so that the high-voltage electricity taking device 4 can start a wireless communication function;
s3, the unmanned aerial vehicle controller is in communication connection with the high-voltage power taking device 4, and then a charging preparation instruction is sent to the primary side controller 11;
s4, after receiving a charging preparation instruction, the primary side controller 11 of the high-voltage power taking device 4 detects whether a self circuit is normal, if so, a relay of the wireless power transmission device 5 is opened, power is transmitted to the unmanned aerial vehicle, and the step S5 is carried out, otherwise, fault detection is carried out, and a detection result is fed back to the unmanned aerial vehicle controller (the detection process is not embodied in the attached drawing, and detection is not necessary in other embodiments);
s5, feeding back the charging voltage of the unmanned aerial vehicle to a primary side controller 11 of a high-voltage power-taking device 4 in real time by the unmanned aerial vehicle controller, and adjusting the operation parameters of a BUCK conversion circuit, namely a DC/DC conversion circuit 21-1, of the wireless power transmission device 5 according to the charging voltage by the primary side controller 11 of the high-voltage power-taking device 4 so as to keep the charging voltage stable (the step is not shown in the attached figure 16);
s6, judging whether the battery is fully charged by the unmanned aerial vehicle controller, if so, feeding the battery back to the primary side controller 11 of the high-voltage power taking device 4, and cutting off the relay of the wireless power transmission device 5 by the high-voltage power taking device 4; if not, continuing to judge.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. Patrol and examine unmanned aerial vehicle wireless charging system based on high-voltage line gets ability, get module, wireless power transmission module, unmanned aerial vehicle charging module including the high pressure that connects in order, wireless power transmission module is including the primary voltage adjustment unit, coupling unit and the vice voltage adjustment unit that connect in order, primary voltage adjustment unit connects the module is got to the high pressure, vice voltage adjustment unit connects unmanned aerial vehicle charging module, its characterized in that:
the coupling unit comprises a transmitting coil connected with the primary voltage adjusting unit, a receiving coil connected with the unmanned aerial vehicle charging module, and a multi-stage relay coil arranged between the transmitting coil and the receiving coil, wherein the receiving coil and the unmanned aerial vehicle charging module are installed on the unmanned aerial vehicle, and the last stage relay coil is a relay platform coil installed on a relay charging platform; the multistage trunk coils are wound in the insulator at equal intervals and are all of hollow structures.
2. The wireless charging system of unmanned aerial vehicle patrols and examines based on high-voltage line energy acquisition of claim 1, characterized in that: the transmitting coil and the receiving coil are both of hollow structures.
3. The wireless charging system of unmanned aerial vehicle patrols and examines based on high-voltage line energy acquisition of claim 1, characterized in that: the relay platform coil adopts a structure of 'grouping series winding coils + concave-convex magnetic cores'.
4. The wireless charging system of unmanned aerial vehicle patrols and examines based on high-voltage line energy acquisition of claim 1, characterized in that: and a metal shielding layer is arranged above the receiving coil.
5. The wireless charging system of unmanned aerial vehicle patrols and examines based on high-voltage line energy acquisition of claim 1, characterized in that: the primary side voltage adjusting unit comprises a DC/DC conversion circuit, a high-frequency inverter circuit and a first resonance compensation circuit which are sequentially connected between the high-voltage power taking module and the transmitting coil;
and the secondary side voltage adjusting unit comprises a second resonance compensation circuit and a rectification filter circuit which are sequentially connected between the receiving coil and the unmanned aerial vehicle charging module.
6. The wireless charging system of unmanned aerial vehicle patrols and examines based on high-voltage line energy acquisition of claim 1, characterized in that: the high-voltage electricity taking module comprises a primary side controller and a load sensing unit, and the unmanned aerial vehicle charging module comprises a secondary side controller;
the load sensing unit is used for sending corresponding information to the primary side controller when sensing that the relay charging platform stops the unmanned aerial vehicle, and the primary side controller opens a wireless communication function after receiving the corresponding information;
the secondary side controller is used for acquiring battery power information of the unmanned aerial vehicle in real time and establishing wireless communication connection with the primary side controller to transmit the battery power information; the primary side controller is used for controlling the connection and disconnection between the high-voltage electricity taking module and the wireless electric energy transmission module according to the battery electric quantity information.
7. The wireless charging system of unmanned aerial vehicle patrols and examines based on high-voltage line energy acquisition of claim 6, characterized in that: the secondary side controller is further connected with the secondary side voltage adjusting unit and used for acquiring the charging voltage output by the secondary side voltage adjusting unit and sending the charging voltage to the primary side controller, and the primary side controller is further used for adjusting a DC/DC conversion circuit in the primary side voltage adjusting unit according to the charging voltage so as to adjust the charging voltage.
8. Patrol and examine unmanned aerial vehicle wireless charging device based on high-voltage line gets energy, its characterized in that: the charging system comprises a high-voltage power taking device, a wireless electric energy transmission device and an induction device, wherein the high-voltage power taking module and the primary side voltage adjusting unit in the charging system according to any one of claims 1 to 7 are installed in the high-voltage power taking device; the wireless power transmission apparatus is installed with the coupling unit, the insulator and the relay charging platform in the charging system according to any one of claims 1 to 7; the induction device is fixed on the relay charging platform and is electrically connected with the high-voltage power taking device.
9. The wireless charging device of unmanned aerial vehicle patrols and examines based on high-voltage line gets energy of claim 8, characterized in that: the relay charging platform is fixed on the telegraph pole and located above the high-voltage line, the high-voltage electricity taking device is fixed on the high-voltage line, and the wireless electric energy transmission device is installed between the relay charging platform and the high-voltage electricity taking device.
10. A patrol unmanned aerial vehicle wireless charging method based on high-voltage line energy taking comprises the following steps:
s1, judging whether the electric quantity of the unmanned aerial vehicle is sufficient or not by the unmanned aerial vehicle, if not, sending a charging request to an unmanned aerial vehicle controller, and controlling the unmanned aerial vehicle to fly to a relay charging platform of the wireless charging device according to any one of claims 8-9 by the unmanned aerial vehicle controller;
characterized by further comprising, after the step S1:
s2, after sensing the landing of the unmanned aerial vehicle, the sensing device sends a signal to the high-voltage electricity taking device to enable the high-voltage electricity taking device to open a wireless communication function;
s3, establishing communication connection between the unmanned aerial vehicle controller and the high-voltage power taking device, and then sending a charging preparation instruction to the high-voltage power taking device;
s4, after receiving a charging preparation instruction, the high-voltage power taking device detects whether a circuit of the high-voltage power taking device is normal, if so, the wireless power transmission device is turned on, electric energy is transmitted to the unmanned aerial vehicle, and the step S5 is carried out, and if not, fault detection is carried out, and a detection result is fed back to the unmanned aerial vehicle controller;
s5, feeding back the charging voltage of the unmanned aerial vehicle to a high-voltage electricity taking device in real time by the unmanned aerial vehicle controller, and adjusting the operation parameters of the wireless electric energy transmission device by the high-voltage electricity taking device according to the charging voltage so as to keep the charging voltage stable;
s6, judging whether the battery is fully charged by the unmanned aerial vehicle controller, if so, feeding the battery back to the high-voltage power taking device, and cutting off the wireless power transmission device by the high-voltage power taking device; if not, continuing to judge.
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