CN105914901A - Line patrol robot wireless charging system capable drawing out power via power transmission line induction - Google Patents

Abstract

The invention relates to a wireless charging system for a line patrol robot that uses power transmission line induction to obtain power, including a charging base station fixed on a tower pole and a line patrol robot running on the ground line of the transmission line. The charging base station includes a power acquisition module and a power transmission The transmitting module and the power acquisition module acquire power from the alternating magnetic field of the transmission line through electromagnetic induction. The line patrol robot includes a power transmission receiving module and an onboard battery pack. The power transmission transmitting module transmits power to the power transmission receiving module through wireless means. The power transmission receiving module transmits the obtained power to the onboard battery pack. The invention uses electromagnetic induction to obtain electric energy from the alternating magnetic field generated by the high-voltage transmission line, and has the characteristics of continuous and stable energy supply.

Description

A wireless charging system for a line patrol robot using power transmission line induction

technical field

The invention relates to a wireless charging system for a line inspection robot, in particular to a wireless charging system for a line inspection robot that uses power transmission line induction to obtain power, and belongs to the field of power transmission maintenance equipment.

Background technique

The line inspection robot is a detection system that uses a mobile robot as a carrier and uses a visible light camera, an infrared thermal imager and other detection instruments as a load. Autonomous inspection provides a source of navigation information for robotic systems. The inspection robot working on the ground line of the high-voltage transmission line uses its own camera equipment to complete the fault inspection task of the transmission line and related facilities under the remote control or control of the background. Based on the above structural characteristics, the line patrol robot is a mobile mechanical system with a certain volume and weight. The energy supply problem of this mobile mechanical system is one of the main problems restricting its application. Or it is very dangerous to remove the robot to cooperate with its functional operation, and it will also affect the normal operation of the high-voltage line. Based on the above status quo, how to provide convenient and reliable power to the line inspection robot on the line has become the key to solving the problem. However, according to the relevant national regulations and technical specifications, the line inspection robot cannot take power from the adjacent high-voltage transmission line, so There are practices in the industry that use traditional renewable energy sources as energy sources, such as solar energy and wind energy. Although these energy sources can meet the requirements of green environmental protection, they are highly dependent on the natural environment and usually cannot achieve sustainable stability. Therefore, the stable energy supply of line inspection robots has always been a problem to be solved.

Contents of the invention

The present invention discloses a new solution for a wireless charging system for a line patrol robot that utilizes power transmission line induction to obtain power from the alternating magnetic field generated by the high-voltage transmission line by means of electromagnetic induction, which solves the problem of continuous stability of the existing line patrol robot energy supply problems.

A wireless charging system for a line patrol robot that utilizes power transmission line induction to obtain power according to the present invention includes a charging base station fixed on a tower pole and a line patrol robot running on the ground line of the transmission line, and the charging base station includes a power acquisition module and a power transmission emission module , the power acquisition module acquires power from the alternating magnetic field of the transmission line through electromagnetic induction. The line patrol robot includes a power transmission receiving module and an onboard battery pack. The power transmission transmitting module transmits power to the power transmission receiving module through wireless. The receiving module transmits the obtained electric energy to the onboard battery pack.

A wireless charging system for a line patrol robot that utilizes transmission line induction to obtain power according to the present invention uses electromagnetic induction to obtain electric energy from an alternating magnetic field generated by a high-voltage transmission line, and has the characteristics of continuous and stable energy supply.

Description of drawings

Fig. 1 is a schematic diagram of the principle of a wireless charging system for a line patrol robot using power transmission line induction to obtain power according to the present invention.

detailed description

Wireless power transmission technology is a technology for energy transfer by means of electromagnetic fields or electromagnetic waves, which can be divided into electromagnetic induction, electromagnetic resonance and electromagnetic radiation. Electromagnetic induction can be used for low power and short-distance transmission, electromagnetic resonance is suitable for medium power and medium-distance energy transmission, and electromagnetic radiation is suitable for high-power and long-distance applications. As shown in Figure 1, the wireless charging system for line inspection robots using power transmission line induction includes a charging base station fixed on the tower and a line inspection robot running on the ground line of the transmission line. The charging base station includes a power acquisition module and a power transmission system. The transmitting module and the power acquisition module acquire power from the alternating magnetic field of the transmission line through electromagnetic induction. The line patrol robot includes a power transmission receiving module and an onboard battery pack. The power transmission transmitting module transmits power to the power transmission receiving module through wireless means. The power transmission receiving module transmits the obtained power to the onboard battery pack. This solution uses electromagnetic induction to obtain electric energy from the transmission line, and then uses magnetic resonance to transmit the obtained electric energy to the line inspection robot, thereby providing stable and continuous energy for the line inspection robot. Based on the above method, the power transmission transmitting module of this scheme is a magnetic resonance power transmission transmitting module, the power transmission receiving module is a magnetic resonance power transmission receiving module, and the magnetic resonance power transmission transmitting module and the magnetic resonance power transmission receiving module form a non-contact magnetic field resonance power transmission connection, the electric energy obtained by the charging base station from the alternating magnetic field of the transmission line through the electric energy acquisition module is transmitted to the line inspection robot through the non-contact magnetic field resonance power transmission connection. According to the specific conditions of the high-voltage transmission line, the above scheme adopts the combination of short-distance wireless power collection and medium-distance wireless power transmission to realize the continuous and stable energy supply problem of the line patrol robot.

In order to achieve the technical purpose of the charging base station taking power from the alternating magnetic field of the high-voltage transmission line, the power acquisition module of this scheme includes a circuit transformer unit and a power acquisition control circuit. The circuit transformer unit includes a pair of C-type irons installed on the transmission line The core ring, the power acquisition control circuit includes a relay unit, a bidirectional thyristor unit, an overvoltage protection circuit, a rectifier circuit, and a voltage feedback control circuit. output voltage. In order to realize the wireless acquisition of power by the line patrol robot from the charging base station, the magnetic resonance power transmission transmitting module of this scheme includes a high-frequency signal generation circuit, a power amplifier circuit, an impedance matching circuit, an excitation coil and a source resonant coil, and the magnetic resonance power transmission receiving module includes Equipment resonant coils, working coils, high frequency rectifiers and charging modules. The high-frequency current generated by the impedance matching circuit generates an alternating magnetic field after passing through the excitation coil, and the excitation coil forms a magnetic field coupling with the source resonant coil through the alternating magnetic field. The equipment resonant coil and the source resonant coil form electromagnetic resonance, and the electromagnetic resonance generates an alternating magnetic field, and the alternating magnetic field causes induced electric energy to be generated in the working coil, and the induced electric energy is conditioned by the high-frequency rectifier and the charging module to form electric energy for charging the onboard battery pack . The onboard battery pack of this solution is preferably a lithium battery pack. The above scheme is specifically described as follows.

The power harvesting module includes two parts: a circuit transformer and an energy harvesting control circuit. The current transformer is a ring formed by two C-shaped iron cores, and the ring is set on the transmission line. The energy pickup control circuit includes a relay group, a bidirectional thyristor, an overvoltage protection circuit, a rectification circuit, and a voltage feedback control circuit. The output terminal of the current transformer is electrically connected with the relay group, and is used for controlling the number of turns of the secondary coil of the current transformer. The output of the relay group is electrically connected with the bidirectional thyristor, and simultaneously electrically connected with the overvoltage protection circuit and the rectification circuit. The rectification output end is connected with the bidirectional thyristor through the voltage feedback control circuit, so as to ensure that the rectification circuit outputs a stable 48V voltage. In order to meet the requirements of the second-level electromagnetic resonance power transmission, this scheme directly adjusts the output signal into a high-frequency power signal as the excitation source of the magnetic resonance transmission system.

The magnetic resonance power transmission equipment includes a magnetic resonance power transmission transmitting unit and a magnetic resonance power transmission transmitting unit. The magnetic resonance power transmission transmitting unit includes a high-frequency signal generator and a power amplifier circuit, an impedance matching circuit, an excitation coil, a source resonance coil, and a magnetic resonance power transmission unit. The power transmission and receiving unit includes a device resonant coil, a working coil, a high-frequency rectification circuit and a charging circuit. The power pick-up unit outputs a 48V stabilized voltage and sends it to the high-frequency signal generator and power amplifier circuit. The high-frequency sinusoidal small signal generated in the high-frequency signal generator and power amplifier circuit is amplified into an excitation source by using the electric energy output by the power pick-up unit. The impedance matching circuit is sent to the excitation coil to provide excitation for the magnetic resonance system. The impedance matching circuit is used to match the impedance. Since the frequency of the excitation source output by the high-frequency signal generator and the power amplifier circuit is high, impedance matching must be considered so that the energy can be radiated from the excitation coil in the form of a magnetic field to the maximum extent, so that the source resonant coil LC oscillations are generated.

The magnetic resonance coil is composed of excitation coil, source resonance coil, equipment resonance coil and working coil. The excitation coil adopts a single-turn wire loop, and the high-frequency current flowing through it from the impedance matching circuit will generate an alternating magnetic field around the excitation coil. Since the distance between the excitation coil and the source resonant coil is relatively close, the two magnetic fields are coupled, and in the resonant coil LC oscillation is generated. Since the resonant frequency of the device resonant coil and the source resonant coil are the same, the device resonant coil and the source resonant coil resonate, that is, LC oscillation of the same frequency. The alternating magnetic field generated during the oscillation process is received by the adjacent working coil, and then conditioned by the high-frequency rectifier circuit and the charging circuit into electric energy that can charge the battery pack. The distance between the exciting coil and the source resonant coil is 1 cm, and the axes of the two coincide, and the positional relationship between the working coil and the equipment resonant coil is symmetrical to the above two. The distance between the source resonant coil and the equipment resonant coil of this solution is no more than 2 meters, which can ensure the efficiency of magnetic resonance power transmission and meet the power demand for charging the lithium battery pack of the line patrol robot. The excitation coil, source resonance coil, equipment resonance coil, and working coil in the magnetic resonance transmission system can all be made of copper wires with a diameter of 5 cm. The shape and size of the source resonant coil and the device resonant coil are the same, and it is a planar Archimedes spiral structure, that is, the beginning and the end are connected, a total of 8 turns, the inner diameter is 20cm, and the outer diameter is 35cm. Copper has good electrical conductivity and high-frequency performance, and the coil uses copper wire to obtain a larger Q value, so the coil uses a copper wire with a diameter of 5mm. The actual application of magnetic resonance power transmission equipment is related to the size of the source resonant coil and the device resonant coil. The transmission distance is generally 1 to 2 times the diameter of the coil. Therefore, the system design of the above scheme takes into account that the size is large enough to meet the transmission power requirements, and taking into account the on-site installation requirements and the loading capacity of the robot.

The circuits, modules and electronic components involved in the above schemes can adopt common schemes or type selections in the field, and can also adopt specially designed schemes according to actual needs.

The line inspection robot of this scheme works on the ground line. It uses its own pulley to move along the ground line under the drive of the motor, and uses the camera to take pictures and inspect the ground line, the lower transmission line and the attachments of the transmission line. When the line patrol robot needs to replenish power, it can move to the corresponding charging base station for wireless charging. Therefore, the line patrol robot wireless charging system of this solution is based on the above-mentioned two-stage wireless energy acquisition and transmission technology, and has outstanding substantive features and significant progress compared with the existing solutions.

A wireless charging system for a line patrol robot that utilizes power transmission line induction to obtain electricity in this solution is not limited to the content disclosed in the specific implementation. The technical solutions in the embodiments can exist independently or include each other. The simple replacement scheme made by this scheme in combination with common knowledge also belongs to the scope of this scheme.

Claims (7)

1. utilize an inspection robot wireless charging system for power mains induced power taking, it is characterized in that including being fixed on Charging base station on tower bar and the inspection robot operated on power transmission line ground wire, described charging base station includes that electric energy obtains Delivery block and electric energy transmitting module, described electric energy acquisition module passes through electromagnetic induction from described power transmission line alternation magnetic In Chang, sensing obtains electric energy, and described inspection robot includes electric energy transmission receiver module and on-board batteries group, described electricity Electric energy wirelessly can be transferred to transmitting module described electric energy transmission receiver module, described electric energy transmits The electric energy obtained is transferred to described on-board batteries group by receiver module.

The inspection robot wireless charging system utilizing power mains induced power taking the most according to claim 1, its Being characterised by, described electric energy transmitting module is magnetic resonance electric energy transmitting module, and the transmission of described electric energy receives Module is that magnetic resonance electric energy transmits receiver module, described magnetic resonance electric energy transmitting module and described magnetic resonance electric energy Transmission receiver module forms the transmission of electricity of noncontact magnetic resonance and connects, and described charging base station is by described electric energy acquisition module The electric energy obtained from described power transmission line alternating magnetic field is transferred to described through the transmission of electricity connection of described noncontact magnetic resonance Inspection robot.

The inspection robot wireless charging system utilizing power mains induced power taking the most according to claim 1 and 2, It is characterized in that, described electric energy acquisition module includes current transformer unit and electric energy acquisition control circuit, described electricity Road mutual inductor unit includes a pair c-type iron core ring being located on transmission line of electricity, and described electric energy acquisition control circuit includes Relay unit, bidirectional triode thyristor unit, overvoltage crowbar, rectification circuit, Voltage Feedback control circuit, institute State electric energy that electric energy acquisition module obtained by described current transformer unit through described electric energy acquisition control circuit Stable output voltage is formed after process.

The inspection robot wireless charging system utilizing power mains induced power taking the most according to claim 2, its Be characterised by, described magnetic resonance electric energy transmitting module include high-frequency signal produce circuit, power amplification circuit, Impedance matching circuit, excitation coil and source resonance coil, described magnetic resonance electric energy transmission receiver module includes that equipment is humorous Shake coil, actuating coil, hf rectifier and charging module.

The inspection robot wireless charging system utilizing power mains induced power taking the most according to claim 4, its Being characterised by, the high frequency electric that described impedance matching circuit produces produces alternating magnetic field after described excitation coil, Described excitation coil forms magnetic field by described alternating magnetic field with described source resonance coil and couples.

The inspection robot wireless charging system utilizing power mains induced power taking the most according to claim 5, its Being characterised by, described equipment resonance coil forms electromagentic resonance with described source resonance coil, and described electromagentic resonance produces Alternating magnetic field, described alternating magnetic field produces induction electric energy in making described actuating coil, and described induction electric energy passes through institute Form, after stating hf rectifier and charging module conditioning, the electric energy being available for the charging of described on-board batteries group.

The inspection robot wireless charging system utilizing power mains induced power taking the most according to claim 6, its Being characterised by, described on-board batteries group is lithium battery group.