CN110380494A - A kind of Intelligent Mobile Robot wireless charging system and its charging method - Google Patents

Abstract

The invention discloses a wireless charging system and a charging method for a substation inspection robot, and relates to the field of wireless charging. The existing wireless charging system does not consider substation transmission power, weather, equipment information, equipment failure and defect information, and ignores the different inspection requirements of substations under different operating conditions. The system includes a big data analysis module, cloud, data terminal and wireless charging device; the big data analysis module concludes that the substation is in a special or normal working condition based on historical data and current data, and the result is sent to the cloud, and the data terminal obtains data from the cloud , and transmit it to the inspection robot; the inspection robot starts charging when the power is lower than 30%, and selects the charging mode according to the working conditions; selects the fast charging mode for special working conditions, and stops when the charging reaches 60%; chooses slow charging for normal working conditions mode, it will stop when charging to 90%. It can effectively adapt to the inspection needs of substations under different working conditions, guarantee the inspection time under special working conditions, and cause little damage to the battery.

Description

A wireless charging system and charging method for a substation inspection robot

technical field

The invention relates to the field of wireless charging, in particular to a wireless charging system for a substation inspection robot.

Background technique

Wireless power transmission technology originated at the end of the nineteenth century. It was first proposed by Nikola Tesla. In view of its advantages such as safety, convenience, and strong environmental adaptability, as well as the ability to solve application problems in certain specific occasions, and Entering people's sight, it has become a research hotspot in the field of power electronics. Wireless power transmission systems are mainly divided into three types: electromagnetic induction coupling, magnetic resonance coupling, and microwave radiation. Among them, electromagnetic induction coupling wireless power transmission systems have been widely studied and applied due to their high efficiency and simple structure. The electromagnetic induction coupled wireless power transmission system feeds high-frequency alternating current into the primary magnetic circuit mechanism, and then excites a high-frequency magnetic field in space. The secondary magnetic circuit mechanism obtains electric energy from the high-frequency magnetic field through electromagnetic coupling, realizing the power from Contactless transmission from primary device to secondary device.

Big data refers to a collection of data that cannot be captured, managed, and processed by conventional software tools within a certain period of time. It is a massive, high-growth and Diverse information assets. By using big data, certain rules can be summarized from different types of data, and when applied to substation operation and maintenance, the relationship between different equipment failures, defects and substation operation rules, weather factors, and equipment information can be found.

Substation inspection robots can independently inspect substations, improve the operation and maintenance level of substations, and have positive significance for ensuring the safe and stable operation of substations. The main function of the substation inspection robot is to copy data, measure temperature, and find defects in substation equipment through data analysis. The stability and reliability of substation equipment are different under different working conditions. For example, when the substation is under high-power operating conditions, the equipment will bear a large current. This kind of working condition is the peak period for equipment defects. will also intensify. The reliability and stability of different equipment will be reduced to varying degrees under the conditions of rain, snow, strong wind, high temperature and low temperature, and the equipment will be more prone to defects or failures. Therefore, in this case, it is necessary to timely, comprehensively and Round the clock patrol.

Battery charging methods can be divided into fast charging and slow charging. Fast charging will cause great damage to the battery, especially in the later stage of charging, it will accelerate the polarization speed of the battery plate. At the same time, it can effectively alleviate the damage to the battery caused by fast charging. The slow charging power is small, and the damage to the battery is small, and the damage mainly occurs in the later stage. If the battery is not fully charged, the damage to the battery can be effectively reduced.

The wireless charging systems introduced in the existing literature mostly focus on the positioning technology of the primary and secondary sides, the communication technology of the primary and secondary sides, and control strategies, etc., ignoring the different inspection requirements under different operating conditions of the substation, resulting in no Consider substation transmission power, weather factors, equipment information, equipment failure and defect information.

Contents of the invention

The technical problem to be solved and the technical task proposed by the present invention are to improve and improve the existing technical solutions, and to provide a wireless charging system and charging method for substation inspection robots to meet the inspection requirements of different operating conditions of substations. Purpose. For this reason, the present invention takes the following technical solutions.

A wireless charging system for a substation inspection robot, including a big data analysis module that analyzes the working conditions of the substation based on historical data and current data, and is used as a cloud as a data server for uploading on-site data and downloading cloud data A data terminal and a wireless charging device for realizing wireless charging of a substation inspection robot, the big data analysis module is connected to the cloud, the cloud is connected to the data terminal, and the data terminal is wirelessly connected to the substation inspection robot , the wireless charging device and the substation inspection robot realize wireless energy transmission and connection through electromagnetic induction coupling, and the substation inspection robot is provided with a wireless charging strategy module for autonomously adapting to the working conditions of the substation. Through the big data analysis module, the analysis of the working conditions of the substation can be easily realized. The analysis data is stored in the cloud, and the substation inspection robot downloads the working condition analysis data from the cloud, which can easily realize the judgment of the working conditions of the substation. The inspection robot can effectively realize adaptive charging for different working conditions through the wireless charging strategy module, realize the comprehensive consideration of the transmission power of the substation, weather factors, equipment information, equipment failure and defect information, and realize the inspection of different operating conditions of the substation. check requirements.

As a preferred technical means: the wireless charging device includes a secondary device and a plurality of primary devices, the secondary device is located at the bottom of the substation inspection robot, and the primary devices are distributed in the inspection area . The substation inspection robot can be charged nearby during the inspection process, the moving distance is short, and the power consumption is small. During the charging process, it can monitor the equipment near the charging area.

As a preferred technical means: the primary side device includes a 220V power frequency power supply, a power factor correction circuit, a high frequency inverter, a primary side resonance compensation circuit, a primary side magnetic circuit mechanism and a primary side wireless communication device, and the 220V power supply The high frequency power supply is connected to the power factor correction circuit, the power factor correction circuit is connected to the high frequency inverter, the high frequency inverter is connected to the primary side wireless communication device and the primary side resonance compensation circuit, and the primary side resonant compensation circuit is connected to the primary side The side resonance compensation circuit is connected with the primary side magnetic circuit mechanism. Effectively realize the circuit structure of the primary device.

As a preferred technical means: the secondary side device includes a secondary side magnetic circuit mechanism, a secondary side resonance compensation circuit, a secondary side rectifier circuit, a battery charging circuit and a secondary side wireless communication device, and the secondary side magnetic circuit mechanism and the secondary side The resonant compensation circuit is connected, the secondary resonant compensation circuit is connected with the secondary rectifier circuit, the secondary rectifier circuit is connected with the battery charging circuit, the battery charging circuit is connected with the substation inspection robot, and the substation inspection robot The inspection robot is connected with the secondary wireless communication device. Effectively realize the circuit structure of the secondary device.

As an optimal technical means: both the primary side magnetic circuit mechanism and the secondary side magnetic circuit mechanism include a coil, a ferrite core and an aluminum plate, the ferrite core and the aluminum plate are provided with electromagnetic shielding, and the coil is located at Above the ferrite core, the ferrite core is located above the aluminum plate, the three are fixed in a plastic box, and the coil leads are drawn out of the plastic box. Effectively realize the structure of the primary side magnetic circuit mechanism and the secondary side magnetic circuit mechanism.

As an optimal technical means: the battery charging circuit includes two different voltage power circuits of fast charging and slow charging. Two different charging modes can effectively support charging strategies under different working conditions. Fast charging will cause great damage to the battery, especially in the later stage of charging, it will accelerate the polarization speed of the battery plate, so "shallow charging and shallow discharging, multiple charging "While ensuring the charging speed, it can effectively alleviate the damage to the battery caused by fast charging. The slow charging power is small, and the damage to the battery is small, and the damage mainly occurs in the later stage. If the battery is not fully charged, the damage to the battery can be effectively reduced.

As a preferred technical means: the primary-side resonance compensation circuit and the secondary-side resonance compensation circuit adopt series compensation, parallel compensation or series-parallel composite compensation topological circuit structure. The three topologies are widely used and the technology is mature.

A charging method for a substation inspection robot wireless charging system, comprising the following steps:

1) When the substation inspection robot detects that the battery power is less than 30%, it will search for the nearest primary charging device according to its own location;

2) When the substation inspection robot stops in the charging area, it will judge the working condition of the substation. If it is judged to be a special working condition, go to step 3), and if it is judged to be a normal working condition, go to step 4);

3) Select the fast charging mode, send a fast charging signal to the secondary wireless communication device, the secondary wireless communication device sends this signal to the primary wireless communication device, and the primary wireless communication device sends a start signal to the high frequency inverter according to the signal Quick charge command;

4) Select the slow charging mode, send a signal to the wireless communication device on the secondary side to start slow charging, the wireless communication device on the secondary side sends this signal to the wireless communication device on the primary side, and the wireless communication device on the primary side sends a signal to the high-frequency inverter according to the signal Start slow charging command;

5) When the charging is completed, the substation inspection robot sends a signal to stop charging to the secondary side wireless communication device, and the secondary side wireless communication device sends this signal to the primary side wireless communication device, and the primary side wireless communication device sends a signal to the high frequency inverter Stop the charging command, the substation inspection robot leaves the charging area, and continues the inspection. The charging method can effectively realize adaptive charging for two different working conditions, and can effectively realize the inspection requirements of different operating conditions of the substation.

As a preferred technical means: in the fast charging mode, when the battery power is charged to 60%-80%, the charging ends; in the slow charging mode, when the battery power is charged to 80%-95%, the charging ends. Realize fast charging and slow charging two kinds of battery power standards at the end of charging.

As an optimal technical means: the special working condition refers to the working conditions in which some equipment in the substation is prone to failure or defect based on the historical data and the current data of the substation by the big data analysis module; the normal working condition refers to the big data Based on the historical data and the current data of the substation, the analysis module can obtain the working status of all equipment in the substation where there is a failure or a low probability of defect; the analysis result is sent to the cloud by the big data analysis module, and the data terminal obtains the data from the cloud and transmits it to the substation patrol. Check the robot. Effectively realize the analysis and judgment of special working conditions and common working conditions.

Beneficial effect:

1. Conveniently realize the analysis and judgment of the special working conditions and common working conditions of the substation, effectively realize the adaptive charging of different working conditions, and realize the comprehensiveness of the transmission power of the substation, weather factors, equipment information, equipment failure and defect information Consider and realize the inspection requirements of different operating conditions of the substation.

2. Through multiple primary side devices distributed in the inspection area, the substation inspection robot can be charged nearby during the inspection process, with short moving distance and low power consumption. During the charging process, it can monitor the equipment near the charging area.

3. Two different charging modes can effectively support charging strategies under different working conditions. Fast charging will cause great damage to the battery, especially in the later stage of charging, it will accelerate the polarization speed of the battery plate, so "shallow charging and shallow discharging, more While ensuring the charging speed, "secondary charging" can effectively alleviate the damage to the battery caused by fast charging. The slow charging power is small, and the damage to the battery is small, and the damage mainly occurs in the later stage. If the battery is not fully charged, the damage to the battery can be effectively reduced.

Description of drawings

Fig. 1 is a schematic diagram of the system modules of the present invention.

Fig. 2 is a flowchart of the charging method of the present invention.

Fig. 3 is a schematic structural diagram of the wireless charging device of the present invention.

In the figure: 1-big data analysis module; 2-cloud; 3-data terminal; 4-substation inspection robot; 5-wireless charging device; 501-220V power frequency power supply; 502-power factor correction circuit; 503-high frequency Inverter; 504-primary side resonance compensation circuit; 505-primary side magnetic circuit mechanism; 506-primary side wireless communication device; 507-secondary side magnetic circuit mechanism; 508-secondary side resonance compensation circuit; 509-secondary side rectification circuit ; 510-battery charging circuit; 511-secondary side wireless communication device.

Detailed ways

The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings.

As shown in Figure 1-3, a wireless charging system for a substation inspection robot, including a big data analysis module 1 that can be used to analyze the working conditions of the substation based on historical data and current data analysis, and a cloud 2 used as a data server. In the data terminal 3 for uploading field data and downloading data from the cloud 2 and the wireless charging device 5 for realizing wireless charging of the substation inspection robot 4, the big data analysis module 1 is connected to the cloud 2, and the cloud 2 is connected to the data terminal 3, The data terminal 3 is wirelessly connected to the substation inspection robot 4, and the wireless charging device 5 and the substation inspection robot 4 realize wireless energy transmission connection through electromagnetic induction coupling. Charging strategy module.

In order to facilitate nearby charging, the wireless charging device 5 includes a secondary device and multiple primary devices. The secondary device is located at the bottom of the inspection robot 4 in the substation, and the primary devices are distributed in the inspection area. The substation inspection robot 4 can be charged nearby during the inspection process, the moving distance is short, the power consumption is small, and the equipment near the charging area can be monitored during the charging process.

In order to realize the circuit structure of the primary side device, the primary side device includes a 220V power frequency power supply 501, a power factor correction circuit 502, a high frequency inverter 503, a primary side resonant compensation circuit 504, a primary side magnetic circuit mechanism 505 and a primary side Wireless communication device 506, 220V power frequency power supply 501 is connected to power factor correction circuit 502, power factor correction circuit 502 is connected to high frequency inverter 503, high frequency inverter 503 is connected to primary side wireless communication device 506 and primary side resonance compensation The circuit 504 is connected, and the primary side resonance compensation circuit 504 is connected with the primary side magnetic circuit mechanism 505 . Effectively realize the circuit structure of the primary device.

In order to realize the circuit structure of the secondary side device, the secondary side device includes a secondary side magnetic circuit mechanism 507, a secondary side resonance compensation circuit 508, a secondary side rectifier circuit 509, a battery charging circuit 510 and a secondary side wireless communication device 511, and the secondary side magnetic circuit mechanism 507 is connected to the secondary resonance compensation circuit 508, the secondary resonance compensation circuit 508 is connected to the secondary rectification circuit 509, the secondary rectification circuit 509 is connected to the battery charging circuit 510, and the battery charging circuit 510 is connected to the substation inspection robot 4, and the substation inspection The robot 4 is connected with the secondary wireless communication device 511 . Effectively realize the circuit structure of the secondary device.

In order to realize the magnetic circuit mechanism, the primary side magnetic circuit mechanism 505 and the secondary side magnetic circuit mechanism 507 both include a coil, a ferrite core and an aluminum plate, the ferrite core and the aluminum plate are provided with electromagnetic shielding, and the coil is located above the ferrite core , the ferrite core is located above the aluminum plate, the three are fixed in a plastic box, and the coil leads are drawn out of the plastic box. The structures of the primary side magnetic circuit mechanism 505 and the secondary side magnetic circuit mechanism 507 are effectively realized.

In order to realize the charging speed under different working conditions, the battery charging circuit 510 includes two different voltage power circuits of fast charging and slow charging. Two different charging modes can effectively support charging strategies under different working conditions. Fast charging will cause great damage to the battery, especially in the later stage of charging, it will accelerate the polarization speed of the battery plate, so "shallow charging and shallow discharging, multiple charging "While ensuring the charging speed, it can effectively alleviate the damage to the battery caused by fast charging. The slow charging power is small, and the damage to the battery is small, and the damage mainly occurs in the later stage. If the battery is not fully charged, the damage to the battery can be effectively reduced.

A charging method for a substation inspection robot wireless charging system, the process comprising the following steps:

1) When the substation inspection robot 4 detects that the battery power is less than 30%, it searches for the nearest primary charging device according to its own location;

2) When the substation inspection robot 4 stops in the charging area, it will judge the working condition of the substation. If it is judged to be a special working condition, go to step 3), and if it is judged to be a normal working condition, go to step 4);

3) Select the fast charging mode, send a fast charging start signal to the secondary side wireless communication device 511, and the secondary side wireless communication device 511 sends this signal to the primary side wireless communication device 506, and the primary side wireless communication device 506 reverses the high frequency according to the signal. The inverter 503 sends out a command to start fast charging;

4) Select the slow charging mode, send a signal to the wireless communication device 511 on the secondary side to start slow charging, and the wireless communication device 511 on the secondary side sends this signal to the wireless communication device 506 on the primary side, and the wireless communication device 506 on the primary side transmits the signal to the high frequency according to the signal. The inverter 503 issues an instruction to start slow charging;

5) After the charging is completed, the substation inspection robot 4 sends a charging stop signal to the secondary side wireless communication device 511, and the secondary side wireless communication device 511 sends this signal to the primary side wireless communication device 506, and the primary side wireless communication device 506 communicates to the high Frequency inverter 503 issues a command to stop charging, and substation inspection robot 4 leaves the charging area to continue inspection. The charging method can effectively realize adaptive charging for two different working conditions, and can effectively realize the inspection requirements of different operating conditions of the substation.

In order to optimize the effect of fast charging and slow charging, in the fast charging mode, the charging ends when the battery power reaches 60%; in the slow charging mode, the charging ends when the battery power reaches 90%. Realize the battery power standard of fast charging and slow charging, and effectively optimize the effect of fast charging and slow charging.

In order to realize the analysis and judgment of special working conditions and common working conditions, the special working conditions refer to the working conditions in which some equipment in the substation are prone to failure or defects based on the historical data and current data of the substation obtained by the big data analysis module 1; the normal working conditions are Refers to the big data analysis module 1, based on the historical data and the current data of the substation, to obtain the working status of all equipment in the substation with a low probability of failure or defect; the analysis results are transmitted from the big data analysis module 1 to the cloud 2, and the data terminal 3 from the cloud 2 Obtain the data and transmit it to the substation inspection robot 4. Effectively realize the analysis and judgment of special working conditions and common working conditions.

In this example, the primary-side resonance compensation circuit 504 and the secondary-side resonance compensation circuit 508 adopt a series compensation topology circuit structure, and this example may also use parallel compensation or series-parallel composite compensation instead. The three topologies are widely used and the technology is mature.

In this example, the power factor correction circuit 502 adopts a Boost DC chopper topology circuit.

In this example, the high-frequency inverter 503 is a single-phase full-bridge inverter, and may also be replaced by a single-phase half-bridge inverter.

A substation inspection robot wireless charging system and charging method shown in accompanying drawings 1-3 is a specific embodiment of the present invention, which has already demonstrated the outstanding substantive features and significant progress of the present invention, and can be used according to actual needs , under the enlightenment of the present invention, the equivalent modification of its shape, structure and other aspects are all within the scope of protection of this scheme.

Claims (10)

1. A wireless charging system for a substation inspection robot, characterized in that: it includes a big data analysis module (1) that analyzes the working conditions of the substation based on historical data and current data analysis, and a cloud (2) used as a data server , a data terminal (3) for uploading on-site data and downloading data from the cloud (2) and a wireless charging device (5) for realizing wireless charging of the substation inspection robot (4), the big data analysis module ( 1) Connected to the cloud (2), the cloud (2) is connected to the data terminal (3), the data terminal (3) is wirelessly connected to the substation inspection robot (4), and the wireless charging device ( 5) The substation inspection robot (4) is connected with the substation inspection robot (4) to realize wireless energy transmission through electromagnetic induction coupling. The substation inspection robot (4) is equipped with a wireless charging strategy module for autonomously adapting to the working conditions of the substation. 2. A substation inspection robot wireless charging system according to claim 1, characterized in that: the wireless charging device (5) includes one secondary device and multiple primary devices, and the secondary The device is arranged at the bottom of the substation inspection robot (4), and the primary side devices are distributed in the inspection area. 3. A substation inspection robot wireless charging system according to claim 2, characterized in that: the primary side device includes a 220V power frequency power supply (501), a power factor correction circuit (502), and a high frequency inverter (503), the primary side resonance compensation circuit (504), the primary side magnetic circuit mechanism (505) and the primary side wireless communication device (506), the 220V power frequency power supply (501) is connected to the power factor correction circuit (502) , the power factor correction circuit (502) is connected to the high-frequency inverter (503), and the high-frequency inverter (503) is connected to the primary side wireless communication device (506) and the primary side resonance compensation circuit (504 ), the primary side resonance compensation circuit (504) is connected to the primary side magnetic circuit mechanism (505). 4. A wireless charging system for a substation inspection robot according to claim 3, characterized in that: the secondary device includes a secondary magnetic circuit mechanism (507), a secondary resonant compensation circuit (508), a secondary A rectifier circuit (509), a battery charging circuit (510) and a secondary wireless communication device (511), the secondary magnetic circuit mechanism (507) is connected to the secondary resonance compensation circuit (508), and the secondary resonance The compensation circuit (508) is connected to the secondary rectification circuit (509), the secondary rectification circuit (509) is connected to the battery charging circuit (510), and the battery charging circuit (510) is connected to the substation inspection robot (4 ), the substation inspection robot (4) is connected to the secondary wireless communication device (511). 5. A wireless charging system for a substation inspection robot according to claim 4, characterized in that: said primary side magnetic circuit mechanism (505) and secondary side magnetic circuit mechanism (507) both include coils, ferrite Magnetic core and aluminum plate, the ferrite core and aluminum plate are provided with electromagnetic shielding, the coil is located above the ferrite core, the ferrite core is located above the aluminum plate, and the three are fixed in a plastic box , the coil lead leads out of the plastic box. 6. The wireless charging system for a substation inspection robot according to claim 4, characterized in that: the battery charging circuit (510) includes two different voltage power circuits of fast charging and slow charging. 7. A wireless charging system for a substation inspection robot according to claim 4, characterized in that: said primary side resonance compensation circuit (504) and secondary side resonance compensation circuit (508) adopt series compensation, parallel compensation or Series-parallel compound compensation topology circuit structure. 8. A charging method for a substation inspection robot wireless charging system according to any one of claims 1-7, characterized in that it includes the following steps: 1) When the substation inspection robot (4) detects that the battery power is less than 30%, it searches for the nearest primary charging device according to its own location; 2) When the substation inspection robot (4) stops in the charging area, it will judge the working condition of the substation. If it is judged to be a special working condition, go to step 3), and if it is judged to be a normal working condition, go to step 4); 3) Select the fast charging mode, send a signal to the secondary side wireless communication device (511) to start fast charging, and the secondary side wireless communication device (511) sends this signal to the primary side wireless communication device (506), and the primary side wireless communication device (506) 506) Send an instruction to start fast charging to the high-frequency inverter (503) according to the signal; 4) Select the slow charging mode, send a signal to the secondary side wireless communication device (511) to start slow charging, and the secondary side wireless communication device (511) sends this signal to the primary side wireless communication device (506), and the primary side wireless communication device (506) Send an instruction to start slow charging to the high-frequency inverter (503) according to the signal; 5) After charging is completed, the substation inspection robot (4) sends a signal to stop charging to the secondary side wireless communication device (511), and the secondary side wireless communication device (511) sends this signal to the primary side wireless communication device (506), The primary side wireless communication device (506) sends a command to stop charging to the high-frequency inverter (503), and the substation inspection robot (4) leaves the charging area to continue inspection. 9. The charging method according to claim 8, characterized in that: in the fast charging mode, when the battery power is charged to 60%-80%, the charging ends; in the slow charging mode, when the battery power is charged to 80%-95% , charging ends. 10. The charging method according to claim 8, characterized in that: the special working condition means that the big data analysis module (1) obtains that some equipment in the substation is prone to failure or defect according to the historical data and the current data of the substation The normal working conditions refer to the big data analysis module (1) based on the historical data and the current data of the substation to obtain the working conditions in which all equipment in the substation has a low probability of failure or defect; the analysis results are analyzed by the big data The module (1) transmits to the cloud (2), and the data terminal (3) obtains data from the cloud (2) and transmits it to the substation inspection robot (4).