CN111917165A - A substation crawler inspection robot, charging device and charging system and method - Google Patents

Abstract

The invention discloses a substation crawler-type inspection robot, a charging device, a charging system and a method, and belongs to the technical field of wireless charging. The charging system includes a transmitting part and a receiving part; the substation crawler-type inspection robot of the invention places coils in the crawler. , improve the coupling coefficient, improve the energy transmission efficiency and power, speed up the charging process, and make the inspection robot work continuously. The invention uses the wireless power transmission technology in the crawler-type inspection robot, disperses the pickup coil into the inside of the crawler, and places the energy transmitting coil on the ground surface, so that the receiving coil and the transmitting coil can be close to each other, improve the transmission efficiency and power, reduce multiple Due to the coupling effect between the receiving coils, a single crawler receiving coil unit module adopts an integrated package, and multiple modules can be assembled to form a whole crawler. The electric energy picked up by the receiving unit is output in series and filtered for charging to the battery.

Description

A substation crawler inspection robot, charging device and charging system and method

【Technical field】

The invention belongs to the technical field of wireless charging, and relates to a wireless charging device, in particular to a substation crawler-type inspection robot, a charging device, and a charging system and method.

【Background technique】

With the continuous development of smart grids, unattended substations and wireless power transmission technology, the requirements for inspection robots are getting higher and higher. In terms of inspection functions, they basically meet the relevant needs of smart substations, but there are still problems in battery life and power supply. The problem is that its running time and distance are limited. For example, the use of wireless energy charging technology to charge and supply energy to the robot in real time can greatly improve work efficiency, reduce the number of inspection robots, and save costs by completing dynamic charging during driving.

Wireless charging technology has become mature and has been applied in more and more occasions. The application fields range from medical equipment to household electrical equipment, from the automotive industry to special industrial applications and scientific research applications. The transmission power ranges from a few milliwatts to On kilowatts, the transmission distance ranges from less than 1 millimeter to ten centimeters or even thousands of meters, and it is constantly changing people's life and production methods.

At the same time, the demand for robots in automated factories such as unattended substations has also greatly increased. In the new generation of intelligent substations planned and constructed, inspection robots have become the basic configuration. Through autonomous cruise and identification, data collection and fault inspection can be completed. , remote interaction and other functions, but its short battery life is a shortcoming of the application. If the charging is done manually by the traditional manual, it obviously cannot meet the needs of the unattended substation, and the automatic return to the charging area is still inefficient. During the charging process, the robot cannot operate, and the utilization rate is not high.

[Content of the invention]

The purpose of the present invention is to solve the problems in the prior art, and to provide a substation crawler-type inspection robot, a charging device, and a charging system and method.

To achieve the above object, the present invention adopts the following technical solutions to realize:

A substation crawler inspection robot, comprising:

an embedded receiving coil crawler module, the embedded receiving coil crawler module includes a plurality of crawler units, and receiving coils are embedded in the plurality of crawler units for receiving electrical energy;

a voltage-stabilizing filter module, which is connected to the embedded receiving coil of the crawler unit, and is used for voltage-stabilizing and filtering the electric energy obtained by the embedded receiving coil to obtain a stable voltage;

The battery module stores the voltage processed by the voltage stabilization filter module.

The further improvement of the above-mentioned crawler inspection robot is:

Among the several crawler units, the embedded receiving coils of adjacent crawler units are connected in series.

The crawler unit further includes a receiving coil compensation capacitor and a rectifier filter circuit, the receiving coil compensation capacitor, the rectifier filter circuit and the embedded receiving coil are connected in series, and the output end of the rectifier filter circuit outputs the filtered voltage to the adjacent crawler unit.

The embedded receiving coil adopts a rectangular structure.

A charging device for a crawler-type inspection robot in a substation, comprising:

a power module, which is used to provide power for the high-frequency inverter module and the control and drive module;

A high-frequency inverter module, the high-frequency inverter module is used to invert the obtained DC voltage and output high-frequency alternating current;

a control and drive module, the control and drive module drives the high-frequency inverter module to convert the DC voltage supplied by the power supply module into a high-frequency AC voltage source, and applies it to the resonance compensation network module;

A resonance compensation network module, the resonance compensation network module converts the square wave into resonance, injects a high-frequency resonance current into the transmitting coil, and generates a high-frequency magnetic field;

A transmitting coil, the transmitting coil receives the high-frequency resonant current and transmits electric energy to the embedded receiving coil.

A further improvement of the above charging device is:

Also includes a sampling detection module, the sampling detection module is used to measure the electrical parameters of the resonance compensation network module and the transmitting coil;

The resonance compensation network module adopts LCC-S compensation to generate constant voltage output under constant voltage input. The resonance frequency of the resonance compensation network is the same as the frequency of the high-frequency alternating current output by the high-frequency inverter module, and the transmitter coil is at the working frequency. resonance occurs.

The transmitting coil adopts a rectangular structure, and is laid on the main road where the inspection robot moves, and the place where the inspection robot needs to reside for operation.

A charging system for a crawler-type inspection robot in a substation, comprising a charging device and a crawler-type inspection robot in a substation; the charging device is arranged on the main road where the inspection robot walks, and at the location where the inspection robot needs to stay in operation; the charging device Under the control of the control and drive module and the high-frequency inverter module, the transmitting coil sends electric energy to the crawler unit of the crawler inspection robot; the crawler unit is connected to the battery module through the voltage stabilization filter module, and the embedded receiver of the crawler unit receives The electric energy received by the coil is regulated and filtered, and finally stored in the battery module.

A charging method for a crawler-type inspection robot in a substation, comprising the following steps:

Step 1, when the crawler-type inspection robot receives a charging command or the power in the battery module is lower than the set value, it goes to the nearest place where the transmitting coil is laid;

Step 2, the crawler inspection robot sends a charging request, the charging device responds to the charging request, the control and drive module drives the high-frequency inverter module to convert the DC voltage supplied by the power module into a high-frequency AC voltage source, and applies it to the resonance compensation. Network module; The resonance compensation network module converts the square wave into resonance, injects high-frequency resonant current into the transmitting coil, and generates a high-frequency magnetic field; the transmitting coil sends electrical energy to the embedded receiving coil embedded in the crawler inspection robot crawler unit. ;

Step 3, when the power of the battery module reaches the command set value or is greater than the preset value, the charging is ended.

Compared with the prior art, the present invention has the following beneficial effects:

The substation crawler-type inspection robot of the invention places the coil in the crawler, improves the coupling coefficient, improves the energy transmission efficiency and power, speeds up the charging process, and enables the inspection robot to work uninterruptedly. The invention uses the wireless power transmission technology in the crawler-type inspection robot, disperses the pickup coils and embeds them inside the crawler, and places the energy transmitting coils on the ground surface, so that the receiving coils and the transmitting coils can be closely approached, the transmission efficiency and power are improved, and the multiple Due to the coupling effect between the receiving coils, the single crawler receiving coil unit module adopts an integrated package, and multiple modules can be assembled to form a whole crawler. The electric energy picked up by the receiving unit is output in series and filtered for charging to the battery.

Further, the resonant compensation network module of the present invention adopts the compensation method of LCC-S, so that the passive components of the system can be concentrated in the transmitting part, so that the receiving coil does not need too many passive components, and a constant voltage can be generated under the condition of constant voltage input. Output, the resonance frequency of the resonance compensation network is the same as the inverter's working output frequency, and the transmitter coil is resonated at this frequency.

Furthermore, the present invention can measure, monitor and protect the entire energy conversion device by using the sampling detection module to measure the key electrical parameters of the resonance compensation network and the transmitting coil in real time, so that the transmitting part operates in an optimal state.

Further, after the energy picked up by the embedded receiving coil crawler module is taken out, the invention can control the output voltage and current to control the charging process through a voltage-stabilizing filter circuit, so that the battery can be charged quickly and safely.

Further, the embedded receiving ring crawler unit module of the present invention is produced by a unified integration method. In a single crawler unit, a small receiving coil, a compensation capacitor and a rectifier filter circuit are integrated, and the filter output DC can be connected in series when the crawler unit is assembled. Get higher voltage.

Further, the multiple crawler units of the present invention are assembled into a whole crawler, and the modular technology is adopted to adjust the length and receiving area of the crawler, which makes the disassembly, assembly and maintenance of the crawler-type inspection robot more convenient.

【Description of drawings】

In order to describe the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic diagram of the overall structure of the wireless charging system of the present invention;

Fig. 2 is the resonant network of the present invention and the schematic diagram of the configuration of the embedded coil crawler;

3 is a schematic diagram of the spatial arrangement of the transmitting coil and the embedded element of the track according to the present invention;

FIG. 4 is a flowchart of the wireless charging method of the present invention.

Among them: 10-power module; 11-high frequency inverter module; 12-control and drive module; 13-resonance compensation network module; 14-sampling detection module; 15-transmitting coil; 20-embedded receiving coil track module; 30 - Voltage stabilization filter module; 31 - Battery module.

【Detailed ways】

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

Thus, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inside", etc. appear, the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the accompanying drawings , or the orientation or positional relationship that the product of the invention is usually placed in use, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed in a specific orientation and operation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are only used to differentiate the description and should not be construed to indicate or imply relative importance.

Furthermore, the presence of the term "horizontal" does not imply that the component is required to be absolutely horizontal, but rather may be tilted slightly. For example, "horizontal" only means that its direction is more horizontal than "vertical", it does not mean that the structure must be completely horizontal, but can be slightly inclined.

In the description of the embodiments of the present invention, it should also be noted that, unless otherwise expressly specified and limited, the terms "set", "installed", "connected" and "connected" should be understood in a broad sense. It can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

Below in conjunction with accompanying drawing, the present invention is described in further detail:

Combined with the working characteristics of the inspection robot, the dynamic wireless charging technology is applied to the substation robot, which can realize unattended and full-time work of the robot, which can greatly improve the production efficiency. The crawler-type inspection robot in the substation can easily walk indoors and outdoors, while the crawler is always close to the ground. Combined with the above characteristics, a substation crawler robot is proposed, as follows:

Referring to FIG. 1 , the substation crawler inspection robot of the present invention includes an embedded receiving coil crawler module 20 , a voltage stabilization filter module 30 and a battery module 31 . After the energy picked up by the embedded receiving coil crawler module 20 is taken out, a stable voltage can be obtained after passing through the voltage stabilization filter module 30, and the charging process is controlled by controlling the output voltage and current, so that the battery can be charged quickly and safely; the voltage stabilization filter module 30 Charging modes such as constant current charging, constant voltage charging, and trickle charging can be provided according to the charging algorithm, and the electric energy is stored in the battery module 31 .

The charging request of the present invention is actively sent by the inspection robot, and can also receive remote manual instructions. The charging area is set on the route where the robot frequently moves or stays for a long time, thereby greatly increasing the charging time of the robot and ensuring power supply.

In one embodiment of the present invention, the crawler module 20 with embedded receiving coils includes several crawler units, and each crawler unit has embedded receiving coils, compensation capacitors, and rectifying and filtering circuits. The embedded receiving coil crawler module 20 is a unified integrated structure. In each crawler unit, a receiving coil, a compensation capacitor and a rectifier filter circuit are integrated. When the crawler unit is assembled, the filtered output DC can be connected in series to obtain a higher voltage; the receiving coil The length is slightly smaller than the width of the crawler, and the width is much smaller than the length of the transmitting coil 15. The receiving coil and the transmitting coil are arranged at a 90-degree orthogonality.

The receiving coil of the present invention is embedded in the crawler unit, and also includes a receiving coil compensation capacitor and a rectifying filter circuit. The filtered voltage can be directly connected to the adjacent crawler in series for voltage output through a metal interface. In the adjacent track units, the coupling between the embedded coils is low, and the resonance compensation elements are matched individually, which greatly improves the transmission efficiency.

In an embodiment of the present invention, the embedded receiving coil crawler module 20 is composed of a plurality of crawler units, and adjacent crawler units are electrically connected in series to increase the output voltage, and at the same time, the upper part of the crawler does not pick up energy, but only closes to the ground. The crawler unit resonates to receive energy. The length of the crawler can be adjusted by adjusting the number of crawler units, and the received power can also be adjusted by adjusting the number of receiving coils.

In another embodiment of the present invention, a plurality of crawler units are assembled into a whole crawler, and the length and receiving area of the crawler can be adjusted in a modular manner, which makes the disassembly and maintenance of the crawler more convenient.

When the crawler-type inspection robot is running, the gear teeth drive the crawler, and the upper crawler unit at the front is driven to the bottom, so it is automatically connected to the lower crawler. Electrical connection, therefore, in the process of energy transfer, the upper crawler is always not involved, and the lower crawler is close to the ground for energy pickup.

As shown in FIG. 1 , in one embodiment of the present invention, the wireless charging device for a crawler-type inspection robot in a substation of the present invention includes a power module 10 , a high-frequency inverter module 11 , a control and drive module 12 , and a resonance compensation module. Network module 13 , sampling detection module 14 and transmitting coil 15 . The wireless power transmission between the wireless charging device and the inspection robot of the present invention adopts the principle of resonant magnetic coupling. The compensation network module 13 injects a high-frequency resonant current into the transmitting coil 15, generates a high-frequency magnetic field above the transmitting coil 15, and resonates with the receiving coil for energy transfer.

In an embodiment of the present invention, the power module 10 provides power for the high-frequency inverter module 11 and the control and drive module 12 , and the control and drive module 12 drives the high-frequency inverter module 11 to convert the DC voltage source supplied by the power module 10 into It is a high-frequency AC voltage source, which is applied to the resonance compensation network module 13, which can convert square waves into resonance, reduce switching losses and improve efficiency. The high-frequency current is injected into the transmitting coil 15 to generate a high-frequency magnetic field in space, which stimulates the receiving Partial common resonance.

As shown in FIG. 2, in an embodiment of the present invention, the resonance compensation network module 13 adopts the LCC-S compensation method, so that the passive components of the system are concentrated in the transmitting part, effectively reducing the number of passive components in the receiving part, and The constant voltage output can be generated under the condition of constant voltage input, the resonance frequency of the resonance compensation network module 13 is the same as the working output frequency of the inverter, and the transmitting coil 15 is resonated at this frequency.

In another embodiment of the present invention, the sampling detection module 14 can measure the key electrical parameters of the resonance compensation network and the transmitting coil 15 in real time, and can measure, monitor and protect the entire energy conversion device, so that the transmitting part operates in an optimal state ;

As shown in Figure 3, Figure 3 shows the series connection relationship between the crawler units and the spatial arrangement relationship between the embedded receiving coil and the transmitting coil 15. The rectified and filtered DC voltage picked up between the crawler units is connected in series through the crawler unit interface, and is connected by This allows for higher voltages. There is no direct electrical connection between the receiving coils. After rectification and filtering, the series connection can reduce the influence of the resonant magnetic field between the embedded receiving coils, so that each receiving coil can work in the best state.

Both the transmitting coil 15 and the embedded receiving coil adopt a rectangular structure. The transmitting coil 15 is much larger than the embedded receiving coil. The width of the transmitting coil 15 is equal to the length of the crawler unit. The length of the embedded receiving coil is slightly smaller than the width of the transmitting coil 15. The rectifier and filter circuits are embedded together, and the integrated production and installation method is adopted.

Multiple crawler units are assembled into a complete crawler. During the driving process of the inspection robot, the crawler units close to the ground are connected in series with each other through the interface of the crawler, so that the output voltage increases. When the crawler rolls, the crawler above the front is close to the bottom It is automatically connected in series after the ground, and the crawler below the rear automatically exits after leaving the ground, so the crawler that is always close to the ground is put into operation to pick up energy, which can reduce the running time of a single module, reduce heat generation, and improve efficiency.

The length of the crawler can be determined by the number of crawler units, and the output voltage or output power is determined by the number of crawler units close to the ground, that is, the crawler can be of any length, and the transmission power or the area of the pickup coil can be adjusted according to the needs. Has strong adaptability.

Referring to FIG. 4, FIG. 4 is a flow chart of the charging method of the present invention. The charging system of the present invention can trigger charging in the following two situations. One is that when the power is low, a normal supplementary power is required, which is a problem of a general inspection robot. The other is charging through the charging area, thanks to the charging method that uses wireless power transmission. The two specific ways are as follows:

(1) When the inspection robot receives a charging command sent by a remote manual or its own power is lower than the set amount (for example, the power is lower than 30%), the current operating status is evaluated, and the navigation system will actively navigate the inspection robot to In the nearest available charging area, the inspection robot then sends a charging request. After the transmitting part responds, the inverter module starts to work and activates the transmitting coil 15 for the charging process; the pickup coil close to the ground starts the charging process by resonance, generally using three-stage charging. When the power reaches the command requirement or the power reaches the set value (for example, it has been charged to 80%), the charging is ended, and then it goes to the interrupted task point to continue the task.

(2) When the inspection robot passes through the charging area or stays in the charging area during the task or traveling, and the battery is not fully charged, it will start the charging process immediately, issue a charging request, and activate the transmitting coil 15 for charging. At this time , the robot can instantly replenish the power, avoid suspending the current task when the power is low and go to the charging area for charging, which saves the charging time, improves the work efficiency of the robot, can greatly reduce the number of inspection robots required, and saves costs.

The selection of the charging area should be determined according to the length of time the inspection robot stays there and the convenience of laying. Set up a charging area, so that the inspection robot can replenish power at any time during operation or driving, which can effectively improve the charging efficiency and work efficiency of the inspection robot.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. The utility model provides a robot is patrolled and examined to transformer substation's crawler-type, its characterized in that includes:

the crawler belt module (20) with the embedded receiving coils, wherein the crawler belt module (20) with the embedded receiving coils comprises a plurality of crawler belt units, and the plurality of crawler belt units are internally provided with the embedded receiving coils and used for receiving electric energy;

the voltage stabilizing and filtering module (30) is connected with the embedded receiving coil of the crawler unit and used for performing voltage stabilizing and filtering on the electric energy obtained by the embedded receiving coil to obtain a stable voltage;

and the storage battery module (31), wherein the storage battery module (31) stores the voltage processed by the voltage stabilizing and filtering module (30).

2. The substation crawler-type inspection robot according to claim 1, wherein the embedded receiving coils of adjacent crawler units are connected in series in the plurality of crawler units.

3. The substation crawler-type inspection robot according to claim 1, wherein the crawler units further comprise a receiving coil compensation capacitor and a rectifying and filtering circuit, the receiving coil compensation capacitor, the rectifying and filtering circuit and the embedded receiving coil are connected in series, and the output end of the rectifying and filtering circuit outputs the filtered voltage to the adjacent crawler unit.

4. The substation crawler-type inspection robot according to claim 1, wherein the embedded receiving coil is of a rectangular structure.

5. The utility model provides a charging device for robot is patrolled and examined to transformer substation's crawler-type, its characterized in that includes:

the power supply module (10), the power supply module (10) is used for providing power supply for the high-frequency inversion module (11) and the control and drive module (12);

the high-frequency inversion module (11), the high-frequency inversion module (11) is used for inverting the obtained direct-current voltage and then outputting a high-frequency alternating current;

the control and drive module (12), the said control and drive module (12) drives the high-frequency contravariant module (11) to change the direct-current voltage supplied by the power module (10) into the high-frequency alternating-current voltage source, and apply it to the compensating network module of resonance (13);

the resonance compensation network module (13) converts the square waves into resonance, and injects high-frequency resonance current into the transmitting coil (15) to generate a high-frequency magnetic field;

and the transmitting coil (15), the transmitting coil (15) receives the high-frequency resonance current and transmits electric energy.

6. A charging device for a substation crawler inspection robot according to claim 5, characterized in that it further comprises a sampling detection module (14), said sampling detection module (14) being configured to implement a measurement of the electrical parameters of the resonance compensation network module (13) and of the transmitting coil (15).

7. The charging device for the substation crawler-type inspection robot according to claim 5, wherein the resonance compensation network module (13) adopts LCC-S compensation and generates constant-voltage output under constant-voltage input, the resonance frequency of the resonance compensation network is the same as the frequency of the high-frequency alternating current output by the high-frequency inversion module (11), and the transmitting coil (15) is made to resonate under the working frequency.

8. The charging device for the substation crawler-type inspection robot according to claim 5, characterized in that the transmitting coil (15) is of a rectangular structure and is laid on a trunk road where the inspection robot walks and a place where the inspection robot resides.

9. A charging system of a substation crawler-type inspection robot is characterized by comprising the charging device of any one of claims 5 to 8 and the substation crawler-type inspection robot of any one of claims 1 to 4; the charging device is arranged on a main road where the inspection robot walks and a place where the inspection robot needs to stay for operation; the transmitting coil (15) of the charging device sends electric energy to a track unit of the track type inspection robot under the control of the control and drive module (12) and the high-frequency inversion module (11); the crawler unit is connected with the storage battery module (31) through the voltage stabilizing and filtering module (30), and the electric energy received by the embedded receiving coil of the crawler unit is subjected to voltage stabilizing and filtering and finally stored in the storage battery module (31).

10. A charging method of a crawler-type inspection robot of a transformer substation is characterized by comprising the following steps:

step 1, when the crawler-type inspection robot receives a charging instruction or the electric quantity in the storage battery module (31) is lower than a set value, the crawler-type inspection robot goes to a nearest place where a transmitting coil is laid;

step 2, the crawler-type inspection robot sends a charging request, the charging device responds to the charging request, the control and drive module (12) drives the high-frequency inversion module (11) to convert the direct-current voltage supplied by the power supply module (10) into a high-frequency alternating-current voltage source, and the high-frequency alternating-current voltage source is applied to the resonance compensation network module (13); the resonance compensation network module (13) converts the square waves into resonance, and injects high-frequency resonance current into the transmitting coil (15) to generate a high-frequency magnetic field; the transmitting coil (15) transmits electric energy to an embedded receiving coil embedded in a track unit of the track type inspection robot;

and step 3, when the electric quantity of the storage battery module (31) reaches the instruction set value or is larger than the preset value, finishing charging.

Images