阅读说明：本技术 一种非接触供电系统状态监测系统 (Non-contact power supply system state monitoring system ) 是由 冯玉斌 黄志都 唐捷 崔志美 邬蓉蓉 于 2021-07-30 设计创作，主要内容包括：本发明公开了一种非接触供电系统状态监测系统,涉及无线充电系统状态监测技术领域,包括：供电端无线通信模块、受电端无线通信模块、电流检测模块、电压检测模块、信号处理模块,通过供电端无线通信模块、受电端无线通信模块、电流检测模块以及电压检测模块实时获取状态判断的数据,后通过信号处理模块对供电端无线通信模块、受电端无线通信模块、电流检测模块以及电压检测模块的数据进行处理得到无线充电系统的充电状态,通过非接触供电系统状态监测系统可反馈机器人本体及无线充电系统的运行参数,实现对于充电状态及异常信号的实时监测。(The invention discloses a non-contact power supply system state monitoring system, which relates to the technical field of wireless charging system state monitoring and comprises the following components: the utility model discloses a wireless charging system's wireless charging system, including power supply end wireless communication module, power receiving end wireless communication module, current detection module, voltage detection module, signal processing module, through power supply end wireless communication module, power receiving end wireless communication module, current detection module and voltage detection module acquire the data that the state was judged in real time, back through signal processing module to power supply end wireless communication module, power receiving end wireless communication module, the data of current detection module and voltage detection module are handled and are obtained wireless charging system's state of charge, can feed back robot body and wireless charging system's operating parameter through non-contact power supply system state monitoring system, realize the real-time supervision to state of charge and abnormal signal.)

1. A non-contact power supply system state monitoring system, non-contact power supply system include power supply end and power receiving end, its characterized in that includes:

the power supply end wireless communication module is arranged at the power supply end;

the wireless power supply device comprises a power receiving end wireless communication module, a power supply end wireless communication module and a power receiving end wireless communication module, wherein the power receiving end wireless communication module is arranged at a power receiving end and can communicate with the power supply end wireless communication module;

the voltage detection module is used for detecting the direct current output voltage of the power receiving end; and

and the signal processing module is respectively connected with the power supply end wireless communication module, the power receiving end wireless communication module and the voltage detection module, and carries out state monitoring on the non-contact power supply system according to the data of the power supply end wireless communication module, the power receiving end wireless communication module and the voltage detection module to obtain the charging state of the non-contact power supply system.

2. The system for monitoring the state of a contactless power supply system according to claim 1, wherein the charging state of the contactless power supply system includes: communication unconnected, communication connected, standby, and charging.

3. The system for monitoring the state of the non-contact power supply system according to claim 2, wherein the communication is not connected when the power supply end wireless communication module and/or the power receiving end wireless communication module are in an operating state, but no communication connection is established between the power supply end wireless communication module and the power receiving end wireless communication module.

4. The system for monitoring the state of the non-contact power supply system according to claim 2, wherein the communication connection establishes connection for physical layers of the power supply end wireless communication module and the power receiving end wireless communication module and completes handshaking information interaction.

5. The system for monitoring the state of a non-contact power supply system according to claim 1, wherein the standby mode is that the power supply end wireless communication module and the power receiving end wireless communication module complete parameter interaction, complete coupling degree detection and have charging conditions.

6. The system for monitoring the state of a non-contact power supply system according to claim 1, wherein the power supply end wireless communication module and the power receiving end wireless communication module which are charging start charging instructions, and start energy transmission after receiving a charging request message and replying confirmation.

7. The system for monitoring the condition of a contactless power supply system according to claim 5, wherein the detection of the degree of coupling includes the steps of:

the load of the power receiving end is disconnected;

the power supply end generates a high-frequency alternating current and transmits a high-frequency magnetic field to a transmitting coil of the power supply end, and the frequency of the high-frequency magnetic field is more than twice of the resonant frequency of the non-contact power supply system;

the coil of the power receiving end receives the high-frequency magnetic field and generates an alternating current, the alternating current generates a direct current voltage through rectification and filtering, and the direct current voltage is detected in real time through the voltage detection module;

the direct current voltage and the coupling degree are in a linear corresponding relation, and the detected direct current voltage is converted into the coupling degree according to the linear corresponding relation.

8. The system for monitoring the state of the non-contact power supply system according to claim 1, wherein the power receiving end is installed on an inspection robot or a fixed-wing unmanned aerial vehicle.

Technical Field

The invention belongs to the technical field of state monitoring of a non-contact power supply system, and particularly relates to a state monitoring system of the non-contact power supply system.

Background

Many foreign research institutes have successively developed the research of robot autonomous charging. The first autonomous charger robot in the world is named as 'Tortoises', is born in the end of the 40 20 th century, can search nearby light sources by utilizing a photosensitive sensor carried by the robot and matching with an internal control algorithm, so that a user only needs to place the light sources nearby a power supply, and can enter the power supply to complete butt joint charging. In 1998, japan buzz university designs a mobile robot capable of realizing autonomous charging in a specific environment, the robot firstly needs to scan the surrounding environment and generate a running track, the robot can find an energy source under the cooperation of an accurate navigation system, and wired connection between the robot and the energy source is realized, and the method has high requirements on the charging environment where the robot is located, and charging failure can be caused by the environment "unfamiliar" with the robot. In 2000, the university of california realized the autonomous charging of a mobile robot with a Nomad XR4000 body, and he realized the docking of the mobile robot with a power supply source by using the distinguishing capability of the robot for colors, so we only need to place a mark near the energy source, so that he can find the energy source for charging by identifying the colors. A Sage self-help guide robot is developed by a robot research institute of the university of Chiilong in a card, an improved Nomad XR4000 mobile robot is adopted by a body, a CCD and a three-dimensional road sign are used for guiding the robot to charge, and the method for guiding and positioning by using a robot vision system has low fault tolerance and is easy to cause charging failure. In 2007, a robot named "ASIMO" was developed by honda corporation, and when the battery remaining amount is lower than a certain limit, the ASIMO can automatically detect an idle charging station nearest to itself and complete charging while standing. In 2015, tesla published a snake-shaped charging robot, which can enable a charging pile to automatically find a vehicle to be charged and complete charging of the vehicle on the premise of no human intervention.

At present, patrol and examine the robot, unmanned aerial vehicle can realize independently charging is the important basis of realizing unmanned on duty transformer substation, the transformer substation patrols and examines the robot and is very important in transformer substation operation and maintenance overhauls, nevertheless patrol and examine the robot, unmanned aerial vehicle's work is accomplished the back and is usually to charge by oneself, good charging environment can make and patrol and examine the robot, unmanned aerial vehicle has the high efficiency and charges, however, do not have at present to patrol and examine the robot, unmanned aerial vehicle's non-contact power supply system state's monitoring system, therefore, a non-contact power supply system state monitoring system is required.

Disclosure of Invention

The invention aims to provide a non-contact power supply system state monitoring system, thereby overcoming the defect that no monitoring system for the non-contact power supply system state of an inspection robot or an unmanned aerial vehicle exists at present.

In order to achieve the above object, the present invention provides a system for monitoring the state of a non-contact power supply system, wherein the non-contact power supply system comprises a power supply terminal and a power receiving terminal, and comprises:

the power supply end wireless communication module is arranged at the power supply end;

the wireless power supply device comprises a power receiving end wireless communication module, a power supply end wireless communication module and a power receiving end wireless communication module, wherein the power receiving end wireless communication module is arranged at a power receiving end and can communicate with the power supply end wireless communication module;

the voltage detection module is used for detecting the direct current output voltage of the power receiving end; and

and the signal processing module is respectively connected with the power supply end wireless communication module, the power receiving end wireless communication module and the voltage detection module, and carries out state monitoring on the non-contact power supply system according to the data of the power supply end wireless communication module, the power receiving end wireless communication module and the voltage detection module to obtain the charging state of the non-contact power supply system.

Further, the charging state of the contactless power supply system includes: communication unconnected, communication connected, standby, and charging.

Further, the communication is not connected, that is, the power supply end wireless communication module and/or the power receiving end wireless communication module are in an operating state, but no communication connection is established between the power supply end wireless communication module and the power receiving end wireless communication module.

Further, the communication connection establishes connection for the physical layers of the power supply end wireless communication module and the power receiving end wireless communication module, and completes handshake information interaction.

Further, the standby mode is that the power supply end wireless communication module and the power receiving end wireless communication module complete parameter interaction, complete coupling degree detection and have charging conditions.

Further, the power supply end wireless communication module and the power receiving end wireless communication module which are being charged receive a charging starting instruction, and start energy transmission after receiving a charging request message and replying confirmation.

Further, the coupling degree detection comprises the following steps:

the load of the power receiving end is disconnected;

the power supply end generates a high-frequency alternating current and transmits a high-frequency magnetic field to a transmitting coil of the power supply end, and the frequency of the high-frequency magnetic field is more than twice of the resonant frequency of the non-contact power supply system;

the coil of the power receiving end receives the high-frequency magnetic field and generates an alternating current, the alternating current generates a direct current voltage through rectification and filtering, and the direct current voltage is detected in real time through the voltage detection module;

the direct current voltage and the coupling degree are in a linear corresponding relation, and the detected direct current voltage is converted into the coupling degree according to the linear corresponding relation.

Further, the power receiving end is installed on the inspection robot and the fixed-wing unmanned aerial vehicle.

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

the invention provides a non-contact power supply system state monitoring system, which comprises: the wireless communication module of the power supply end, the wireless communication module of the power receiving end, the current detection module, the voltage detection module and the signal processing module are used for acquiring data of state judgment in real time, and then the data of the wireless communication module of the power supply end, the wireless communication module of the power receiving end, the current detection module and the voltage detection module are processed by the signal processing module to obtain the charging state of the non-contact power supply system; can realize the real-time supervision to charged state and abnormal signal through wireless charged state monitoring system, and can use on patrolling and examining non-contact power supply systems such as robot, fixed wing unmanned aerial vehicle, charge after the robot, fixed wing unmanned aerial vehicle on-line monitoring high-tension line for patrolling and examining and provide the guarantee.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only one embodiment of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a non-contact power supply system state monitoring system according to the present invention;

FIG. 2 is a schematic view of the state of charge monitoring of the present invention;

FIG. 3 is a schematic diagram of the coupling degree detection test of the present invention

FIG. 4 is a DC bus current waveform measured by the coupling detection test of the present invention;

FIG. 5 is a voltage waveform of DC output at the receiving end measured by the coupling detection test of the present invention;

fig. 6 is a maximum efficiency tracking circuit diagram of the non-contact power supply system of the present invention.

Detailed Description

The technical solutions in the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The non-contact power supply system of the inspection robot can realize the charging function of the robot and also can realize the short-distance wireless transmission of communication signals, and a state monitoring system aiming at the non-contact power supply system of the robot can be established based on the technology. The monitoring system can feed back the operation parameters of the robot body and the non-contact power supply system, and realizes real-time monitoring of the charging state and the abnormal signals.

Specifically, the non-contact power supply system comprises a power supply end and a power receiving end.

Fig. 1 shows a non-contact power supply system state monitoring system according to an embodiment of the present invention, which includes: a power supply end wireless communication module, a power receiving end wireless communication module, a current detection module, a voltage detection module and a signal processing module,

the power supply end wireless communication module is arranged at the power supply end;

the power receiving end wireless communication module is arranged at a power receiving end, and the power receiving end wireless communication module and the power supply end wireless communication module can communicate with each other;

the current detection module is used for detecting the direct current bus current of the power supply end;

the voltage detection module is used for detecting the direct current output voltage of the power receiving end; and

the signal processing module is respectively connected with the power supply end wireless communication module, the power receiving end wireless communication module, the current detection module and the voltage detection module, and according to the data of the power supply end wireless communication module, the power receiving end wireless communication module, the current detection module and the voltage detection module, the state of the non-contact power supply system is monitored, and the charging state of the non-contact power supply system is obtained.

The non-contact power supply system state monitoring system comprises a power supply end wireless communication module, a power receiving end wireless communication module, a current detection module and a voltage detection module, wherein the power supply end wireless communication module, the power receiving end wireless communication module, the current detection module and the voltage detection module are used for acquiring data of state judgment in real time, and then the data of the power supply end wireless communication module, the power receiving end wireless communication module, the current detection module and the voltage detection module are processed through a signal processing module to obtain the charging state of the non-contact power supply system.

In one embodiment, the voltage detection module adopts a high-voltage energy-taking device.

In one embodiment, fig. 2 shows that the charging state of the contactless power supply system includes: communication unconnected, communication connected, standby, and charging.

Specifically, the communication is not connected, that is, the power supply end wireless communication module and/or the power receiving end wireless communication module are in a working state, but no communication connection is established between the power supply end wireless communication module and the power receiving end wireless communication module.

And the communication connection is established by the physical layers of the power supply end wireless communication module and the power receiving end wireless communication module, and handshake information interaction is completed.

And the standby mode is that the power supply end wireless communication module and the power receiving end wireless communication module complete parameter interaction and complete coupling degree detection, and the charging condition is met.

And the charging-in-progress wireless communication module of the power supply end and the wireless communication module of the power receiving end receive a charging starting instruction, and start energy transmission after receiving a charging request message and replying confirmation.

Fig. 3 and 4 show dc bus currents measured by a coupling degree detection test, and it can be seen from fig. 3 that: the direct current bus current at the power supply end of the magnetic coupling mechanism is in positive correlation with the mutual inductance value of the magnetic coupling mechanism, but due to the existence of harmonic waves and the dispersion of sampling points, an accurate current effective value cannot be obtained. Fig. 5 shows the dc output voltage of the detection receiving terminal measured by the coupling degree detection test: the direct current voltage sampling result is accurate, the induced voltage of the receiving end of the magnetic coupling mechanism is positively correlated with the mutual inductance value of the magnetic coupling mechanism, and the judgment is realized by combining a communication technology, so the coupling degree detection comprises the following steps:

the load of the power receiving end is disconnected;

the power supply end generates a high-frequency alternating current and transmits a high-frequency magnetic field to a transmitting coil of the power supply end, and the frequency of the high-frequency magnetic field is more than twice of the resonant frequency of the non-contact power supply system;

the coil of the power receiving end receives the high-frequency magnetic field and generates an alternating current, the alternating current generates a direct current voltage through rectification and filtering, and the direct current voltage is detected in real time through the voltage detection module;

the direct current voltage and the coupling degree are in a linear corresponding relation, and the detected direct current voltage is converted into the coupling degree according to the linear corresponding relation.

According to one embodiment, the communication disconnection judgment comprises that when the position of the unmanned aerial vehicle or the inspection robot scanned by the laser radar scanning module does not belong to the charging position through the signal processing module, or the weight of the unmanned aerial vehicle or the inspection robot is not detected through the weight detection module of the bottom plate of the charging position, communication connection is not established between the electric end wireless communication module and the power receiving end wireless communication module.

The non-contact power supply system state monitoring system also comprises a laser radar scanning module and a weight detection module, wherein the laser radar scanning module and the weight detection module are respectively connected with the signal processing module.

According to one embodiment, the power receiving end is installed on an inspection robot and a fixed-wing unmanned aerial vehicle.

In one embodiment, the system for monitoring the state of the non-contact power supply system further comprises a display module, wherein the display module is connected with the signal processing module and displays data and graphs provided by the signal processing module.

In one embodiment, the system for monitoring the state of the non-contact power supply system further comprises a sound module, wherein the sound module is connected with the signal processing module and used for reminding the detected charging state of the non-contact power supply system.

Specifically, the sound module is a loudspeaker.

In one embodiment, the system for monitoring the state of the non-contact power supply system further comprises a display module, wherein the display module is connected with the signal processing module and is used for displaying the monitored data and the processed result.

In one embodiment, the power supply end wireless communication module and the power receiving end wireless communication module both adopt 4G modules.

In one embodiment, the non-contact power supply system state monitoring system further comprises an LED lamp, the LED lamp is connected to the signal processing module, and the charging state of the non-contact power supply system is displayed in a flashing manner or in a lighting color of the LED lamp.

In one embodiment, the system for monitoring the state of the non-contact power supply system further comprises a power module, and the power module is connected with the signal processing module.

Through independent power module, for the operation of non-contact power supply system state detecting system provides the power, the interim power failure also can monitor.

According to one embodiment, the non-contact power supply system state monitoring system further comprises a photographing module, the photographing module is connected with the signal processing module, and the photographing module is used for photographing or recording the unmanned aerial vehicle charging platform in real time or at regular time.

Specifically, when the photographing module monitors in real time or at regular time, the signal processing module sends out a bird repelling signal when recognizing a bird according to the data monitored by the photographing module, the bird repelling module works according to the bird repelling signal to repel the bird, and the bird repelling module is connected with the signal processing module.

In one embodiment, the system for monitoring the state of the non-contact power supply system further includes: a solar cell panel, a solar control module and a storage battery,

the solar panel is used for converting solar energy into electric energy;

the solar control module is respectively connected with the solar panel and the signal processing module and is used for converting electric energy transmitted by solar energy;

the storage battery is connected with the solar control module and stores electricity through the electric energy transmitted by the solar control module.

In one embodiment, when the relative position of the transmitting coil and the receiving coil of the non-contact power supply system changes or the load changes, the change characteristics of parameters such as the coupling coefficient and the reflection impedance are changed. The efficiency formula of the contactless power supply system can be expressed as:

correspondingly, the maximum efficiency tracking circuit of the non-contact power supply system is shown in fig. 6, and the coupling coefficient is adaptive to the control mechanism of maximum efficiency tracking, so that the coupling coefficient can be calculated according to fig. 6.

The solar panel supplies power to the storage battery and the signal processing module, so that the state of the non-contact power supply system can be monitored through the non-contact power supply system state monitoring system under special conditions, data support is provided for maintenance of the non-contact power supply system, electric energy is provided for outdoor maintenance workers, and the like.

The above disclosure is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or modifications within the technical scope of the present invention, and shall be covered by the scope of the present invention.