CN111884358A - Patrol unmanned aerial vehicle wireless charging system, device and method based on high-voltage line energy obtaining - Google Patents

Abstract

The invention relates to the technical field of wireless charging, and specifically discloses a wireless charging system, device and method for inspection drones based on high-voltage line energy extraction. Module, the wireless power transmission module includes a primary voltage adjustment unit, a coupling unit and a secondary voltage adjustment unit connected in sequence, the primary voltage adjustment unit is connected to the high-voltage power supply module, and the secondary voltage adjustment unit is connected to the drone charging module; the coupling unit It includes a transmitting coil connected to the primary voltage adjustment unit, a receiving coil connected to the UAV charging module, and a multi-stage relay coil arranged between the transmitting coil and the receiving coil. The multiple relay coils used can effectively increase the transmission distance. Combined with the insulator structure, it can not only ensure the insulation distance between the high-voltage side and the low-voltage side, but also reduce the volume and weight of the wireless power transmission module.

Description

Wireless charging system, device and method for inspection drone based on high-voltage line energy extraction

technical field

The invention relates to the technical field of wireless charging, in particular to a wireless charging system, device and method for inspection drones based on high-voltage line energy extraction.

Background technique

In recent years, with the rapid construction of my country's power grid, transmission lines of various voltage levels have developed rapidly. In order to ensure the safe operation of the power grid, power inspection is an essential task. Compared with the traditional manual inspection, the drone inspection eliminates a series of high-level complex actions such as manual climbing, and the observation of special phenomena on high-voltage towers and power lines can be completed through the pan-tilt camera on the drone. Therefore, it has the advantages of safety, efficiency and precision; secondly, the drone can fly along the power line at high altitude, and the complex ground environment has no impact on the inspection process of the drone, which greatly improves the work efficiency; The use of the machine can significantly reduce the number of inspection operators and greatly save human and material resources.

The biggest problem of the current drone inspection method is that the power shortage leads to short working time and short detection line distance. Therefore, in order to give full play to the advantages of drones in power inspection, we must first solve the problem of drone battery life. At present, there are two main solutions to the endurance problem of UAVs. One is to carry more electric energy, which means to bring multiple batteries or expand the battery volume, which not only increases the cruising distance, but also increases The weight of the drone; the other type is that the drone needs to be charged multiple times. The traditional contact charging technology means that the drone returns to the base station and charges it manually when it needs to replenish power. This method undoubtedly greatly increases the cost of manpower, material resources and time, which seriously restricts the application of UAVs in power inspection. Therefore, the above two inspection methods are not conducive to the development direction of UAV automatic power inspection.

Compared with traditional contact conduction charging, Wireless Power Transfer (WPT), as an ideal power transmission method, has higher safety and convenience, and can provide more flexible access to electrical equipment. Way. Combining wireless power transmission technology with UAV charging technology can give play to the huge advantages of wireless power transmission technology. A charging platform is established on the tower, and the current transformer (CT) is used to obtain electricity from the laid circuit line to the charging platform, and then wirelessly transmit energy to the drone parked on the platform to realize unmanned power inspection. The electric energy of the drone can be supplemented on the spot, which can effectively solve the problem of insufficient endurance of the drone, and at the same time avoid human intervention, which greatly improves the efficiency of inspection and saves labor costs.

At present, a charging device and method for inspection drones using high-voltage cables have appeared. Refer to the patent "A wireless charging device and method for high-voltage cables for inspection drones" (application number: 201811510643.5). The wireless power transmission technology is used in the wireless charging device of the power inspection drone. The device is directly installed on the high-voltage cable, and the operation without power failure makes the drone's battery life more convenient and efficient. Under the condition of weak coupling between the UAV and the transmitter, the transmission capacity of higher power is ensured as much as possible in the process of changing load and mutual inductance. At the same time, the reactive power loss caused by the mutual inductance and load changes of the coupling unit is reduced, and the output voltage of the control system is guaranteed to be constant.

However, this patent is aimed at the occasions where the transmission distance is short and the drone is hovering wirelessly. The charging platform is not fixed, the system stability is low, it cannot resist offset, the transmission efficiency is not high enough, and the transmission distance is not long enough.

SUMMARY OF THE INVENTION

The present invention provides a wireless charging system, device and method for inspection drones based on high-voltage lines to obtain energy. Low, unable to resist offset, transmission efficiency is not high enough, transmission distance is not far enough.

In order to solve the above technical problems, the present invention provides a wireless charging system for patrol inspection drones based on high-voltage line energy, including a high-voltage power-taking module, a wireless power transmission module, and a drone charging module connected in sequence, and the wireless power transmission module includes: A primary voltage adjustment unit, a coupling unit, and a secondary voltage adjustment unit are sequentially connected, the primary voltage adjustment unit is connected to the high-voltage power taking module, and the secondary voltage adjustment unit is connected to the drone charging module;

The coupling unit includes a transmitting coil connected to the primary voltage adjustment unit, a receiving coil connected to the UAV charging module, and a multi-stage relay coil arranged between the transmitting coil and the receiving coil, The receiving coil and the UAV charging module are installed on the UAV, and the last-stage relay coil is the relay platform coil installed on the relay charging platform; the multi-stage relay coils are wound in the insulator at equal intervals and are All are hollow structures.

In this basic scheme, the transmission coil (including the transmitting coil and the relay coil) is wound inside the insulator. The multiple relay coils used can effectively increase the transmission distance. Combined with the insulator structure, the relay coils can be set to be hollow, which not only ensures high voltage The insulation distance requirement between the side and the low-voltage side also reduces the volume and weight of the wireless power transmission module, which can transmit high energy while achieving high and low voltage isolation, and can save a lot of cost. On the whole, the charging platform of this system is fixed, with good stability and good offset resistance, and the charging platform is located on the low-voltage side, with long transmission distance, high transmission efficiency, and easy maintenance.

In further embodiments, both the transmitting coil and the receiving coil are hollow structures. The transmitting coil is set to a hollow structure, which can further reduce the weight of the wireless power transmission module. The receiving coil is set to a hollow structure, which can meet the requirements of lightweight drones, making the drones have stronger endurance and can fly farther and higher.

In a further embodiment, the relay platform coil adopts the structure of "grouped serially wound coil + concave-convex magnetic core". Compared with the conventional bar-shaped magnetic core, the concave-convex magnetic core structure adopted by the relay platform coil increases the magnetic induction intensity under the condition of less magnetic core consumption, which is beneficial to improve the longitudinal transmission capacity of electric energy.

In a further embodiment, a metal shielding layer is provided over the receiving coil. Using the reverse magnetic field generated by the eddy current generated in the metal shielding layer to cancel the magnetic field of the relay platform coil can greatly reduce the magnetic field above the receiving coil and reduce the magnetic field above the receiving coil when the drone is charging. electromagnetic interference.

In a further embodiment, the primary voltage adjustment unit includes a DC/DC conversion circuit, a high-frequency inverter circuit, and a first resonance compensation circuit sequentially connected between the high-voltage power taking module and the transmitting coil;

The secondary voltage adjustment unit includes a second resonance compensation circuit and a rectification filter circuit sequentially connected between the receiving coil and the drone charging module.

Because of the unique structural design of the coupling unit, the basic DC/DC conversion circuit, high frequency inverter circuit, first resonance compensation circuit, second resonance compensation circuit and rectification filter circuit can be designed in this embodiment to ensure better transmission quality.

In a further embodiment, the high-voltage power taking module includes a primary side controller and a load sensing unit, and the drone charging module includes a secondary side controller;

The load sensing unit is used to send corresponding information to the primary side controller when sensing that the relay charging platform is docked with a drone, and the primary side controller turns on the wireless after receiving the corresponding information. communication function;

The secondary side controller is used for acquiring the battery power information of the drone in real time, and establishes a wireless communication connection with the primary side controller to transmit the battery power information; the primary side controller is used for according to the battery power information The on-off of the connection between the high-voltage power taking module and the wireless power transmission module is controlled.

In this scheme, when the load sensing unit senses that the relay charging platform is docked with a drone, the primary side controller turns on the communication function to communicate with the secondary side controller, so that the battery power information of the drone can be obtained, and the secondary side controller can At the request of , turn on the wireless power transfer module and start wireless charging.

In a further embodiment, the secondary-side controller is further connected to the secondary-side voltage adjustment unit, for acquiring the charging voltage output by the secondary-side voltage adjustment unit and sending it to the primary-side controller, the original The side controller is further configured to adjust the DC/DC conversion circuit in the primary side voltage adjustment unit according to the charging voltage, so as to adjust the charging voltage.

During the charging process of the drone, the secondary side controller sends the charging voltage information of the drone to the primary side controller in real time, and the primary side controller further adjusts the wireless power transmission module to maintain the charging voltage stability and ensure the charging quality.

The present invention also provides a wireless charging device for inspection drones based on high-voltage line energy extraction, which specifically includes a high-voltage power-taking device, a wireless power transmission device, and an induction device. The high-voltage power-taking device is installed with all the above charging systems the high-voltage power taking module and the primary voltage adjustment unit; the wireless power transmission device is installed with the coupling unit, the insulator and the relay charging platform in the above-mentioned charging system; the induction device It is fixed on the relay charging platform and is electrically connected with the high-voltage power taking device.

Further, the relay charging platform is fixed on a utility pole, above the high-voltage line, the high-voltage power taking device is fixed on the high-voltage line, and the wireless power transmission device is installed on the relay charging platform and the high-voltage line. between high-voltage power take-off devices.

The present invention also provides a wireless charging method for inspection drones based on high-voltage line energy extraction, comprising the steps of:

S1. The drone judges whether its own power is sufficient, if not, it sends a charging request to the drone controller, and the drone controller controls the drone to fly to the relay charging platform of the wireless charging device as described above;

S2. After the sensing device senses the landing of the drone, it sends a signal to the high-voltage power-taking device to enable the high-voltage power-taking device to turn on the wireless communication function;

S3. The UAV controller establishes a communication connection with the high-voltage power-taking device, and then sends a charging preparation instruction to the high-voltage power-taking device;

S4. After the high-voltage power taking device receives the charging preparation command, it checks whether its own circuit is normal. If so, it turns on the wireless power transmission device, transmits power to the drone and enters step S5. drone controller;

S5. The drone controller feeds back the charging voltage of the drone to the high-voltage power taking device in real time, and the high-voltage power taking device adjusts the operating parameters of the wireless power transmission device according to the charging voltage to keep the charging voltage stable;

S6. The drone controller judges whether the battery is fully charged, and if so, feeds back to the high-voltage power-taking device, which cuts off the wireless power transmission device; if not, continues to judge.

The wireless charging method is applied to the above-mentioned charging system and charging device to complete the intelligent wireless charging of the inspection drone.

Description of drawings

Fig. 1 is the module structure diagram of the inspection drone wireless charging system based on high-voltage line energy acquisition provided by Embodiment 1 of the present invention;

FIG. 2 is a coil distribution diagram of the coupling unit 22 in FIG. 1 provided by Embodiment 1 of the present invention;

FIG. 3 is a structure and positional relationship diagram of the relay platform coil (relay coil H) and the receiving coil 22-3 in FIG. 1 provided by Embodiment 1 of the present invention;

4 is an electromagnetic field distribution diagram of the receiving coil 22-3 provided in Embodiment 1 of the present invention without a shielding layer;

5 is an electromagnetic field distribution diagram of a metal shielding layer (aluminum) superimposed on the surface of the relay coil 22-3 provided in Embodiment 1 of the present invention, (a) is an aluminum sheet, (b) is an aluminum frame;

6 is a structural diagram of the wireless power transmission module 2 provided in Embodiment 1 of the present invention;

7 is the circuit diagram of FIG. 6 provided by Embodiment 1 of the present invention;

8 is a detailed view of FIG. 1 provided in Embodiment 1 of the present invention;

9 is a system simulation result display diagram provided by Embodiment 1 of the present invention;

Fig. 10 is the PID closed-loop regulation and control effect diagram provided by Embodiment 1 of the present invention;

11 is a diagram showing the effect of PID closed-loop adjustment control when the receiving coil 22-3 is laterally offset by 5 cm according to Embodiment 1 of the present invention;

12 is a system output characteristic diagram when the receiving coil 22-3 provided in Embodiment 1 of the present invention is laterally offset by 5 cm;

13 is a schematic structural diagram of a wireless charging device for inspection drones based on high-voltage line energy extraction provided in Embodiment 2 of the present invention;

14 is a schematic diagram of the inspection drone shown in FIG. 14 parked on the wireless charging device shown in FIG. 13 according to Embodiment 2 of the present invention;

15 is a schematic structural diagram of an inspection drone based on high-voltage line energy extraction provided in Embodiment 3 of the present invention;

FIG. 16 is a flow chart of steps of a wireless charging system for inspection drones based on high-voltage line energy extraction provided in Embodiment 4 of the present invention.

Reference numerals include: high voltage power taking module 1 (primary controller 11, load sensing unit 12); wireless power transmission module 2, primary voltage adjustment unit 21 (DC/DC conversion circuit 21-1, high frequency inverter circuit 21-2, first resonance compensation circuit 21-3), coupling unit 22 (transmitting coil 22-1, relay coil 22-2, receiving coil 22-3), first to eighth relay coils A to H, secondary side Voltage adjustment unit 23 (second resonance compensation circuit 23-1 and rectification filter circuit 23-2); UAV charging module 3 (secondary side controller 31); High voltage power taking device 4; Wireless power transmission device 5, insulator 24 , Relay charging platform 25; Induction device 6; UAV body 7; IC card 8;

Detailed ways

The embodiments of the present invention will be explained in detail below in conjunction with the accompanying drawings. The examples are given only for the purpose of illustration and should not be construed as a limitation of the present invention. The accompanying drawings are only used for reference and description, and do not constitute a limitation on the protection scope of the patent of the present invention. limitation, since many changes may be made in the present invention without departing from the spirit and scope of the invention.

Example 1

In order to apply the electromagnetic induction wireless power transmission technology to the wireless charging system for inspection drones based on high-voltage line energy, this embodiment provides a high-voltage line-based wireless charging system for inspection drones, as shown in the module in Figure 1. As shown in the structure diagram, it includes a high-voltage power taking module 1, a wireless power transmission module 2, and a UAV charging module 3 that are connected in sequence. The wireless power transmission module 2 includes a primary voltage adjustment unit 21, a coupling unit 22 and a secondary side connected in sequence. The voltage adjustment unit 23 , the primary voltage adjustment unit 21 is connected to the high-voltage power taking module 1 , and the secondary voltage adjustment unit 23 is connected to the drone charging module 3 . Because the high-voltage power taking module 1 uses an intelligent transformer to take power from the high-voltage line, the rest of the high-voltage power taking module 1 is equivalent to an inductive power module.

The coupling unit 22 includes a transmitting coil 22-1 connected to the primary voltage adjustment unit 21, a receiving coil 22-3 connected to the UAV charging module 3, and a transmission coil 22-1 and a receiving coil 22-3 arranged between the transmitting coil 22-1 and the receiving coil 22-3. The multi-level relay coil 22-2, in which the receiving coil 22-3 and the UAV charging module 3 are installed on the UAV, and the last-level relay coil is the relay platform coil installed on the relay charging platform; the multi-level relay coil 22-2 are wound in the insulator at equal intervals and are all hollow structures.

In this embodiment, the transmission coil (including the transmitting coil 22-1 and the relay coil 22-2) is wound inside the insulator, and the multiple relay coils 22-2 used can effectively increase the transmission distance. Combined with the insulator structure, the relay coil can be 22-2 are all set to be hollow, which can not only ensure the insulation distance between the high-voltage side and the low-voltage side, but also reduce the volume and weight of the wireless power transmission module 2, which can achieve high and low voltage isolation while also transmitting higher energy and saving energy. a lot of cost.

The coupling unit 22 is an important factor affecting the performance of the wireless power transmission system, and determines the transmission power level, transmission efficiency, transmission distance and anti-offset performance of the system. The design of the coupling unit 22 needs to improve the coupling coefficient as much as possible within a specific transmission distance and space size range, so as to improve the transmission performance of the system. Since the power inspection drone needs to reduce the airborne mass as much as possible to increase its flight distance, higher requirements are placed on the quality of the pickup coil. The outdoor landing and stopping environment of drones is complex and changeable, and may be affected by natural factors such as strong winds, and the error may further increase, which requires the wireless charging system to have good anti-offset characteristics. Since the power is drawn from the high-voltage line, it is necessary to consider the insulation problem between the high-voltage side of the primary side and the low-voltage side of the secondary side; in addition, the electromagnetic interference generated by the coupling unit 22 may have a certain impact on the control circuit of the drone itself, so it is necessary to provide The drone is designed with corresponding electromagnetic shielding.

The volume and weight of the traditional two-coil structure are too large, and it is not suitable for installation on the power grid transmission line, which will cause safety hazards. Therefore, the system adopts a multi-stage relay coil wireless power transmission system, and the transmission coil is wound inside the insulator. Adding the relay coil 22-2 can effectively increase the transmission distance and ensure the insulation distance between the high-voltage side and the low-voltage side. The advantage of this method is that combined with the insulator structure, the volume, weight and cost of the overall device are reduced, and high and low voltage isolation can be achieved while energy can be transmitted.

According to the size and model of the selected insulator, as shown in FIG. 2 , in this embodiment, 8 annular coils of the same size are designed, which are the transmitting coil 22-1 and 7 relay coils (the first to the seventh relay wire respectively). Coils A-G) are wound inside the insulator in turn, and the spacing between the relay coils 22-2 is also the same. Because it is inconvenient to set a magnetic core inside the insulator, the relay coil 22-2 and the transmitting coil 22-1 all adopt hollow structures.

Considering that the coupling unit 22 needs to have certain anti-offset characteristics, the relay platform coil of this system (that is, the eighth relay coil H, which is also the eighth relay coil) adopts the "grouped serial coil + The "circular transmitting coil 22-1" structure of the concave-convex magnetic core, compared with the strip-shaped magnetic core, the concave-convex magnetic core structure increases the magnetic induction intensity under the condition of less magnetic core consumption, which is beneficial to improve the longitudinal transmission capacity. Considering that the receiving coil 22-3 of the UAV coupling mechanism needs a lightweight design, the receiving coil 22-3 of this system adopts a circular hollow structure as shown in Figure 2, and the coil is fixed on the control circuit of the UAV. below.

When the drone is wirelessly charging, the magnetic coupling mechanism has high-frequency characteristics, and the electromagnetic interference generated may cause adverse effects on the drone. The current electromagnetic shielding technology is mainly divided into two types, passive shielding technology and active shielding technology .

For passive shielding, ferrite, which is relatively cheap and has a wide operating frequency range, is generally selected as the shielding plate, but its density is relatively high, which is not conducive to the lightweight design of the UAV shielding device. Wireless charging can also be passively shielded using conductive materials, such as copper and aluminum. During wireless charging, the time-varying magnetic field will induce an electric field in the surrounding space, and eddy currents will be generated in these conductive materials. According to Lenz's law, the reverse magnetic field generated by the eddy current will cancel the magnetic field of the original resonant coil. , so as to achieve electromagnetic shielding to the surrounding environment, and the eddy currents in the metal are eventually lost in the form of heat. Because aluminum is the most abundant metal element in the earth's crust, it is cheap, light in weight, good in electrical conductivity and small in eddy current loss, so here an aluminum plate is used as the shielding material, and the aluminum plate is placed directly above the receiving coil 22-3. Eddy currents to cancel the leakage magnetic field.

Figure 4 is the interface diagram of the magnetic field strength before the receiving coil 22-3 is shielded. It can be seen that the magnetic field strength above the receiving coil 22-3 is still very large, and the maximum magnetic field strength is 240uH, which seriously affects the normal operation of the drone.

In this system, aluminum plate is used as shielding device, and the eddy current generated in the aluminum plate is used to reduce the magnetic field. In the simulation process, two structures are actually designed. A 0.5cm aluminum sheet, as shown in Figure 5(a), greatly reduces the magnetic field above the receiving coil 22-3, and the maximum magnetic field strength of the UAV control circuit accessories is only 65uH. On the basis of this design, a ring-shaped aluminum sheet with a thickness of 0.5cm, a height of 3cm, an outer radius of 3.5cm and an inner radius of 3cm is added to the periphery of the aluminum sheet, as shown in Figure 5(b), After the maximum magnetic field strength near the drone control circuit is 20uH, the shielding effect is better. After calculation, the weight of the extra aluminum in the second shielding method is 30.6g. In consideration of the lightweight of the drone, the first shielding method is adopted in this embodiment, and the total weight of the aluminum plate is 14.1g. Of course, in other embodiments, other metal materials and other structures may be selected.

In this embodiment, as shown in FIG. 6 , the primary-side voltage adjustment unit 21 includes a DC/DC conversion circuit 21-1 and a high-frequency inverter circuit sequentially connected between the high-voltage power taking module 1 and the transmitting coil 22-1 21-2. The first resonance compensation circuit 21-3;

The secondary voltage adjustment unit 23 includes a second resonance compensation circuit 23-1 and a rectification filter circuit 23-2 sequentially connected between the receiving coil 22-3 and the drone charging module 3.

Due to the requirements of the application, the high-voltage side and the low-voltage side need to meet a certain insulation distance, and the isolation distance between the transmitting coil 22-1 and the receiving coil 22-3 is relatively long, so the coupling mechanism uses the transmission method of multiple relay coils. The reason is that : ①Compared with the traditional two-coil transmission method, the multi-relay wireless power transmission system can effectively improve the transmission distance, transmission power and efficiency of the system; ②The coil can be wound on an insulator, and the diameter of the coil is significantly reduced, effectively reducing the coupling mechanism. size for easy installation. The high-frequency inverter circuit 21-2 converts the DC power output from the high-voltage power taking module 1 into a higher-frequency alternating power source, thereby increasing the power density of the system and enhancing the power transmission capability of the system.

为逆变输出电压，L_f1为谐振电感，n为线圈数量，C_f1、C₁…C_n为谐振电容，L₁为发射线圈22-1自感，L₂…L_n-1中继线圈22-2自感，L_n为接收线圈22-3自感，M_{i_j}为线圈i和线圈j之间的互感，

为逆变输出电流，I_n为流经线圈n的电流，二极管D1-D4组成全桥整流环节，R_L为负载电阻，R_eq为等效负载电阻，C_L为滤波电容。Among them, the primary voltage adjustment unit 21 adopts LCC compensation network, and the relay and receiving coil 22-3 adopts S-type compensation, which constitutes the LCC-Multi-S type multi-relay magnetic coupling WPT system of transmit-multi-relay-receive. Its circuit diagram is shown in Figure 7. In Fig. 7, V _dc is the DC voltage source output by the high-voltage power taking module 1, the MOS transistor S0, the diode D0, the inductor L ₀ and the capacitor C ₀ constitute the front-end BUCK circuit, and the power MOS transistors S1-S4 constitute the full-bridge inverter link.

is the inverter output voltage, L _f1 is the resonant inductance, n is the number of coils, C _f1 , C ₁ ... C _n are the resonance capacitors, L ₁ is the self _- inductance of the transmitting coil 22-1, L ₂ ... -2 self-inductance, L _n is the self-inductance of the receiving coil 22-3, M _{i_j} is the mutual inductance between coil i and coil j,

is the inverter output current, I _n is the current flowing through the coil n, diodes D1-D4 form a full-bridge rectifier link, _RL is the load resistance, _Req is the equivalent load resistance, and _CL is the filter capacitor.

Because of the unique structural design of the coupling unit 22, this embodiment designs a basic DC/DC conversion circuit 21-1, a high-frequency inverter circuit 21-2, a first resonance compensation circuit 21-3, and a second resonance compensation circuit 23-1 And the rectification filter circuit 23-2 can ensure better transmission quality.

In this embodiment, as shown in FIG. 8 , the high-voltage power taking module 1 includes a primary side controller 11 and a load sensing unit 12 , and the drone charging module 3 includes a secondary side controller 31 ;

The load sensing unit 12 is used to send corresponding information to the primary side controller 11 when sensing that the relay charging platform is docked with the drone, and the primary side controller 11 turns on the wireless communication function after receiving the corresponding information;

The secondary side controller 31 is used to acquire the battery power information of the drone in real time, and establish a wireless communication connection with the primary side controller 11 to transmit the battery power information; the primary side controller 11 is used to control the high-voltage power taking module according to the battery power information 1 On/off of the connection with the wireless power transmission module 2.

When the load sensing unit 12 senses that the relay charging platform is docked with the drone, the primary side controller 11 turns on the communication function to communicate with the secondary side controller 31, so that the battery power information of the drone can be obtained and controlled on the secondary side At the request of the controller 31, the wireless power transmission module 2 is turned on to start wireless charging.

Further, the secondary-side controller 31 is also connected to the secondary-side voltage adjustment unit 23 for acquiring the charging voltage output by the secondary-side voltage adjusting unit 23 and sending it to the primary-side controller 11, and the primary-side controller 11 is also used for charging according to the charging voltage. The DC/DC conversion circuit 21-1 in the primary voltage adjustment unit 21 is adjusted to adjust the charging voltage.

During the charging process of the drone, the secondary side controller 31 sends the charging voltage information of the drone to the primary side controller 11 in real time, and the primary side controller 11 further adjusts the wireless power transmission module 2 to keep the charging voltage stable and ensure charging quality.

The more specific circuit structure of the high-voltage power-taking module 1 is shown in Figure 8. Since the power-taking CT output is a DC current source, it cannot be used directly, and a power conversion module is required to output it as a stable DC voltage. The CT power supply selected here can output 24V constant voltage DC and the maximum output power is 50W. At the same time, since there is only one input power supply, and the primary side control part is divided into two parts, the control power and the main power, the isolated DC/DC conversion is designed to electrically isolate the main power and the control power. In addition, considering that the controller part and the load detection part are Normally open state, and the wireless energy transmission device is turned on when it needs to work. Here, a relay controlled by the controller is used to control the main power on and off. The secondary side receiving device supplies power to the BMS through rectification and filtering after compensating the topology, and at the same time, the BMS detects the battery voltage in real time and transmits it to the secondary side controller 31 . The secondary side controller 31 needs to communicate with the UAV controller in real time during flight to transmit the battery level information and provide charging instructions. In addition, the secondary side controller 31 also needs to establish communication with the primary side to transmit the charging information during charging. , which provides information on turning off the charging system.

In this embodiment, the UAV charging module 3 further includes a charging circuit, a load battery, and a BMS module as shown in FIG. 8 , which are all general designs and will not be described in this embodiment.

In the simulation model, the input DC voltage source is set to 24V constant voltage DC, the load is equivalent to a 4Ω resistance according to the power, the multi-stage coupling coil is input parameters according to the simulation results in COMSOL, and the secondary side detects the load voltage as a feedback signal and a given value. After comparison, the on-off of the switch tube in the primary side BUCK circuit is controlled by the PID controller to form a closed-loop control system. In the simulation process, by adjusting the system frequency f and the LCC harmonic distribution parameter L1, the system output power, transmission efficiency, coupling mechanism current, etc. are observed, and a set of parameter values with the best performance is determined.

Through trial and error, a set of ideal parameter values is obtained. The harmonic frequency f is selected as 200kHz, the system input frequency is 195.5kHz, and the resonant inductance L1=2.5uH. At this time, the system input power is 25.83W, which meets the output power requirements of the power-taking CT. , Picking up 8V stable voltage and 16W DC power at the load end, the system efficiency reaches 61.94%, which meets the system index requirements, and the PID control performance is good, meeting the system requirements. The simulation results are shown in Figures 9 and 10.

At the same time, the anti-offset capability of the system needs to be considered according to the system requirements, so the influence of the corresponding mutual inductance change on the output performance is studied in the simulation. Figures 11 and 12 show the output characteristics of the system when the receiving coil 22-3 is laterally offset by 5cm. It can be seen that due to the addition of feedback adjustment, the system has strong anti-offset ability and can meet the output requirements, but the system efficiency is only slightly reduced .

Example 2

This embodiment provides a wireless charging device for inspection drones based on high-voltage line energy extraction, which is used to dock the drone and charge the drone, as shown in FIG. The transmission device 5, the induction device 6, and the high-voltage power-taking device 4 are installed with the high-voltage power-taking module 1 and the primary voltage adjustment unit 21 as in the charging system of the first embodiment; The coupling unit 22, the insulator 24 (the coupling unit 22 is installed in the insulator 24) and the relay charging platform 25; the induction device 6 (corresponding to the load induction unit 12) is fixed on the relay charging platform 25, and is electrically connected to the high-voltage power taking device 4. sexual connection.

Specifically, the relay charging platform 25 is fixed on the utility pole, above the high-voltage cable, the high-voltage power taking device 4 is fixed on the high-voltage cable, and the wireless power transmission device 5 is installed on the relay charging platform 25 and the high-voltage power taking device between 4.

In this embodiment, as shown in FIG. 14 , the device further includes a platform support 10 , which is fixed on the power pole and tower, and which fixes the relay charging platform 25 .

Example 3

This embodiment provides an inspection drone based on high-voltage line energy extraction, as shown in FIG. 15 , which specifically includes a drone body 7, an IC card 8 installed on the upper side of the drone body 7, and installed on the unmanned aerial vehicle. The coil support 9 under the main body 7, the receiving coil 22-3 installed on the coil support 9, and the metal shielding layer (installed between the receiving coil 22-3 and the drone body 7) fixed on the receiving coil 22-3 , not shown in Figure 14).

The drone body 7 is installed with the drone charging module 3 described in Embodiment 1, which will not be repeated in this embodiment. The positional relationship of the drone in this embodiment docked on the wireless charging device in Embodiment 2 is shown in FIG. 13 . After the sensing device 6 recognizes the relevant information on the IC card 8 , as described in Embodiment 1, The related signal is sent to the primary side controller 11 through the secondary side controller 31, so that the charging can be started.

Example 4

This embodiment provides a wireless charging method for inspection drones based on high-voltage line energy extraction. The wireless charging method is applied to the charging system described in Embodiment 1 or the charging device described in Embodiment 2 to complete the inspection drone. Smart wireless charging. As shown in Figure 16, the method includes the steps:

S1. The UAV (the BMS module) judges whether its own power is sufficient, if not, it sends a charging request to the UAV controller (secondary side controller 31), and the UAV controller controls the UAV to fly until it is implemented. On the relay charging platform 25 of the wireless charging device described in Example 2;

S2. After the induction device 6 senses the landing of the drone, it sends a signal to the high-voltage power-taking device 4 (the primary side controller 11) to cause the high-voltage power-taking device 4 to turn on the wireless communication function;

S3. The drone controller establishes a communication connection with the high-voltage power taking device 4, and then sends a charging preparation instruction to the primary side controller 11;

S4. After receiving the charging preparation instruction (the primary side controller 11 of the high-voltage power take-off device 4), it detects whether its own circuit is normal. If so, it turns on the (relay of the wireless power transmission device 5), transmits power to the UAV and enters the step S5, if otherwise, perform fault detection, and feed back the detection result to the UAV controller (the detection process is not reflected in the accompanying drawings, and in other embodiments, detection is not necessary);

S5. The drone controller feeds back the charging voltage of the drone to the high-voltage power take-off device 4 (the primary side controller 11) in real time, and the high-voltage power take-off device 4 (the primary side controller 11) adjusts the radio according to the charging voltage. can transmit the operating parameters of the device 5 (the BUCK conversion circuit, that is, the DC/DC conversion circuit 21-1) to keep the charging voltage stable (this step is not shown in FIG. 16);

S6. The drone controller judges whether the battery is fully charged, and if so, feeds back to the high-voltage power take-off device 4 (the primary side controller 11), and the high-voltage power take-off device 4 cuts off the wireless power transmission device 5 (the relay); if not, continue to judge.

The above-mentioned embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, The simplification should be equivalent replacement manners, which are all included in the protection scope of the present invention.

Claims (10)

1. A wireless charging system for inspection drones based on high-voltage line energy capture, including a high-voltage power-taking module, a wireless power transmission module, and a drone charging module connected in sequence, and the wireless power transmission module includes a sequence-connected primary voltage adjustment A unit, a coupling unit and a secondary voltage adjustment unit, the primary voltage adjustment unit is connected to the high-voltage power taking module, and the secondary voltage adjustment unit is connected to the drone charging module, characterized in that: The coupling unit includes a transmitting coil connected to the primary voltage adjustment unit, a receiving coil connected to the UAV charging module, and a multi-stage relay coil arranged between the transmitting coil and the receiving coil, The receiving coil and the UAV charging module are installed on the UAV, and the last-stage relay coil is the relay platform coil installed on the relay charging platform; the multi-stage relay coils are wound in the insulator at equal intervals and are All are hollow structures. 2 . The wireless charging system for inspection drones based on high-voltage line energy extraction according to claim 1 , wherein the transmitting coil and the receiving coil are both hollow structures. 3 . 3 . The wireless charging system for inspection drones based on high-voltage line energy extraction according to claim 1 , wherein the relay platform coil adopts the structure of “grouped serial coil + concave-convex magnetic core”. 4 . 4 . The wireless charging system for inspection drones based on high-voltage line energy extraction according to claim 1 , wherein a metal shielding layer is provided above the receiving coil. 5 . 5 . The wireless charging system for inspection drones based on high-voltage line energy taking according to claim 1 , wherein the primary voltage adjustment unit comprises a sequence connected between the high-voltage power taking module and the transmitting coil. 6 . DC/DC conversion circuit, high-frequency inverter circuit, and first resonance compensation circuit; The secondary voltage adjustment unit includes a second resonance compensation circuit and a rectification filter circuit sequentially connected between the receiving coil and the drone charging module. 6. The wireless charging system for patrol inspection drones based on high-voltage line energy taking as claimed in claim 1, wherein the high-voltage power taking module comprises a primary side controller and a load sensing unit, and the drone charging module Including secondary side controller; The load sensing unit is used to send corresponding information to the primary side controller when sensing that the relay charging platform is docked with a drone, and the primary side controller turns on the wireless after receiving the corresponding information. communication function; The secondary side controller is used for acquiring the battery power information of the drone in real time, and establishes a wireless communication connection with the primary side controller to transmit the battery power information; the primary side controller is used for according to the battery power information The on-off of the connection between the high-voltage power taking module and the wireless power transmission module is controlled. 7 . The wireless charging system for patrol inspection drones based on high-voltage line energy acquisition according to claim 6 , wherein the secondary side controller is further connected to the secondary side voltage adjustment unit for obtaining the secondary side voltage adjustment unit. 8 . The charging voltage output by the voltage adjustment unit is sent to the primary side controller, and the primary side controller is further configured to adjust the DC/DC conversion circuit in the primary side voltage adjustment unit according to the charging voltage, so as to adjust the the charging voltage. 8. The wireless charging device for patrol inspection drones based on high-voltage line energy, is characterized in that: it includes a high-voltage power-taking device, a wireless power transmission device, and an induction device, and the high-voltage power-taking device is installed with any one of claims 1-7. The high-voltage power-taking module and the primary-side voltage adjustment unit in the charging system described in item 1; the wireless power transmission device is installed with the coupling unit in the charging system according to any one of claims 1-7 , the insulator and the relay charging platform; the induction device is fixed on the relay charging platform and is electrically connected with the high-voltage power taking device. 9 . The wireless charging device for inspection drones based on high-voltage line energy taking according to claim 8 , wherein the relay charging platform is fixed on a utility pole and is located above the high-voltage line, and the high-voltage power taking device is 9 . Fixed on the high-voltage line, the wireless power transmission device is installed between the relay charging platform and the high-voltage power taking device. 10. A wireless charging method for inspection drones based on high-voltage line energy extraction, including steps: S1. The drone determines whether its own power is sufficient, and if not, sends a charging request to the drone controller, and the drone controller controls the drone to fly to the location of the wireless charging device described in any one of claims 8-9. On the relay charging platform; It is characterized in that, after the step S1, it also includes the steps: S2. After the sensing device senses the landing of the drone, it sends a signal to the high-voltage power-taking device to enable the high-voltage power-taking device to turn on the wireless communication function; S3. The UAV controller establishes a communication connection with the high-voltage power-taking device, and then sends a charging preparation instruction to the high-voltage power-taking device; S4. After the high-voltage power taking device receives the charging preparation command, it checks whether its own circuit is normal. If so, it turns on the wireless power transmission device, transmits power to the drone and enters step S5. drone controller; S5. The drone controller feeds back the charging voltage of the drone to the high-voltage power taking device in real time, and the high-voltage power taking device adjusts the operating parameters of the wireless power transmission device according to the charging voltage to keep the charging voltage stable; S6. The drone controller judges whether the battery is fully charged, and if so, feeds back to the high-voltage power-taking device, which cuts off the wireless power transmission device; if not, continues to judge.

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