CN107707007B - Wind energy storage type wireless charging system and method for overhead transmission line robot - Google Patents
Wind energy storage type wireless charging system and method for overhead transmission line robot Download PDFInfo
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- CN107707007B CN107707007B CN201710806717.9A CN201710806717A CN107707007B CN 107707007 B CN107707007 B CN 107707007B CN 201710806717 A CN201710806717 A CN 201710806717A CN 107707007 B CN107707007 B CN 107707007B
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- 238000004146 energy storage Methods 0.000 title claims abstract description 96
- 230000005540 biological transmission Effects 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000012545 processing Methods 0.000 claims abstract description 31
- 238000010248 power generation Methods 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims description 62
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 20
- 229910052742 iron Inorganic materials 0.000 claims description 10
- 238000007599 discharging Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000009194 climbing Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- H02J7/025—
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/342—The other DC source being a battery actively interacting with the first one, i.e. battery to battery charging
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention discloses a wind energy storage type wireless charging system and method for an overhead transmission line robot, wherein a wind power generation system generates power and stores redundant electric quantity to the wind energy storage system, the wireless charging system comprises a charging polar plate, a current-receiving polar plate, a robot battery, a robot system, a robot antenna and a robot positioning module, the charging polar plate is connected to the wind energy storage system through an aviation plug and receives electric energy from the wind energy storage system, the current-receiving polar plate is connected with a wireless charging rear-end processing circuit, the output end of the wireless charging rear-end processing circuit is connected with the robot battery, the robot battery is connected with the robot system and supplies power to the robot system, and the robot system is communicated with the antenna of the wind energy storage system through the robot antenna.
Description
Technical Field
The invention relates to a wind energy storage type wireless charging system and method for an overhead transmission line robot.
Background
With the development of the power industry, a large number of robots are used in a power transmission and transformation system, the power supply problem of a line robot is increasingly prominent, the power loss of a battery directly affects the running time of the robot, and when the robot is out of power from the center of a line gear, the robot needs to be pulled back by manually online, so that the advantages of manpower saving and safety and reliability of the line robot are lost, and the provision of an electric energy supplementing system for the line robot has important significance for ensuring the safe and reliable running of the robot.
At present, a battery pack carried by a line robot can usually support the line robot to continuously operate for several hours, when the residual electric energy of a battery is insufficient to support the line robot to complete the operation of a line span, the battery needs to be replaced by manually climbing a tower, which undoubtedly greatly increases the waste of human resources, and if the battery is not replaced, the robot is very likely to stop on the line, so that the robot needs to be manually pulled back, which causes more troubles. The existing battery replacement mode is not beneficial to the control of an operator on the robot, restricts the development of the power transmission line robot, and can not meet the requirements of the actual line robot.
Therefore, the wind energy storage type charging system provided for the line robot has important significance for ensuring safe and reliable operation of the robot, on one hand, the charging assistance can be provided for the all-weather line inspection robot along the line, and the battery does not need to be replaced manually under the normal operation state; in addition, the research on the line robot wind energy storage type charging system can be used for accumulating renewable energy sources of electric power robots in the future, and the method has great significance.
Disclosure of Invention
The invention provides a wind energy storage type wireless charging system and method for an overhead transmission line robot to solve the problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a wireless charging system of wind energy storage formula for overhead transmission line robot, includes wind power generation system, wind energy storage system and wireless charging system, wherein:
wind power generation system generates electricity, with unnecessary electric quantity storage to wind energy storage system, wireless charging system includes the charged polar plate, the current-collecting polar plate, the robot battery, the robot system, robot antenna and robot orientation module, the charged polar plate is connected to wind energy storage system through aviation plug, receive the electric energy that comes from wind energy storage system, the wireless rear end processing circuit that charges is connected to the current-collecting polar plate, the robot battery is connected to wireless rear end processing circuit output that charges, robot battery connects the robot system, for the power supply of robot system, robot system communicates through robot antenna and wind energy storage system's antenna.
Furthermore, the robot system receives information from the wind energy storage system through the robot antenna, and analyzes the relative positions of the wind energy storage system and the wireless charging system through the position information of the wind energy storage system positioning module, the position information of the robot positioning module and the photoelectric switch signal arranged on the robot current-receiving electrode plate so as to realize the position correspondence of the charging electrode plate and the current-receiving electrode plate.
Further, the robot system receives information from the wind energy storage system through the robot antenna, and judges charging time and charging state according to electric quantity information of the energy storage battery.
Furthermore, the charging polar plate and the current-receiving polar plate are correspondingly arranged, the distance between the charging polar plate and the current-receiving polar plate is 1-5cm, the charging polar plate and the current-receiving polar plate are vertically staggered within 1cm and horizontally staggered within 1cm, and the charging efficiency is more than or equal to 85%.
The wind energy storage system comprises a wind energy controller, an energy storage battery, a communication interface board, a wireless charging front-end processing circuit, an antenna and an energy storage system positioning module, wherein the wind energy controller is connected to the output end of the wind power generation system and comprises two paths of output, one path of output is inverted into alternating current output, the output of the path is used as a reserved interface for subsequent expansion and use, the other path of output is charging output, and the charging output is connected to the energy storage battery; the energy storage battery supplies power for the communication interface board, the energy storage battery is connected with the communication interface board through a communication cable, the communication interface board is connected to the antenna through a serial port module, the antenna is communicated with the robot antenna, and the output end of the energy storage battery is connected with the wireless charging front-end processing circuit.
Furthermore, the communication interface board comprises a communication controller, a serial port module and a 485 communication module, the energy storage battery is connected to the communication interface board through a communication cable, and the battery charging voltage, the charging current, the discharging voltage, the discharging current and the battery electric quantity information are transmitted to the communication interface board.
Further, the communication interface board is connected with the energy storage system positioning module through a 485 communication module, and the communication interface board sends the positioning data of the energy storage system positioning module to the robot through an antenna.
Further, the wind power generation system comprises a wind wheel, a generator, a tail vane, a rotating shaft and an iron tower, wherein the generator is arranged on the rotating shaft, the generator is connected with the wind wheel and the tail vane, the rotating shaft is arranged on the iron tower, and the rotating shaft can freely rotate for the iron tower in 360 degrees.
Further, the height of the iron tower is larger than the diameter of the wind wheel.
Based on the method of the system, the positioning module of the wind energy storage system transmits the position of the positioning module to the antenna through the communication interface board, the antenna sends the position information to the robot antenna, finally the position information is transmitted to the robot system, the robot positioning module transmits the position information of the robot to the robot system in real time, the robot system calculates the rough relative position of the robot and the wind energy storage system by comparing the two position information, when the photoelectric switches arranged at the two sides of the receiving electrode plate of the robot detect the charging electrode plate simultaneously, the charging electrode plate and the receiving electrode plate correspond accurately at the moment, the robot system sends a charging starting signal through the robot antenna, the antenna receives the signal and transmits the signal to the communication interface board, the communication interface board controls the energy storage battery to output electric energy to the wireless charging front-end processing circuit, and the wireless charging front-end processing circuit transmits the electric energy to the, the charging polar plate wirelessly transmits electric energy to the current-receiving polar plate, the current-receiving polar plate transmits the electric energy to the wireless charging back-end processing circuit through a lead, and the wireless charging back-end processing circuit processes the electric energy and then charges the robot battery;
when the robot battery is fully charged, the robot system sends a signal for stopping charging through the robot antenna. The antenna receives the signal and transmits the signal to the communication interface board, and the communication interface board controls the energy storage battery to cut off the power output.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a wind energy storage type wireless charging system for an overhead transmission line robot, which can effectively solve the problems of high cost and large workload caused by tower climbing on site in battery replacement of a line robot, and increase the cruising ability and adaptability of the line robot, thereby improving the performance of the whole line robot system.
The invention avoids the operation of manually climbing a tower to replace a battery in a severe environment, well solves the power supply problem of the all-weather line patrol robot along the line, makes a large amount of technical accumulation for charging renewable energy sources of electric power robots in the future, and has wide application prospect.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic diagram of the system installation of the present invention;
2(a) -2 (c) are schematic diagrams of the robot for precisely positioning the receiving electrode plate and the charging electrode plate; FIG. 3 is a block diagram of the system of the present invention;
the specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As introduced by the background art, the mode of replacing the battery in the prior art is not beneficial to the control of an operator on the robot, the development of the power transmission line robot is restricted, and the requirement of the actual line robot cannot be met.
As an exemplary embodiment of the present invention, as shown in fig. 1, a wind power generation system 11 includes a wind rotor 12, a generator 13, a tail vane 14, a rotating shaft 15, and a tower 16. The wind wheel 12, the generator 13 and the tail rudder 14 are arranged on a rotating shaft 15, the rotating shaft 15 is arranged on an iron tower 16, and the height of the iron tower 16 is larger than the diameter of the wind wheel 12. The shaft 15 is freely rotatable through 360 degrees.
The wind energy storage system 21 comprises a wind energy controller 22, an energy storage battery 23, a communication interface board 24, a wireless charging front-end processing circuit 25, an antenna 26 and an energy storage system positioning module 27. The wind energy controller 22 is connected to the output end of the wind power generation system 11, the wind energy controller 22 includes two outputs, one is an inverter 220v alternating current output, the output of the output is used as a reserved interface for subsequent expansion use, the other is a charging output, and the charging output is connected to the energy storage battery 23. The energy storage battery 23 supplies power for the communication interface board 24, the energy storage battery 23 is connected with the communication interface board 24 through a communication cable, the communication interface board 24 is connected to the antenna 26 through a serial port module, and the antenna 26 is communicated with the robot antenna 45. The output end of the energy storage battery 23 is connected with the wireless charging front-end processing circuit 25.
The communication interface board 24 comprises a communication controller, a serial port module and a 485 communication module. The energy storage battery 23 is connected to the communication interface board 24 through a communication cable, and transmits information such as battery charging voltage, charging current, discharging voltage, discharging current, battery power and the like to the communication interface board 24. The communication interface board 24 is connected with the energy storage system positioning module 27 through a 485 communication module. The communication interface board 24 sends the positioning data of the energy storage system positioning module 27 to the robot via the antenna 26.
The wireless charging system 41 comprises a charging electrode plate 31, a receiving electrode plate 32, an aviation plug, a wireless charging back-end processing circuit 42, a robot battery 43, a robot system 44, a robot antenna 45 and a robot positioning module 46. The charging pole plate 31 is connected to the wind energy storage system 21 through an aviation plug, and receives electric energy from the wind energy storage system 21. The power receiving electrode plate 32 is connected to the wireless charging back-end processing circuit 42, and the output end of the wireless charging back-end processing circuit 42 is connected to the robot battery 43. The robot battery 43 is connected to the robot system 44 to supply power to the robot system 44. The robotic system 44 communicates with the antenna 26 of the wind energy storage system 21 via a robotic antenna 45.
The robot system 44 receives information from the wind energy storage system 21 through the robot antenna 45, and analyzes the relative positions of the wind energy storage system 21 and the wireless charging system 41 through the position information of the wind energy storage system positioning module 27 and the position information of the robot positioning module 46 and the photoelectric switch information arranged at the two ends of the robot current-receiving plate, so that the positions of the charging plate 31 and the current-receiving plate 32 correspond to each other.
The robot system 44 receives information from the wind energy storage system 21 through the robot antenna 45, and determines the charging time and the charging state from information on the electric quantity of the energy storage battery 23.
The charging polar plate 31 and the current-receiving polar plate 32 are correspondingly arranged, the distance between the charging polar plate 31 and the current-receiving polar plate 32 is 1-5cm, the charging polar plate 31 and the current-receiving polar plate 32 are vertically staggered within 1cm, the charging polar plate and the current-receiving polar plate are horizontally staggered within 1cm, and the charging efficiency is more than or equal to 85%.
The working process of the invention is as follows:
the tail vane 14 of the wind power generation system 11 adjusts the wind wheel 12 arranged on the rotating shaft 15 to face the windward side under the driving of wind power so as to obtain the maximum wind volume. The wind wheel rotates to drive the generator 13 to generate electricity, the generated electric energy is transmitted to the wind energy controller 22, the wind energy controller 22 rectifies and filters the electric energy, one path of the electric energy is output to the energy storage battery 23, and the energy storage battery 23 is charged. The other path outputs 220v alternating current, and the path serves as a reserved interface for subsequent use.
The wind energy storage system positioning module 27 transmits the position of the wind energy storage system positioning module to the antenna 26 through the communication interface board 24, the antenna 26 sends position information to the robot antenna 45, and finally the position information is transmitted to the robot system 44. The robot positioning module 46 transmits robot position information to the robot system 44 in real time. The robot system calculates the relative rough position of the robot and the wind energy storage system 21 by comparing two position information, it should be noted that the positioning module 27 of the wind energy storage system and the positioning module 46 of the robot rely on GPS for positioning, the positioning precision is limited, in order to make the charging electrode plate and the receiving electrode plate butt joint accurately, the positioning mode is started when the relative distance is 10 meters, the robot reduces the speed by half and slowly moves forward, as shown in fig. 2(a) -2 (c), when one of the photoelectric switches of the receiving electrode plate of the robot detects the charging electrode plate, the charging electrode plate 31 and the receiving electrode plate 32 of the robot start butt joint, when the other photoelectric switch also detects the charging electrode plate, the charging electrode plate 31 and the receiving electrode plate 32 correspond accurately. It should be noted that, because the robot runs along the transmission line, the charging board and the receiving electrode board do not have height dislocation and angle dislocation. The robot system 44 sends a signal to start charging through the robot antenna 45. The antenna 26 receives the signal and transmits the signal to the communication interface board 24, and the communication interface board 24 controls the energy storage battery 23 to output electric energy to the wireless charging front-end processing circuit 25. The wireless charging front-end processing circuit 25 transmits electric energy to the mobile terminal through a wire. The charging electrode plate 31 wirelessly transmits the electric energy to the receiving electrode plate 32, and the receiving electrode plate 32 transmits the electric energy to the wireless charging back-end processing circuit 42 through a wire. The wireless charging back-end processing circuit 42 processes the electric energy and charges the robot battery 43.
When the robot battery 43 is fully charged, the robot system 44 sends a signal to stop charging through the robot antenna 45. The antenna 26 receives the signal and transmits the signal to the communication interface board 24, and the communication interface board 24 controls the energy storage battery 23 to cut off the power output.
The energy storage battery 23 is connected to the communication interface board 24 through a communication cable, and transmits information such as battery charging voltage, charging current, discharging voltage, discharging current, battery power and the like to the communication interface board 24. The communication interface board 24 transmits the information of the energy storage battery 23 to the robot antenna 45 through the antenna 26, and finally the information is gathered to the robot system 44.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (8)
1. The utility model provides a wireless charging system of wind energy storage formula for overhead transmission line robot which characterized by: including wind power generation system, wind energy storage system and wireless charging system, wherein: the wind power generation system generates power and stores redundant electric quantity to the wind energy storage system, the wireless charging system comprises a charging polar plate, a current-receiving polar plate, a robot battery, a robot system, a robot antenna and a robot positioning module, the charging polar plate is connected to the wind energy storage system through an aviation plug and receives electric energy from the wind energy storage system, the current-receiving polar plate is connected with a wireless charging rear-end processing circuit, the output end of the wireless charging rear-end processing circuit is connected with the robot battery, the robot battery is connected with the robot system and supplies power to the robot system, and the robot system is communicated with the antenna of the wind energy storage system through the robot antenna;
the robot system receives information from the wind energy storage system through the robot antenna, and analyzes the relative positions of the wind energy storage system and the wireless charging system through the position information of the wind energy storage system positioning module and the position information of the robot positioning module so as to realize the position correspondence of the charging polar plate and the receiving polar plate; when one photoelectric switch of the robot current-collecting plate detects the charging plate, the robot charging plate and the current-collecting plate start to be butted, and when the other photoelectric switch also detects the charging plate, the charging plate and the current-collecting plate accurately correspond to each other;
the wind energy storage system comprises a wind energy controller, an energy storage battery, a communication interface board, a wireless charging front-end processing circuit, an antenna and an energy storage system positioning module, wherein the wind energy controller is connected to the output end of the wind power generation system and comprises two paths of output, one path of output is inverted into alternating current output, the output of the path is used as a reserved interface for subsequent expansion and use, the other path of output is charging output, and the charging output is connected to the energy storage battery; the energy storage battery supplies power to the communication interface board, the energy storage battery is connected with the communication interface board through a communication cable, the communication interface board is connected to the antenna through a serial port module, the antenna is communicated with the robot antenna, and the output end of the energy storage battery is connected with the wireless charging front-end processing circuit; the robot system sends a signal for starting charging through a robot antenna, the antenna receives the signal and transmits the signal to a communication interface board, the communication interface board controls an energy storage battery to output electric energy to a wireless charging front-end processing circuit, the wireless charging front-end processing circuit transmits the electric energy to a charging polar plate through a lead, the charging polar plate wirelessly transmits the electric energy to a receiving polar plate, the receiving polar plate transmits the electric energy to a wireless charging rear-end processing circuit through the lead, and the wireless charging rear-end processing circuit processes the electric energy and then charges the robot battery.
2. The wind energy storage type wireless charging system for the overhead transmission line robot as claimed in claim 1, wherein: the robot system receives information from the wind energy storage system through the robot antenna, and judges charging time and charging state according to electric quantity information of the energy storage battery.
3. The wind energy storage type wireless charging system for the overhead transmission line robot as claimed in claim 1, wherein: the charging polar plate and the current-receiving polar plate are correspondingly arranged, the distance between the charging polar plate and the current-receiving polar plate is 1-5cm, the charging polar plate and the current-receiving polar plate are staggered within 1cm from top to bottom and within 1cm from left to right.
4. The wind energy storage type wireless charging system for the overhead transmission line robot as claimed in claim 1, wherein: the communication interface board comprises a communication controller, a serial port module and a 485 communication module, wherein the energy storage battery is connected to the communication interface board through a communication cable and transmits battery charging voltage, charging current, discharging voltage, discharging current and battery electric quantity information to the communication interface board.
5. The wind energy storage type wireless charging system for the overhead transmission line robot as claimed in claim 1, wherein: the communication interface board is connected with the energy storage system positioning module through the 485 communication module, and the communication interface board sends positioning data of the energy storage system positioning module to the robot through the antenna.
6. The wind energy storage type wireless charging system for the overhead transmission line robot as claimed in claim 1, wherein: the wind power generation system comprises a wind wheel, a generator, a tail vane, a rotating shaft and an iron tower, wherein the generator is arranged on the rotating shaft, the generator is connected with the wind wheel and the tail vane, the rotating shaft is arranged on the iron tower, and the rotating shaft can freely rotate for 360 degrees relative to the iron tower.
7. The wind energy storage type wireless charging system for the overhead transmission line robot as claimed in claim 6, wherein: the height of the iron tower is larger than the diameter of the wind wheel.
8. Method based on a system according to any of claims 1-7, characterized in that: the robot system calculates the relative rough positions of the robot and the wind energy storage system by comparing the two position information, when photoelectric switches arranged on two sides of a receiving electrode plate of the robot detect the charging electrode plate simultaneously, the charging electrode plate and the receiving electrode plate accurately correspond to each other, the robot system sends a signal for starting charging through the robot antenna, the antenna receives the signal and transmits the signal to the communication interface board, the communication interface board controls an energy storage battery to output electric energy to a wireless charging front-end processing circuit, and the wireless charging front-end processing circuit transmits the electric energy to the charging electrode plate through a lead, the charging polar plate wirelessly transmits electric energy to the current-receiving polar plate, the current-receiving polar plate transmits the electric energy to the wireless charging back-end processing circuit through a lead, and the wireless charging back-end processing circuit processes the electric energy and then charges the robot battery;
when the robot battery is fully charged, the robot system sends a signal for stopping charging through the robot antenna, the antenna receives the signal and transmits the signal to the communication interface board, and the communication interface board controls the energy storage battery to cut off the power output.
Priority Applications (1)
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| CN201710806717.9A CN107707007B (en) | 2017-09-08 | 2017-09-08 | Wind energy storage type wireless charging system and method for overhead transmission line robot |
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| CN201710806717.9A CN107707007B (en) | 2017-09-08 | 2017-09-08 | Wind energy storage type wireless charging system and method for overhead transmission line robot |
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| CN107707007B true CN107707007B (en) | 2020-07-03 |
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Effective date of registration: 20201028 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: Ji'nan City, Shandong Province Wang Yue Road 250003 No. 2000 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |
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