A substation efficient induction charging device and control method

Abstract

The utility model relates to a transformer substation high -efficient induction charging device and control method relates to magnetic field induction charging technical field, the device includes the magnetic field intensity detection device of installation on the trolley, charging coil rotating device, control system, control system is connected with magnetic field intensity detection device, charging coil rotating device electricity respectively, magnetic field intensity detection device is equipped with induction module, and charging coil rotating device includes the coil support of installation charging coil, the coil rotating mechanism of installation in coil support and makes the horizontal rotation mechanism of coil support rotation, the control method is through magnetic field intensity detection device real -time detection transformer substation in the trolley place's magnetic field intensity, and signal transmission to control system, and control system controls charging coil rotating device, and automatic, accurate, timely adjustment charging coil place orientation, make it rotate to with magnetic induction intensity perpendicular, realize accurate rotation, realize high -efficient induction charging again, to effectively utilize transformer substation magnetic field energy.

Description

Technical Field

[0001] This invention relates to the field of magnetic field induction charging technology, and in particular to a high-efficiency induction charging device and control method for substations. Background Technology

[0002] Magnetic field charging technology is an early development, primarily employing the principle of electromagnetic induction. It involves both a transmitting and receiving device, both equipped with inductors. The transmitting inductor converts an alternating current signal into a magnetic field signal, while the receiving inductor, sensing the magnetic field, converts it back into an alternating current signal. This signal is then rectified and filtered before being used to charge the battery. Because the magnetic field near a substation is distributed in three dimensions, with varying magnetic induction intensity at different points, maximizing charging efficiency requires detecting the magnetic induction intensity near the substation and strictly controlling the relative positions of the transmitting and receiving inductors.

[0003] my country is a populous country with an annual electricity consumption of hundreds of billions of kilowatt-hours, making its power system extremely complex. Substations are a crucial component of this system, and they are numerous throughout the country. The strong alternating current around substations generates a powerful alternating magnetic field, resulting in a high density of electromagnetic energy in the surrounding space. However, a significant portion of this energy is not fully utilized. If the electromagnetic energy in the vicinity of substations could be effectively utilized to charge other electrical equipment, energy loss could be reduced, and costs could be saved.

[0004] Based on the above considerations, this invention proposes a mechanical device and control method that can accurately detect the direction of magnetic field strength and automatically control the charging coil to adjust its position to obtain the maximum magnetic flux, thereby maximizing charging efficiency. Summary of the Invention

[0005] The primary objective of this invention is to provide a high-efficiency inductive charging device for substations, which can accurately detect the direction of magnetic field strength, solve the problem of unreasonable relative positions of the substation and the receiving end charging coil, and automatically adjust the orientation of the receiving end charging coil so that the receiving end charging coil can utilize the magnetic field energy generated by the substation inductor coil to the maximum efficiency, thereby achieving the purpose of charging other electrical equipment.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows:

[0007] A high-efficiency inductive charging device for substations is characterized by comprising a magnetic field strength detection device, a charging coil rotation device, and a control system. The control system is electrically connected to the magnetic field strength detection device and the charging coil rotation device. The magnetic field strength detection device is placed inside the substation to detect the magnetic field strength at its location and transmits the signal to the control system. The control system then controls the charging coil rotation device to rotate the charging coil to a position perpendicular to the direction of magnetic induction intensity.

[0008] As a preferred embodiment of the present invention, the magnetic field strength detection device includes an induction module, which includes a cube shell and a plurality of induction coils: induction coils are provided on all six faces of the cube shell, two parallel induction coils are divided into a group, each group of induction coils is coaxially arranged, and the axis of each group of induction coils passes through the center of the cube shell, and each group of induction coils is connected to a fluxmeter electrically connected to the control system.

[0009] As a preferred embodiment of the present invention, the magnetic field strength detection device further includes a leveling module for adjusting the height of the sensing module. The leveling module consists of at least three leveling components and a base. The leveling components include a sleeve and a lifting rod. One end of the lifting rod is inserted into the sleeve, and the other end is hinged to the bottom of the sensing module. The sleeve is provided with bolts for adjusting the height of the lifting rod, and the bottom of the sleeve is fixed to the base.

[0010] As a preferred embodiment of the present invention, the charging coil rotating device includes a charging coil, a coil support, a coil rotating mechanism, a horizontal rotating mechanism, a support mechanism, a vertical angle sensor, and a horizontal angle sensor. The coil support is provided with a coil rotating mechanism, the charging coil is mounted on the coil rotating mechanism, and the vertical angle sensor is mounted on the coil rotating mechanism. The top of the coil support is provided with a horizontal rotating mechanism, the horizontal rotating mechanism is connected to the support mechanism, and the horizontal angle sensor is mounted on the horizontal rotating mechanism.

[0011] As a preferred embodiment of the present invention, the coil support includes an inverted U-shaped cavity frame and an inverted bowl-shaped cavity frame, the top of the inverted U-shaped cavity frame is connected to the bottom of the inverted bowl-shaped cavity frame, the coil rotation mechanism is installed inside the inverted U-shaped cavity frame, and the horizontal rotation mechanism is installed inside the inverted bowl-shaped cavity frame.

[0012] As a preferred embodiment of the present invention, the coil rotation mechanism includes a first servo motor, a vertical drive wheel, a drive shaft, a driven shaft, and a vertical angle sensor. The drive shaft and the driven shaft are coaxially opposite to each other on the two arms of the inverted U-shaped cavity frame of the coil support. The drive shaft is provided with a drive wheel driven by the first servo motor. The vertical angle sensor is installed on the drive shaft or the driven shaft. A charging coil is installed between the drive shaft and the driven shaft.

[0013] As a preferred embodiment of the present invention, the horizontal rotation mechanism includes a second servo motor, a horizontal drive wheel, a connecting shaft, and a horizontal angle sensor. One end of the connecting shaft extends into the inverted bowl-shaped cavity frame, on which the horizontal drive wheel driven by the second servo motor is mounted. The other end is movably connected to the support mechanism. The movable connection means that the connecting shaft and the support mechanism are axially positioned and radially rotated. The horizontal angle sensor for measuring the rotation angle of the connecting shaft is mounted on the connecting shaft.

[0014] As a preferred embodiment of the present invention, the control system includes a data receiving module, a data display module, and a control module. After receiving information, the data receiving module outputs one path to the data display module to display the information, and another path to the control module to control the action of the actuator. The data receiving module receives magnetic flux signals, horizontal angle signals, and vertical angle signals of the charging coil, and converts the magnetic flux signals in the three axes into magnetic induction intensity signals. The data display module displays magnetic induction intensity information, horizontal angle information, and vertical angle information of the charging coil. The control module controls the servo motors in the coil rotation mechanism and the horizontal rotation mechanism to start or stop, and adjusts the position of the charging coil.

[0015] In a preferred embodiment of the present invention, the magnetic field strength detection device, the charging coil rotation device, and the control system are all mounted on a mobile trolley, and the magnetic field strength detection device and the charging coil rotation device are arranged along the axis of the mobile trolley frame.

[0016] The second objective of this invention is to provide a control method for a high-efficiency inductive charging device in a substation, so as to achieve the purpose of automatically detecting magnetic induction intensity, controlling the rotation of the charging coil rotating device, and high-efficiency inductive charging.

[0017] To achieve the above objectives, the control method of the present invention includes the following steps:

[0018] S1. Charging preparation;

[0019] Two three-dimensional coordinate spaces OXYZ and oxyz with the center point of the sensing module and the center point of the charging coil respectively are established with the same three-axis direction. The three axes of the three-dimensional coordinate spaces OXYZ and oxyz are parallel to any three mutually orthogonal sides of the cube shell in the sensing module. The sensing module is leveled to the horizontal plane XOY by the leveling module, and the charging coil is adjusted to the yoz plane.

[0020] S2, Magnetic field strength detection;

[0021] The magnetic flux Φ in the three axes at the center point of the magnetic field strength detection device is detected in real time by the sensing module. X Φ Y Φ Z And transmitted to the control system and converted into magnetic induction intensity B = (BX B Y B Z And calculate the angle θ between B and the horizontal plane XOY according to formulas (1) and (2). 2t and the angle θ between the projection of B onto the horizontal plane XOY and the YOZ plane. 1t The data display module shows B = (B X B Y B Z ) and θ 1t θ 2t ;

[0022]

[0023]

[0024] S3, Charging coil adjustment and inductive charging;

[0025] In the oxyz coordinate system, the vertical angle λ of the charging coil at time t is obtained in real time by the sensor. t and horizontal angle η t The control system obtains θ based on step S2. 1t θ 2t The required horizontal rotation angle α of the charging coil is calculated according to formulas (3) and (4). t and vertical rotation angle β t The first servo motor and the second servo motor in the charging coil rotation device are controlled in real time to drive the coil rotation mechanism and the horizontal rotation mechanism to operate, so that the charging coil is perpendicular to the direction of magnetic induction intensity, and the charging coil generates induced current to charge the electrical equipment.

[0026] α t =90°-θ 1t -η t (3)

[0027] β t =θ 2t -λ t (4)

[0028] S4. Charging position is adjusted in real time;

[0029] The mobile trolley moves within the substation, the induction module detects the direction of magnetic induction intensity in real time, and the control system controls the charging coil rotation device to adjust the charging coil to be perpendicular to the direction of magnetic induction intensity in real time, so as to continuously and efficiently charge the electrical equipment.

[0030] As a preferred embodiment of the present invention, the rotation angle of the servo motor is calculated according to the following formula:

[0031]

[0032] In the formula: γ 1t Let γ be the rotation angle of the second servo motor, n1 be the number of teeth of the second servo motor, n2 be the number of teeth of the drive wheel of the horizontal rotation mechanism, and γ be the rotation angle of the second servo motor. 2t n1 is the rotation angle of the first servo motor, n2 is the number of teeth of the first servo motor, and n2 is the number of teeth of the drive wheel of the coil rotation mechanism. The selection of the positive and negative signs is determined according to the consistency between the forward and reverse rotation direction of the first or second servo motor and the required rotation direction of the charging coil.

[0033] Beneficial effects

[0034] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0035] (1) The magnetic field strength detection device can detect the magnetic field strength at a certain point in the space near the substation in real time and accurately, and can accurately know the direction of the magnetic induction intensity, which is convenient for controlling the relative position of the charging coil of the receiving end and the inductor coil of the substation.

[0036] (2) The charging coil rotation device is equipped with a servo motor and an angle sensor, and is connected to a control system. The servo motor can be driven by the control system, and the horizontal and vertical rotation angles of the charging coil can be obtained in real time. The position and angle of the receiving end charging coil can be automatically, accurately and timely controlled according to the direction of magnetic induction intensity, so that the charging coil is perpendicular to the direction of magnetic induction intensity of the space moving car near the substation, thereby maximizing the use of the magnetic field energy of a certain point in the space near the substation and charging external electrical equipment with maximum efficiency.

[0037] (3) All devices are installed on a mobile trolley, which makes it easy to adjust the charging position. It is convenient, quick and easy, and has the characteristics of informatization, integration and automation. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of a high-efficiency inductive charging device for a substation.

[0039] Figure 2 This is a schematic diagram of a magnetic field strength detection device;

[0040] in, Figure 2 (a) is a schematic diagram of the induction coil layout. Figure 2 (b) is a schematic diagram of the detection device.

[0041] Figure 3 This is a schematic diagram of the overall charging coil rotation device.

[0042] Figure 4 This is a front view of the coil rotation mechanism.

[0043] Figure 5This is a cross-sectional view of the drive belt of the coil rotation mechanism.

[0044] Figure 6 This is a front view of the horizontal rotating mechanism and part of the support mechanism.

[0045] Figure 7 This is a schematic diagram of the control system connection.

[0046] Figure 8 This is a schematic diagram of the standard three-dimensional coordinate space and the direction of the magnetic field strength.

[0047] Explanation of reference numerals in the attached figures

[0048] (1) Magnetic field strength detection device;

[0049] (11) Induction module; (111) Induction coil; (112) Inner shell of cube; (113) Outer shell of cube; (114) Magnetometer;

[0050] (12) Leveling module; (121) Leveling component; (1211) Sleeve; (1212) Lifting rod; (1213) Bolt; (122) Base;

[0051] (2) Charging coil rotating device;

[0052] (21) Charging coil;

[0053] (22) Coil support; (221) Inverted U-shaped cavity support; (222) Inverted bowl-shaped cavity support

[0054] (23) Coil rotation mechanism; (231) First servo motor; (232) Vertical drive wheel; (233) Drive shaft; (234) Driven shaft;

[0055] (24) Horizontal rotation mechanism; (241) First servo motor; (242) Horizontal drive wheel; (243) Connecting shaft; (244) Bearing; (245) Positioning pin;

[0056] (25) Supporting structures;

[0057] (26) Vertical angle sensor;

[0058] (27) Horizontal angle sensor;

[0059] (3) Control system; (31) Data receiving module; (32) Data display module; (33) Control module;

[0060] (4) Moving cart. Detailed Implementation

[0061] The following is in conjunction with the appendix Figure 1-8The technical solution of the present invention will be further illustrated through specific embodiments.

[0062] The accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable that some well-known structures and their descriptions may be omitted in the drawings for those skilled in the art. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, terms such as "installation" and "connection" should be interpreted broadly, and those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0063] In the description of this invention, it should be understood that directional terms such as "up," "down," "left," "right," "horizontal," "vertical," "horizontal," and "top," "bottom," etc., indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this invention; to simplify the description, unless otherwise stated, these directional terms do not indicate; they imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0064] Example 1,

[0065] See Figure 2-7 A high-efficiency inductive charging device for substations includes a magnetic field strength detection device 1, a charging coil rotation device 2, and a control system 3. The control system 3 is electrically connected to the magnetic field strength detection device 1 and the charging coil rotation device 2, respectively. The magnetic field strength detection device 1 is placed inside the substation to detect the magnetic field strength at its location and transmits the signal to the control system 3. The control system 3 then controls the charging coil rotation device 2 to rotate the charging coil 21 to be perpendicular to the direction of magnetic induction intensity.

[0066] The magnetic field strength detection device 1 includes a sensing module 11 and a leveling module 12 for adjusting the height of the sensing module 11. The leveling module 12 consists of at least three leveling components 121 and a base 122. The leveling component 121 includes a sleeve 1211 and a lifting rod 1212. One end of the lifting rod 1212 is inserted into the sleeve 1211, and the other end is hinged to the bottom of the sensing module 11. The bottom of the sleeve 1211 is fixed on the base 122, and a bolt 1213 for adjusting the height of the lifting rod 1212 is provided on it. The sensing module 11 includes a cubic shell and several sensing coils 111. The sensing coils 111 are arranged on the six faces of the cubic shell. Two parallel sensing coils 111 are divided into a group. Each group of sensing coils 111 is coaxially arranged, and the axis of each group of sensing coils 111 passes through the center of the cubic shell. Each group of sensing coils 111 is also connected to a magnetometer 114 that is electrically connected to the control system 3.

[0067] The charging coil rotating device 2 includes a charging coil 21, a coil support 22, a coil rotating mechanism 23, a horizontal rotating mechanism 24, a support mechanism 25, a vertical angle sensor 26, and a horizontal angle sensor 27. The coil support 22 includes an inverted U-shaped cavity frame 221 and an inverted bowl-shaped cavity frame 222. The top of the inverted U-shaped cavity frame 221 is connected to the bottom of the inverted bowl-shaped cavity frame 222. The coil rotating mechanism 23 is installed inside the inverted U-shaped cavity frame 221, and the horizontal rotating mechanism 24 is installed at the top inside the inverted bowl-shaped cavity frame 222. The coil rotating mechanism 23 includes a first servo motor 231, a vertical drive wheel 232, a drive shaft 233, a driven shaft 234, and a vertical angle sensor 26. The first servo motor 231 is fixed inside the inverted U-shaped cavity frame 221. The drive shaft 233 and the driven shaft 234 are coaxially opposite each other on the two arms of the inverted U-shaped cavity frame 221 of the coil support 22. The drive shaft 233 is provided with a vertical drive wheel 232 driven by the servo motor 231 through a transmission belt. The vertical angle sensor 26 is installed on the drive shaft 233 or the driven shaft 234. The charging coil 21 is installed between the drive shaft 233 and the driven shaft 234. Under the drive of the first servo motor 231, the charging coil 21 rotates relative to the inverted U-shaped cavity frame 221 with the vertical drive wheel 232, the drive shaft 233, and the driven shaft 234, thereby realizing the vertical rotation of the charging coil 21.

[0068] The horizontal rotation mechanism 24 includes a second servo motor 241, a horizontal drive wheel 242, a connecting shaft 243, and a horizontal angle sensor 27. The second servo motor 241 is fixed inside the inverted bowl-shaped cavity frame 222. One end of the connecting shaft 243 extends into the inverted bowl-shaped cavity frame 222. The horizontal drive wheel 242, driven by the second servo motor 241 via a transmission belt, is mounted on the connecting shaft 243. The horizontal angle sensor 27, which measures the rotation angle of the connecting shaft 243, is mounted at its end. The other end of the connecting shaft 243 is connected to the moving trolley 4. One end of the support mechanism 25 is movably connected. The movable connection means that a fixed bearing seat is set on the support mechanism 25, and the bearing 244 in the bearing seat is fitted onto the connecting shaft 243. The axial positioning of the connecting shaft 243 is achieved by inserting the positioning pin 245 into the pin hole on the connecting shaft 243. The bearing 244 enables the connecting shaft 243 to rotate radially relative to the support mechanism 25. The second servo motor 241 drives the horizontal drive wheel 242 to rotate, which drives the connecting shaft 243 and the coil bracket 22 to rotate synchronously, thereby realizing the horizontal rotation of the charging coil 21.

[0069] The control system 3 includes a data receiving module 31, a data display module 32, and a control module 33. After receiving information, the data receiving module 31 outputs one path to the data display module 32 to display the information, and another path to the control module 33 to control the action of the actuator. The data receiving module 31 receives magnetic flux signals, horizontal angle signals and vertical angle signals of the charging coil 21, and converts the magnetic flux signals in the three axes into magnetic induction intensity signals. The data display module 32 displays the magnetic induction intensity information, the horizontal angle information and the vertical angle information of the charging coil 21. The control module 33 controls the servo motors in the coil rotation mechanism 23 and the horizontal rotation mechanism 24 to start or stop, and adjusts the position of the charging coil 21.

[0070] Example 2,

[0071] The difference between this embodiment 2 and embodiment 1 is that the cube housing in the sensing module 11 of the magnetic field strength detection device 1 includes a cube inner shell 112 and a cube outer shell 113. The induction coil 111 is located between the cube inner shell 112 and the cube outer shell 113. Bolts are used to fix the induction coil 111 to the outer surface of the cube inner shell 112 and the inner surface of the cube outer shell 113.

[0072] Example 3,

[0073] See Figure 1-7The difference between this embodiment 3 and embodiment 2 is that the magnetic field strength detection device 1, the charging coil rotating device 2 and the control system 3 are all installed on the mobile trolley 4. The magnetic field strength detection device 1 is close to the charging coil rotating device 2 and arranged along the axis of the mobile trolley 3 frame. The magnetic field strength detection device 1 is installed on the mobile trolley 4 through the base 122, and the charging coil rotating device 2 is installed on the mobile trolley 4 through the support mechanism 25.

[0074] Example 4,

[0075] See Figure 1-8 This invention also provides a control method for a high-efficiency inductive charging device in a substation, to achieve the purpose of automatically detecting magnetic induction intensity, controlling the rotation of the charging coil rotating device 2, and high-efficiency inductive charging, specifically including the following steps:

[0076] S1. Charging preparation;

[0077] Two three-dimensional coordinate spaces OXYZ and Oxyz with the center point of the sensing module 11 and the center point of the charging coil 21 as the origin are established respectively. The three axes of the three-dimensional coordinate spaces OXYZ and oxyz are parallel to any three mutually orthogonal sides of the cube shell in the sensing module. The sensing module 11 is leveled to the horizontal plane XOY by the leveling module 12, and the charging coil is adjusted to the yoz plane.

[0078] In this embodiment, after the sensing module 11 is leveled by the leveling module 12, the vertically arranged sensing coils 111 are parallel to the horizontal plane, and the front and rear arranged sensing coils 111 are parallel to the straight-line forward direction of the moving trolley. The direction from the center point of the sensing module 11 toward the upper surface of the inner shell 112 of the cube is taken as the positive direction of the Z-axis or z-axis, and the direction from the center point of the sensing module 11 toward the right side of the inner shell 112 of the cube is taken as the positive direction of the Y-axis or y-axis. According to the right-hand rule, the direction from the center point of the sensing module 11 toward the front side of the inner shell 112 of the cube is taken as the positive direction of the X-axis or x-axis.

[0079] S2, Magnetic field strength detection;

[0080] The magnetic flux Φ in the three-axis directions at the center point of the magnetic field strength detection device 1 is detected in real time by the sensing module 11. X Φ Y Φ Z And transmitted to control system 3 to be converted into magnetic induction intensity B = (B X B Y B Z And calculate the angle θ between B and the horizontal plane XOY according to formulas (1) and (2). 2t and the angle θ between the projection of B onto the horizontal plane XOY and the YOZ plane. 1tThe data display module 32 displays B = (B X B Y B Z ) and θ 1t θ 2t ;

[0081]

[0082]

[0083] S3, Charging coil adjustment and inductive charging;

[0084] In the oxyz coordinate system, the vertical angle λ of the charging coil 21 at time t is obtained in real time by the sensor. t and horizontal angle η t The control system obtains θ based on step S2. 1t θ 2t The required horizontal rotation angle α of the charging coil 21 is calculated according to formulas (3) and (4). t and vertical rotation angle β t The first servo motor 231 and the second servo motor 241 in the charging coil rotating device 2 are controlled in real time to drive the coil rotating mechanism 23 and the horizontal rotating mechanism 24 to operate, so that the charging coil 21 is perpendicular to the direction of magnetic induction intensity, and the charging coil 21 generates an induced current to charge the electrical equipment.

[0085] α t =90°-θ 1t -η t (3)

[0086] β t =θ 2t -λ t (4)

[0087] S4. Charging position is adjusted in real time;

[0088] The mobile trolley 4 is controlled to move within the substation. The sensing module 11 detects the direction of magnetic induction intensity in real time. The control system controls the charging coil rotation device 2 to adjust the charging coil 21 to be perpendicular to the direction of magnetic induction intensity in real time, so as to continuously and efficiently charge the electrical equipment.

[0089] The rotation angle of the first servo motor 231 or the second servo motor 241 is calculated according to the following formula:

[0090]

[0091] In the formula: γ1 is the rotation angle of the second servo motor 241, n1 is the number of teeth of the second servo motor 241, n2 is the number of teeth of the horizontal drive wheel 242 of the horizontal rotation mechanism 24, γ2 is the rotation angle of the first servo motor 231, n1 is the number of teeth of the first servo motor 231, n2 is the number of teeth of the vertical drive wheel 232 of the coil rotation mechanism 23, and the selection of positive and negative signs is determined according to the consistency between the forward and reverse rotation directions of the first servo motor 231 and the second servo motor 241 and the required rotation direction of the charging coil 21.

[0092] The working principle of this invention is as follows: A magnetic field strength detection device 1, a charging coil rotation device 2, and a control system 3 are installed on a mobile trolley 4. The mobile trolley 4 is placed inside a substation. The magnetic field strength detection device 1 detects the magnetic field strength at the location of the mobile trolley 4 in real time and accurately. After the data is transmitted to the control system, the control system 3 accurately obtains the magnitude and direction of the magnetic induction intensity. Then, according to the current position of the charging coil, it controls the first servo motor 231 and the second servo motor 241 in the charging coil rotation device 2 to drive the coil rotation mechanism 23 and the horizontal rotation mechanism 24 to operate, thereby automatically, accurately, and timely controlling the rotation of the charging coil 21. The orientation of the charging coil 21 is adjusted to be perpendicular to the direction of the magnetic induction intensity, so that the maximum magnetic flux of the charging coil 21 is obtained for inductive charging, thereby effectively utilizing the magnetic field energy of the substation. The above devices are all installed on the mobile trolley 4, which can continuously and efficiently charge the electrical equipment, and is convenient and fast. Since the magnetic induction intensity is different at different locations in the substation, the center point of the charging coil 21 and the center point of the induction module 11 do not coincide. The direction of the magnetic induction intensity actually detected by the induction module 11 is not exactly the same as the direction of the magnetic induction intensity at the center point of the charging coil 21. However, since the magnetic field range of the substation is large, the distance between the two center points is very small and can be almost ignored for the magnetic field of the substation.

[0093] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A high-efficiency inductive charging device for substations, characterized in that, The device includes a magnetic field strength detection device, a charging coil rotation device, and a control system. The control system is electrically connected to the magnetic field strength detection device and the charging coil rotation device. The magnetic field strength detection device is placed in the substation to detect the magnetic field strength at the location of the device and transmits the magnetic flux signal to the control system. The control system then controls the charging coil rotation device to rotate the charging coil to a position perpendicular to the direction of the magnetic induction intensity. The magnetic field strength detection device includes a sensing module, which includes a cube shell and several induction coils: induction coils are provided on all six faces inside the cube shell, two parallel induction coils are divided into a group, each group of induction coils is coaxially arranged, and the axis of each group of induction coils passes through the center of the cube shell. Each group of induction coils is connected to a fluxmeter that is electrically connected to the control system. The charging coil rotating device includes a charging coil, a coil support, a coil rotating mechanism, a horizontal rotating mechanism, a support mechanism, a vertical angle sensor, and a horizontal angle sensor. The coil support contains the coil rotating mechanism, the charging coil is mounted on the coil rotating mechanism, and the vertical angle sensor is mounted on the coil rotating mechanism. The top of the coil support has a horizontal rotating mechanism, which is connected to the support mechanism, and the horizontal angle sensor is mounted on the horizontal rotating mechanism.

2. The high-efficiency inductive charging device for substations according to claim 1, characterized in that, The magnetic field strength detection device also includes a leveling module for adjusting the height of the sensing module. The leveling module consists of at least three leveling components and a base. The leveling components include a sleeve and a lifting rod. One end of the lifting rod is inserted into the sleeve, and the other end is hinged to the bottom of the sensing module. The sleeve is provided with bolts for adjusting the height of the lifting rod, and the bottom of the sleeve is fixed to the base.

3. The high-efficiency inductive charging device for substations according to claim 1, characterized in that, The coil support includes an inverted U-shaped cavity frame and an inverted bowl-shaped cavity frame. The top of the inverted U-shaped cavity frame is connected to the bottom of the inverted bowl-shaped cavity frame. The coil rotation mechanism is installed inside the inverted U-shaped cavity frame, and the horizontal rotation mechanism is installed inside the inverted bowl-shaped cavity frame. The coil rotation mechanism includes a first servo motor, a vertical drive wheel, a drive shaft, a driven shaft, and a vertical angle sensor. The drive shaft and the driven shaft are coaxially opposite each other on the two arms of the inverted U-shaped cavity frame of the coil support. The drive shaft is equipped with a drive wheel driven by the first servo motor. The vertical angle sensor is installed on the drive shaft or the driven shaft. A charging coil is installed between the drive shaft and the driven shaft. The horizontal rotation mechanism includes a second servo motor, a horizontal drive wheel, a connecting shaft, and a horizontal angle sensor. One end of the connecting shaft extends into the inverted bowl-shaped cavity frame, on which the horizontal drive wheel driven by the second servo motor is mounted. The other end is movably connected to the support mechanism. The movable connection means that the connecting shaft and the support mechanism are axially positioned and radially rotated. The horizontal angle sensor that measures the rotation angle of the connecting shaft is mounted on the connecting shaft.

4. The high-efficiency inductive charging device for substations according to claim 1, characterized in that, The control system includes a data receiving module, a data display module, and a control module. After receiving information, the data receiving module outputs one path to the data display module to display the information, and another path to the control module to control the actuator. The data receiving module receives magnetic flux signals, horizontal angle signals, and vertical angle signals of the charging coil, and converts the magnetic flux signals in the three axes into magnetic induction intensity signals. The data display module displays the magnetic induction intensity information, the horizontal angle information, and the vertical angle information of the charging coil. The control module controls the first servo motor in the coil rotation mechanism and the second servo motor in the horizontal rotation mechanism to start or stop, adjusting the position of the charging coil.

5. A high-efficiency inductive charging device for substations according to any one of claims 1-4, characterized in that, The magnetic field strength detection device, the charging coil rotation device, and the control system are all installed on the mobile trolley, with the magnetic field strength detection device and the charging coil rotation device arranged along the axis of the mobile trolley frame.

6. The control method for a high-efficiency inductive charging device in a substation according to claim 5, characterized in that, It includes the following steps: S1. Charging preparation; Two three-dimensional coordinate spaces OXYZ and oxyz with the center point of the sensing module and the center point of the charging coil respectively are established with the same three-axis direction. The three axes of the three-dimensional coordinate spaces OXYZ and oxyz are parallel to any three mutually orthogonal sides of the cube shell in the sensing module. The sensing module is leveled to the horizontal plane XOY by the leveling module, and the charging coil is adjusted to the yoz plane. S2, Magnetic field strength detection; The magnetic flux in the three axes at time t is detected in real time by the sensing module of the magnetic field strength detection device. , , The signal is transmitted to the control system and converted into magnetic induction intensity. And calculated according to formulas (1) and (2) Angle with the horizontal plane XOY and The angle between the projection of the XOY plane onto the horizontal plane and the YOZ plane. Displayed through the data display module and , ; （1） （2） S3, Charging coil adjustment and inductive charging; In the oxyz coordinate system, the vertical angle of the charging coil at time t is obtained in real time by the sensor. and horizontal angle The control system obtains the following based on step S2: , Calculate the required horizontal rotation angle of the charging coil according to formulas (3) and (4). and vertical rotation angle The first servo motor and the second servo motor in the charging coil rotation device are controlled in real time to drive the coil rotation mechanism and the horizontal rotation mechanism to operate, so that the charging coil is perpendicular to the direction of magnetic induction intensity, and the charging coil generates induced current to charge the electrical equipment. （3） （4） S4. Charging position is adjusted in real time; The mobile trolley moves within the substation, the induction module detects the direction of magnetic induction intensity in real time, and the control system controls the charging coil rotation device to adjust the charging coil to be perpendicular to the direction of magnetic induction intensity in real time, so as to continuously and efficiently charge the electrical equipment.

7. The control method for a high-efficiency inductive charging device in a substation according to claim 6, characterized in that, The rotation angle of the first servo motor or the second servo motor is calculated according to the following formula: ， （5） In the formula: This refers to the rotation angle of the second servo motor. This refers to the number of teeth on the second servo motor. The number of teeth on the drive wheel of the horizontal rotating mechanism. This represents the rotation angle of the first servo motor. The number of teeth on the first servo motor. The number of teeth on the drive wheel of the coil rotation mechanism is determined by the consistency between the forward and reverse rotation directions of the first or second servo motor and the required rotation direction of the charging coil.

Images