Dynamic wireless charging system for inspection robot, system efficiency improvement method and system

Abstract

The invention discloses a dynamic wireless charging system for an inspection robot, and a system efficiency improving method and system. The system comprises a charging unit and a charged unit arranged on the inspection robot. The system efficiency improving method comprises the steps that in the advancing process of the inspection robot, when the inspection robot is located between two transmitting coils of the dynamic wireless charging system, mutual inductance changes between a receiving coil and the two adjacent transmitting coils are monitored; the magnitude of current flowing through the two transmitting coils is controlled according to the mutual inductance change, so that the system works at the maximum efficiency. According to the invention, the circuit structure is simple, an additional complex switch switching circuit does not need to be added, and the charging efficiency can be improved by controlling the output voltage of the inverter according to the change of mutual inductance in the movement process.

Description

Technical Field

[0001] The present invention relates to the field of wireless charging, and in particular to a dynamic wireless charging device for an inspection robot, and a method and system for improving the efficiency of a charging system. Background Art

[0002] Wireless power transmission technology provides a new way of power access for power-driven equipment by changing the traditional way of direct plug-in charging of wired cables and battery exchange constraints. In most cases, the rise of intelligent robots has improved production efficiency and production quality; it is the hub of power grids at all levels. Routine inspection of equipment is a key technical means to ensure the safe operation of power grids. The use of inspection robots instead of manual inspections and the handing over of mechanized and repetitive work to intelligent robots have greatly reduced the intensity of manual labor. At present, with the continuous maturity of dynamic radio transmission technology, people have begun to explore the possibility of dynamic wireless charging in inspection robots, so that inspection robots can be replenished with energy during movement, making the energy transmission and signal transmission required during inspections in places containing high-risk equipment faster, and enhancing the durability of inspection robots. The current main energy transmission methods of dynamic wireless charging include: long rail type and segmented type. Since the traditional long rail coupling mechanism will bring unnecessary energy loss during operation, the segmented rail structure is more widely used, such as:

[0003] A Chinese patent document with publication number CN118214112A discloses a segmented rail-mounted dynamic wireless charging method and system for an inspection robot; the system mainly includes: an inverter module, a compensation module and a resonance module connected to the rail in sequence; when the terminal power of the inspection robot is less than a threshold, it enters constant current charging, and when the interrupted power is greater than the threshold, it enters constant voltage charging; the middle dividing line of the rail unit is used as a critical line, so as to select the switching rail to charge the robot.

[0004] A Chinese patent document with publication number CN114211976A discloses a segmented compensation coil electric vehicle dynamic wireless charging system and method; its energy transmitting system mainly includes an inverter network laid on the ground, a plurality of transmitting coils and a compensation network, and the energy receiving system mainly includes a rectifier circuit, a receiving coil and a compensation network; the system determines the moving position of the electric vehicle through a position sensor and automatically switches the transmitting coil through a switch control to realize dynamic charging of the electric vehicle.

[0005] However, the above segmented dynamic wireless charging systems all use a switch at the separation point to change the energy transmission coil during the transition stage, but this method will reduce the energy transmission efficiency because the mutual inductance between the separated transmitting coil and the receiving coil becomes smaller. Summary of the invention

[0006] In order to solve the deficiencies in the prior art, the present invention provides a dynamic wireless charging device for an inspection robot and a method for improving the efficiency of a charging system. This method does not require the addition of an additional circuit structure, and only requires the inverter output voltage to enable the system to continue to operate at the maximum efficiency state. At the same time, it can also achieve closed-loop control of the constant voltage and constant current output of the wireless charging system to meet the two-stage charging requirements of the inspection robot.

[0007] The specific technical solutions adopted by the present invention are as follows:

[0008] The first aspect of the present invention provides a dynamic wireless charging system for an inspection robot, comprising a charging unit and a charged unit arranged on the inspection robot; specifically:

[0009] The charging unit includes a DC power supply, a plurality of full-bridge inverters, a plurality of primary compensation modules, and a plurality of transmitting coils;

[0010] A plurality of full-bridge inverters are arranged in parallel at both ends of a DC power supply, and the AC output of each full-bridge inverter is connected to a primary compensation module, and each primary compensation module corresponds to a transmitting coil connected in series;

[0011] The charged unit includes a load module, an uncontrolled rectifier module, a secondary side compensation module and a receiving coil;

[0012] Both ends of the receiving coil are connected to the secondary compensation module, the other end of the secondary compensation module is connected in parallel to the AC side of the uncontrolled rectifier module, the DC side of the uncontrolled rectifier module is connected in parallel to both ends of the load module, and the receiving coil is placed on the inspection robot.

[0013] Preferably, the DC power supply is connected in parallel to an input voltage stabilizing capacitor;

[0014] With full bridge inverter H n The corresponding primary compensation circuit includes a compensation inductor L fn , the first compensation capacitor C fn , the second compensation capacitor C tn ; Compensation inductance L fn One end of the full-bridge inverter H n The compensation inductor L fn The other end of the second compensation capacitor C tn One end is connected to the compensation inductor L fn and the second compensation capacitor C tn The first compensation capacitor C fn Connect full bridge inverter H n Another AC output terminal;

[0015] Each transmitting coil includes a transmitting coil coupling inductor and a transmitting coil resistor connected in series, and one end of the transmitting coil is connected to a second compensation capacitor C tnThe other end of the transmitting coil is connected to the full-bridge inverter H n The other AC output terminal is connected.

[0016] Preferably, there is a certain distance between each transmitting coil in the charging unit, all transmitting coils form a segmented charging rail, the receiving coil in the charged unit is coupled with multiple transmitting coils in the charging unit, and the total mutual inductance value between the transmitting coil and the receiving coil is stable during the movement of the inspection robot.

[0017] Preferably, the secondary side compensation module includes a secondary side compensation capacitor C s and secondary side compensation rent R s , one end of the secondary coil passes through the secondary compensation capacitor C s Connected to one end of the AC input of the uncontrolled rectifier module, the other end of the secondary coil is connected to the secondary compensation rent R s Connect to the other end of the AC input of the uncontrolled rectifier module;

[0018] The load module includes an inspection robot battery, an output voltage stabilizing capacitor C0 and a load resistor R0.

[0019] The second aspect of the present invention proposes a method for improving the efficiency of a dynamic wireless charging system of an inspection robot using the wireless charging system described in the first aspect of the present invention, specifically:

[0020] During the movement of the inspection robot, when the inspection robot is located between the two transmitting coils of the dynamic wireless charging system, it monitors the change in mutual inductance between the receiving coil and the two adjacent transmitting coils, and controls the current flowing through the two transmitting coils according to the change in mutual inductance to make the system work at maximum efficiency.

[0021] Preferably, the current flowing through the two transmitting coils is controlled according to the change of mutual inductance so that the dynamic wireless charging system works at maximum efficiency, and the specific process is:

[0022] Step 1: When the inspection robot is moving, the receiving coil is facing the previous transmitting coil T n Gradually transition to facing the next transmitting coil T n+1 The process is called the transition phase. After entering the transition phase, the previous inverter H is controlled. n Output voltage U pn Excite the previous transmitting coil T n , control the next inverter H n+1 Output voltage U pn+1 Excite the next transmitting coil T n+1 ;

[0023] Step 2: Collect the current flowing through the previous transmitting coil T n The effective value of the current I Tn, flows through the next transmitting coil T n+1 The effective value of the current I Tn+1 and the effective value of the current flowing through the receiving coil R s And calculate the previous transmitting coil T n The mutual inductance M between the receiving coil R TnR , the next transmitting coil T n+1 The mutual inductance M between the receiving coil R Tn+1R ;

[0024] Step 3: Based on the mutual inductance value M TnR and M Tn+1R , calculate the last transmitting coil T that enables the wireless charging system to operate at maximum efficiency when the receiving end is at the current position of the inspection robot n and the next transmitting coil T n+1 The effective value of the current I Tn and I Tn+1 The ratio of β;

[0025] Step 4: Control the previous inverter H through the PI controller n The output voltage U pn and the next inverter H n+1 The output voltage U pn+1 , so that the current flows through the previous transmitting coil T n and the next transmitting coil T n+1 The effective value of the current I Tn and I Tn+1 The ratio is equal to β, and the dynamic wireless charging system output voltage U o Or output current I o Maintain expectations.

[0026] Preferably, in step 2, the calculation obtains the last ray circle T n The mutual inductance M between the receiving coil R TnR , the next transmitting coil T n+1 The mutual inductance M between the receiving coil R Tn+1R , specifically:

[0027] The calculation formula is:

[0028]

[0029] Among them, M TR is the total mutual inductance, Rs is the secondary side compensation rent, Ro is the load resistance of the inverter circuit, and ω is the system operating angular frequency.

[0030] Preferably, in step three, the calculation of the last transmitting coil T that enables the wireless charging system to operate at maximum efficiency when the receiving end is in this position n and the next transmitting coil Tn+1 The effective value of the current I Tn and I Tn+1 The ratio β is:

[0031] The calculation formula is:

[0032]

[0033] Where γ = R Tn / R Tn+1 , R Tn is the resistance of the previous transmitting coil, R Tn+1 is the resistance of the next transmitting coil.

[0034] Preferably, the specific process of step 4 is:

[0035] Determine the charging mode of the dynamic wireless charging system. If the dynamic wireless charging system is in constant current charging mode, control the output current I o Maintain at the expected value; if the dynamic wireless charging system is in constant voltage charging mode, the output voltage U o Maintaining set expectations;

[0036] Calculate the previous inverter H n The output voltage U pn and the next inverter H n+1 The output voltage U pn+1 The formula is:

[0037]

[0038] Among them, U p1 is the output voltage of the first inverter H1, L f1 is the inductance connected to the first inverter H1, L fn is the inductance connected to the previous inverter Hn, L fn+1 is the inductor connected to the next inverter Hn+1, Ro is the load resistance of the inverter circuit, and ω is the system operating angular frequency.

[0039] The third aspect of the present invention provides a dynamic wireless charging system control system for an inspection robot using the control method described in the second aspect of the present invention, comprising a position determination module, a collection module, a mutual inductance value calculation module, a current ratio calculation module, and an output voltage control module; characterized in that:

[0040] Position judgment module: judges whether it has entered the process stage. If it has entered the transition stage, the control acquisition module starts to collect;

[0041] Collection module: collects the current flowing through the previous transmitting coil T n The effective value of the current I Tn, flows through the next transmitting coil T n+1 The effective value of the current I Tn+1 and the effective value of the current flowing through the receiving coil R s ;

[0042] Mutual inductance calculation module: calculate the T of the previous transmitting coil n The mutual inductance M between the receiving coil R TnR , the next transmitting coil T n+1 The mutual inductance M between the receiving coil R Tn+1R ;

[0043] Current ratio calculation module: calculates the current ratio β of the wireless charging system at maximum efficiency when the receiving end is at this position;

[0044] Output voltage control module: controls the previous inverter H n The output voltage U pn and the next inverter H n+1 The output voltage U pn+1 , so that the current flows through the previous and next coils T n and T n+1 The effective value of the current I Tn and I Tn+1 The ratio is equal to β, and the dynamic wireless charging system output voltage U o Or output current I o Maintain expectations.

[0045] Compared with the prior art, the present invention has the following advantages:

[0046] 1. The present invention proposes a dynamic wireless charging system for an inspection robot, which has a simple circuit structure and does not require the addition of an additional complex switch circuit, thereby avoiding the low fault tolerance caused by the complex structure and effectively reducing costs.

[0047] 2. The present invention can improve charging efficiency by controlling the inverter output voltage according to the change of mutual inductance during movement. The control method is simple and does not require complex switch control logic.

[0048] 3. The present invention adopts closed-loop control, which is more robust and insensitive to the influence of system parameters compared with the method of improving system efficiency by optimizing topology parameters.

[0049] 4. The method proposed in the present invention can not only improve the efficiency of the wireless charging system, but also realize the closed-loop control of the system's constant voltage and constant current output, thereby meeting the application requirements of more occasions. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic diagram of the circuit topology and control method of the present invention;

[0051] Figure 2 This is a schematic diagram of the dynamic wireless charging process of the present invention;

[0052] Figure 3 It is a schematic diagram of the control method of the present invention;

[0053] Figure 4 This is a flow chart of the control method of the present invention. DETAILED DESCRIPTION

[0054] The present invention will be further described below in conjunction with the accompanying drawings.

[0055] like Figure 1 As shown, Embodiment 1 of the present invention proposes a dynamic wireless charging system for an inspection robot, including a charging unit and a charged unit arranged on the inspection robot; specifically:

[0056] The charging unit includes a DC power supply, a plurality of full-bridge inverters, a plurality of primary compensation modules, and a plurality of transmitting coils;

[0057] A plurality of full-bridge inverters are arranged in parallel at both ends of a DC power supply, and the AC output of each full-bridge inverter is connected to a primary compensation module, and each primary compensation module corresponds to a transmitting coil connected in series;

[0058] The charged unit includes a load module, an uncontrolled rectifier module, a secondary side compensation module and a receiving coil;

[0059] Both ends of the receiving coil are connected to the secondary compensation module, the other end of the secondary compensation module is connected in parallel to the AC side of the uncontrolled rectifier module, the DC side of the uncontrolled rectifier module is connected in parallel to both ends of the load module, and the receiving coil is placed on the inspection robot.

[0060] Preferably, the DC power supply is connected in parallel to an input voltage stabilizing capacitor;

[0061] With full bridge inverter H n The corresponding primary compensation circuit includes a compensation inductor L fn , the first compensation capacitor C fn , the second compensation capacitor C tn ; Compensation inductance L fn One end of the full-bridge inverter H n The compensation inductor L fn The other end of the second compensation capacitor C tn One end is connected to the compensation inductor L fn and the second compensation capacitor C tn The first compensation capacitor C fn Connect full bridge inverter H n Another AC output terminal;

[0062] Each transmitting coil includes a transmitting coil coupling inductor and a transmitting coil resistor connected in series, and one end of the transmitting coil is connected to a second compensation capacitor C tn The other end of the transmitting coil is connected to the full-bridge inverter H n The other AC output terminal is connected.

[0063] Preferably, if Figure 2 As shown, there is a certain distance between each transmitting coil in the charging unit, all the transmitting coils form a segmented charging rail, the receiving coil in the charged unit is coupled with multiple transmitting coils in the charging unit, and the total mutual inductance value between the transmitting coil and the receiving coil is stable during the movement of the inspection robot.

[0064] Preferably, the secondary side compensation module includes a secondary side compensation capacitor C s and secondary side compensation rent R s , one end of the secondary coil passes through the secondary compensation capacitor C s Connected to one end of the AC input of the uncontrolled rectifier module, the other end of the secondary coil is connected to the secondary compensation rent R s Connect to the other end of the AC input of the uncontrolled rectifier module;

[0065] The load module includes an inspection robot battery, an output voltage stabilizing capacitor C0 and a load resistor R0.

[0066] Embodiment 2 of the present invention proposes a method for improving the efficiency of a dynamic wireless charging system of an inspection robot using the wireless charging system described in Embodiment 1 of the present invention, specifically:

[0067] During the movement of the inspection robot, when the inspection robot is located between the two transmitting coils of the dynamic wireless charging system, it monitors the change in mutual inductance between the receiving coil and the two adjacent transmitting coils, and controls the current flowing through the two transmitting coils according to the change in mutual inductance to make the system work at maximum efficiency.

[0068] Preferably, if Figure 4 As shown, the current flowing through the two transmitting coils is controlled according to the change of mutual inductance so that the dynamic wireless charging system works at the maximum efficiency. The specific process is:

[0069] Step 1: When the inspection robot is moving, the receiving coil is facing the previous transmitting coil T n Gradually transition to facing the next transmitting coil T n+1 The process is called the transition phase. After entering the transition phase, the previous inverter H is controlled. n Output voltage U pn Excite the previous transmitting coil T n , control the next inverter H n+1 Output voltage U pn+1 Excite the next transmitting coil Tn+1 ;

[0070] Step 2: Collect the current flowing through the previous transmitting coil T n The effective value of the current I Tn , flows through the next transmitting coil T n+1 The effective value of the current I Tn+1 and the effective value of the current flowing through the receiving coil R s And calculate the previous transmitting coil T n The mutual inductance M between the receiving coil R TnR , the next transmitting coil T n+1 The mutual inductance M between the receiving coil R Tn+1R ;

[0071] Preferably, in step 2, the calculation obtains the last ray circle T n The mutual inductance M between the receiving coil R TnR , the next transmitting coil T n+1 The mutual inductance M between the receiving coil R Tn+1R , specifically:

[0072] The calculation formula is:

[0073]

[0074] Among them, M TR is the total mutual inductance, Rs is the secondary side compensation rent, Ro is the load resistance of the inverter circuit, and ω is the system operating angular frequency.

[0075] It should be noted that the derivation of mutual inductance calculation is specifically as follows:

[0076] According to the law of electromagnetic induction, the following KVL equation exists in the receiving end loop:

[0077]

[0078] Wherein, Ls is the receiving coil inductance, Is is the receiving coil current, Cs is the receiving coil compensation capacitance, and Ue is the equivalent input voltage of the receiving end rectifier;

[0079] If we only consider the size relationship, we can change it to:

[0080]

[0081] In the above formula, the current I Tn ,I Tn+1 and I s It can be measured by sensors. At the same time, the mutual inductance between adjacent coils and the receiving coil before and after the dynamic wireless charging transition stage satisfies the relationship:

[0082] MTnR +M Tn+1R =M TR

[0083] Among them, M TR is the total mutual inductance, which is a constant value when the coupling mechanism is determined.

[0084] Combining the above two formulas, the mutual inductance value M can be calculated TnR 、M Tn+1R :

[0085]

[0086] Step 3: Based on the mutual inductance value M TnR and M Tn+1R , calculate the last transmitting coil T that enables the wireless charging system to operate at maximum efficiency when the receiving end is at the current position of the inspection robot n and the next transmitting coil T n+1 The effective value of the current I Tn and I Tn+1 The ratio of β;

[0087] Preferably, in step three, the calculation of the last transmitting coil T that enables the wireless charging system to operate at maximum efficiency when the receiving end is in this position n and the next transmitting coil T n+1 The effective value of the current I Tn and I Tn+1 The ratio β is:

[0088] The calculation formula is:

[0089]

[0090] Where γ = R Tn / R Tn+1 , R Tn is the resistance of the previous transmitting coil, R Tn+1 is the resistance of the next transmitting coil.

[0091] It should be noted that the calculation process of the current ratio β for the maximum efficiency operation of the system is:

[0092] Since inductors and capacitors are passive components that do not dissipate power, they can be ignored. Figure 2 Considering the loss caused by the converter in the circuit topology shown, the system efficiency can be expressed as:

[0093]

[0094] Where R e is the equivalent resistance at the input end of the uncontrolled rectifier circuit, and its value is calculated as follows:

[0095]

[0096] According to the law of electromagnetic induction, the following KVL equation exists in the receiving end loop:

[0097]

[0098] Combining the above three formulas, the system efficiency expression can be transformed into the following form:

[0099]

[0100] in:

[0101]

[0102] Therefore, the maximum efficiency of the system can be obtained at the minimum point of F(β). By taking the derivative of this formula, it is found that when β satisfies the following formula, F(β) can achieve the minimum value:

[0103]

[0104] Therefore, when the excitation currents of the two transmitting coils satisfy the proportional relationship of β, the system can operate at the maximum efficiency state. Step 4: Figure 3 As shown, the previous inverter H is controlled by a PI controller. n The output voltage U pn and the next inverter H n+1 The output voltage U pn+1 , so that the current flows through the previous transmitting coil T n and the next transmitting coil T n+1 The effective value of the current I Tn and I Tn+1 The ratio is equal to β, and the dynamic wireless charging system output voltage U o Or output current I o Maintain expectations.

[0105] Preferably, the specific process of step 4 is:

[0106] Determine the charging mode of the dynamic wireless charging system. If the dynamic wireless charging system is in constant current charging mode, control the output current I o Maintain at the expected value; if the dynamic wireless charging system is in constant voltage charging mode, the output voltage U o Maintaining set expectations;

[0107] Calculate the previous inverter H n The output voltage U pn and the next inverter H n+1 The output voltage U pn+1 The formula is:

[0108]

[0109] Among them, U p1 is the output voltage of the first inverter H1, L f1 is the inductance connected to the first inverter H1, L fn is the inductance connected to the previous inverter Hn, L fn+1 is the inductor connected to the next inverter Hn+1, Ro is the load resistance of the inverter circuit, and ω is the system operating angular frequency.

[0110] Embodiment 3 of the present invention proposes a patrol robot dynamic wireless charging system control system using the control method described in Embodiment 2 of the present invention, comprising a position determination module, a collection module, a mutual inductance value calculation module, a current ratio calculation module, and an output voltage control module; characterized in that:

[0111] Position judgment module: judges whether it has entered the process stage. If it has entered the transition stage, the control acquisition module starts to collect;

[0112] Collection module: collects the current flowing through the previous transmitting coil T n The effective value of the current I Tn , flows through the next transmitting coil T n+1 The effective value of the current I Tn+1 and the effective value of the current flowing through the receiving coil R s ;

[0113] Mutual inductance calculation module: calculate the T of the previous transmitting coil n The mutual inductance M between the receiving coil R TnR , the next transmitting coil T n+1 The mutual inductance M between the receiving coil R Tn+1R ;

[0114] Current ratio calculation module: calculates the current ratio β of the wireless charging system at maximum efficiency when the receiving end is at this position;

[0115] Output voltage control module: controls the previous inverter H n The output voltage U pn and the next inverter H n+1 The output voltage U pn+1 , so that the current flows through the previous and next coils T n and T n+1 The effective value of the current I Tn and I Tn+1 The ratio is equal to β, and the dynamic wireless charging system output voltage U o Or output current I oMaintain at the expected value. The present disclosure may be a system, method and / or computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present disclosure.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A dynamic wireless charging system for an inspection robot, comprising a charging unit and a charged unit arranged on the inspection robot; characterized in that: The charging unit includes a DC power supply, a plurality of full-bridge inverters, a plurality of primary compensation modules, and a plurality of transmitting coils; A plurality of full-bridge inverters are arranged in parallel at both ends of a DC power supply, and the AC output of each full-bridge inverter is connected to a primary compensation module, and each primary compensation module corresponds to a transmitting coil connected in series; The charged unit includes a load module, an uncontrolled rectifier module, a secondary side compensation module and a receiving coil; Both ends of the receiving coil are connected to the secondary compensation module, the other end of the secondary compensation module is connected in parallel to the AC side of the uncontrolled rectifier module, the DC side of the uncontrolled rectifier module is connected in parallel to both ends of the load module, and the receiving coil is placed on the inspection robot.

2. The inspection robot dynamic wireless charging system according to claim 1, characterized in that: The DC power supply is connected in parallel to a voltage stabilizing capacitor; With full bridge inverter H n The corresponding primary compensation circuit includes a compensation inductor L fn , the first compensation capacitor C fn , the second compensation capacitor C tn ; Compensation inductance L fn One end of the full-bridge inverter H n The compensation inductor L fn The other end of the second compensation capacitor C tn One end is connected to the compensation inductor L fn and the second compensation capacitor C tn The first compensation capacitor C fn Connect full bridge inverter H n Another AC output terminal; Each transmitting coil includes a transmitting coil coupling inductor and a transmitting coil resistor connected in series, and one end of the transmitting coil is connected to a second compensation capacitor C tn The other end of the transmitting coil is connected to the full-bridge inverter H n The other AC output terminal is connected.

3. The inspection robot dynamic wireless charging system according to claim 2, characterized in that: There is a certain distance between each transmitting coil in the charging unit, and all the transmitting coils form a segmented charging rail. The receiving coil in the charged unit is coupled with multiple transmitting coils in the charging unit, and the total mutual inductance value between the transmitting coil and the receiving coil is stable during the movement of the inspection robot.

4. The inspection robot dynamic wireless charging system according to claim 3, characterized in that: The secondary side compensation module includes a secondary side compensation capacitor C s and secondary side compensation rent R s , one end of the secondary coil passes through the secondary compensation capacitor C s Connected to one end of the AC input of the uncontrolled rectifier module, the other end of the secondary coil is connected to the secondary compensation rent R s Connect to the other end of the AC input of the uncontrolled rectifier module; The load module includes an inspection robot battery, an output voltage stabilizing capacitor C0 and a load resistor R0.

5. A method for improving the efficiency of a dynamic wireless charging system of an inspection robot using the wireless charging system according to any one of claims 1 to 4, characterized in that: During the movement of the inspection robot, when the inspection robot is located between the two transmitting coils of the dynamic wireless charging system, it monitors the change in mutual inductance between the receiving coil and the two adjacent transmitting coils, and controls the current flowing through the two transmitting coils according to the change in mutual inductance to make the system work at maximum efficiency.

6. The method for improving the efficiency of a dynamic wireless charging system of an inspection robot according to claim 5, characterized in that: The current flowing through the two transmitting coils is controlled according to the change of mutual inductance so that the dynamic wireless charging system works at maximum efficiency. The specific process is as follows: Step 1: When the inspection robot is moving, the receiving coil is facing the previous transmitting coil T n Gradually transition to facing the next transmitting coil T n+1 The process is called the transition phase. After entering the transition phase, the previous inverter H is controlled. n Output voltage U pn Excite the previous transmitting coil T n , control the next inverter H n+1 Output voltage U pn+1 Excite the next transmitting coil T n+1 ; Step 2: Collect the current flowing through the previous transmitting coil T n The effective value of the current I Tn , flows through the next transmitting coil T n+1 The effective value of the current I Tn+1 and the effective value of the current flowing through the receiving coil R s And calculate the previous transmitting coil T n The mutual inductance M between the receiving coil R TnR , the next transmitting coil T n+1 The mutual inductance M between the receiving coil R Tn+1R ; Step 3: Based on the mutual inductance value M TnR and M Tn+1R , calculate the last transmitting coil T that enables the wireless charging system to operate at maximum efficiency when the receiving end is at the current position of the inspection robot n and the next transmitting coil T n+1 The effective value of the current I Tn and I Tn+1 The ratio of β; Step 4: Control the previous inverter H through the PI controller n The output voltage U pn and the next inverter H n+1 The output voltage U pn+1 , so that the current flows through the previous transmitting coil T n and the next transmitting coil T n+1 The effective value of the current I Tn and I Tn+1 The ratio is equal to β, and the dynamic wireless charging system output voltage U o Or output current I o Maintain expectations.

7. The method for improving the efficiency of a dynamic wireless charging system of an inspection robot according to claim 6, characterized in that: In step 2, the calculation obtains the last ray circle T n The mutual inductance M between the receiving coil R TnR , the next transmitting coil T n+1 The mutual inductance M between the receiving coil R Tn+1R , specifically: The calculation formula is: Among them, M TR is the total mutual inductance, Rs is the secondary side compensation rent, Ro is the load resistance of the inverter circuit, and ω is the system operating angular frequency.

8. The method for improving the efficiency of a dynamic wireless charging system of an inspection robot according to claim 7, characterized in that: In step 3, the calculation of the last transmitting coil T that enables the wireless charging system to operate at maximum efficiency when the receiving end is at this position n and the next transmitting coil T n+1 The effective value of the current I Tn and I Tn+1 The ratio β is: The calculation formula is: Where γ = R Tn / R Tn+1 , R Tn is the resistance of the previous transmitting coil, R Tn+1 is the resistance of the next transmitting coil.

9. The method for improving the efficiency of a dynamic wireless charging system of an inspection robot according to claim 6, characterized in that: The specific process of step 4 is as follows: Determine the charging mode of the dynamic wireless charging system. If the dynamic wireless charging system is in constant current charging mode, control the output current I o Maintain expectations; If the dynamic wireless charging system is in constant voltage charging mode, the output voltage U o Maintaining set expectations; Calculate the previous inverter H n The output voltage U pn and the next inverter H n+1 The output voltage U pn+1 The formula is: Among them, U p1 is the output voltage of the first inverter H1, L f1 is the inductance connected to the first inverter H1, L fn is the inductance connected to the previous inverter Hn, L fn+1 is the inductor connected to the next inverter Hn+1, Ro is the load resistance of the inverter circuit, and ω is the system operating angular frequency.

10. A patrol robot dynamic wireless charging system control system using the control method according to any one of claims 5 to 9, comprising a position determination module, a collection module, a mutual inductance value calculation module, a current ratio calculation module, and an output voltage control module; characterized in that: Position judgment module: judges whether it has entered the process stage. If it has entered the transition stage, the control acquisition module starts to collect; Collection module: collects the current flowing through the previous transmitting coil T n The effective value of the current I Tn , flows through the next transmitting coil T n+1 The effective value of the current I Tn+1 and the effective value of the current flowing through the receiving coil R s ; Mutual inductance calculation module: calculate the T of the previous transmitting coil n The mutual inductance M between the receiving coil R TnR , the next transmitting coil T n+1 The mutual inductance M between the receiving coil R Tn+1R ; Current ratio calculation module: calculates the current ratio β of the wireless charging system at maximum efficiency when the receiving end is at this position; Output voltage control module: controls the previous inverter H n The output voltage U pn and the next inverter H n+1 The output voltage U pn+1 , so that the current flows through the previous and next coils T n and T n+1 The effective value of the current I Tn and I Tn+1 The ratio is equal to β, and the dynamic wireless charging system output voltage U o Or output current I o Maintain expectations.

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